Methods and apparatus for guiding an unmanned aerial vehicle to recover the unmanned aerial vehicle

Abstract

Methods and apparatuses are disclosed that direct an unmanned aerial vehicle to recover the unmanned aerial vehicle. An exemplary apparatus disclosed for recovering an aerial vehicle or its payload includes a tether and a marker supported by the tether at different locations of the tether, the marker being detected by the aerial vehicle, the aerial vehicle being directed to engage the tether by determining a location of the marker and calculating a location of at least a portion of the tether based on the determined location of the marker.

Description

TECHNICAL FIELD

[0001] The present disclosure relates generally to aerial vehicles, and more specifically to methods and apparatus for guiding unmanned aerial vehicles for recovery of the unmanned aerial vehicles. BACKGROUND

[0002] In recent years, unmanned aerial vehicles (UAVs) or drones have been used to fly effective distances to deliver payloads (e.g., packages, supplies, equipment, etc.) or to gather information. Some UAVs land on a runway, while others are captured in flight by a UAV recovery system. Capturing UAVs without the use of a runway allows for greater flexibility in the location of recovery. In particular, UAVs can be recovered in unprepared areas or on relatively small ships or other vessels or vehicles. SUMMARY

[0003] An example apparatus for recovering an aerial vehicle or a payload thereof includes a tether and markers supported by the tether at different locations of the tether, the markers being detected by the aerial vehicle, the aerial vehicle being guided to engage the tether by determining locations of the markers and calculating a location of at least a portion of the tether based on the determined locations of the markers.

[0004] An example non-transitory computer-readable medium includes instructions that, when executed, cause a processor to at least determine locations of markers on a tether, the markers being arranged at different locations of the tether, calculate a location of at least a portion of the tether based on the determined locations of the markers, and guide movement of an aerial vehicle to engage the tether for recovery of the aerial vehicle or a payload of the aerial vehicle based on the calculated location.

[0005] An example method for guiding an aerial vehicle includes determining locations of markers arranged at different locations of a tether, calculating a location of at least a portion of the tether based on the determined locations of the markers by executing instructions using at least a processor, and guiding the aerial vehicle toward the tether based on the calculated location of the at least a portion of the tether for recovery of the aerial vehicle or a payload thereof. BRIEF DESCRIPTION OF DRAWINGS

[0006] Figure 1 An unmanned aerial vehicle (UAV) recovery system according to the teachings of the present disclosure is shown.

[0007] Figures 2A-2C An example recovery sequence according to the teachings of the present disclosure is depicted.

[0008] Figure 3 is Figure 1 A detailed diagram of an example marker implementation of an example UAV recovery system of

[0009] Figures 4A-4F Alternative marker implementer implementations that can be implemented in examples disclosed herein are depicted.

[0010] Figure 5 is a schematic diagram of an example aerial vehicle guidance analyzer system that can be implemented in examples disclosed herein.

[0011] Figure 6 is a flow diagram representing machine readable instructions of an example UAV recovery system and / or Figure 1 an example aerial vehicle guidance analyzer system. Figure 5

[0012] Figure 7 is a flow diagram of an example routine representing example machine readable instructions of Figure 6

[0013] Figure 8 is a block diagram of an example processing platform structured to execute instructions of Figure 6 and Figure 7 to implement an example UAV recovery system of Figure 1 and / or an example aerial vehicle guidance analyzer system of Figure 5

[0014] ​​​The figures are not to scale. Instead, thickness of layers or regions can be exaggerated in the drawings for clarity. Generally, the same reference numbers will be used throughout the drawings and accompanying written description to refer to the same or like parts. As used in this document, the term "above" describes a relationship between two components relative to the earth. If a second component has at least a portion between the earth and a first component, the first component is above the second component. Likewise, as used herein, when a first component is closer to the earth than a second component, the first component is "below" the second component. As noted above, the first component can be above or below the second component, have one or more other components between the first and second components, have no other components between the first and second components, be in contact with the second component, or not be in direct contact with the second component. As used in this patent, stating that any component is on (e.g., positioned on, located on, disposed on, or formed on, etc.) another component in any way indicates that the referenced component is in contact with the other component, or that the referenced component is above the other component such that one or more intervening components are between them. As used herein, unless otherwise indicated, a connection reference (e.g., attached, coupled, connected, and joined) can include intervening members between the elements referenced by the connection reference and / or relative movement between those elements. As such, a connection reference does not necessarily infer that two elements are directly connected and / or in a fixed relationship with one another. As used herein, stating that any component is "in contact" with another component is defined to mean that there are no intervening components between the two components.

[0015] Unless explicitly stated otherwise, descriptors such as "first," "second," "third," etc. are used herein without implying or otherwise indicating any meaning as to priorities, physical order, arrangement, and / or any meaning as to ordering in any way, but merely as labels and / or arbitrary names to distinguish elements for ease of understanding the disclosed examples. In some examples, a descriptor "first" can be used to refer to an element in the detailed description, while a different descriptor, such as "second" or "third," can be used in the claims to refer to the same element. In such instances, it is understood that such descriptors are used merely to clearly identify those elements that can otherwise share the same name, for example. As used herein, "approximately" and "about" refer to dimensions that can not be exact due to manufacturing tolerances and / or other real-world imperfections. As used herein, "substantially real-time" refers to occurring in a near instantaneous manner, recognizing that real-world delays for computation time, transmission, etc. can exist. Thus, unless otherwise stated, "substantially real-time" refers to real-time + / - 1 second. DETAILED DESCRIPTION

[0016] Methods and apparatuses to guide unmanned aerial vehicles for recovery of the unmanned aerial vehicles are disclosed. Some UAVs are recovered by a recovery system that employs a vertically suspended recovery towline. In particular, the UAV contacts and / or impacts the towline, and as a result, the UAV decelerates and / or stops flying, thereby enabling recovery of the UAV without the need for a runway. In some known implementations, a drogue or support beam is used to suspend the towline for recovery of the UAV. For example, guiding the UAV to the towline by known systems can require an expensive and weight-adding differential GPS system. Moreover, known systems require signal transmission, which in certain scenarios, can reveal the presence of the unmanned aerial vehicle. In contrast, examples disclosed herein can forego the need for signal transmission that reveals the presence of the UAV (e.g., for covert operations, surveillance operations, etc.).

[0017] Examples disclosed herein enable highly accurate recovery of an aerial vehicle (e.g., a UAV) via a stationary platform or a moving vehicle or vessel (e.g., a ship, etc.). Examples disclosed herein enable an aerial vehicle to be precisely guided for recovery without exerting a significant amount of force and / or stress on the aerial vehicle. Moreover, examples disclosed herein do not require a complex and expensive guidance system to turn the aerial vehicle to the towline for recovery of the aerial vehicle. Thus, examples disclosed herein can eliminate the need for transmission of guidance signals by enabling guidance to be performed primarily by the aerial vehicle. Accordingly, examples disclosed herein can enable covert operation of the aerial vehicle by reducing (e.g., eliminating) the need for guidance signals to be transmitted to and from the aerial vehicle.

[0018] According to examples disclosed herein, a towline carrying detectable markers is supported and / or suspended (e.g., vertically suspended according to the earth). In particular, the markers are positioned on the towline at different heights and / or longitudinal positions along the towline with defined distances between them. An aerial vehicle (e.g., a UAV) detects the markers and calculates and / or determines a position (e.g., a relative position) of at least a portion of the towline (e.g., a segment, a curved segment, a portion between two markers) for guiding the aerial vehicle toward the towline. In particular, a flight controller of the aerial vehicle can determine a distance and / or position of at least a portion of the towline based on an angle and / or angular position of the markers relative to the aerial vehicle and the known distances between the markers. In some examples, the aerial vehicle is guided to move between two adjacent markers (e.g., guided toward a center distance between two adjacent markers) and, in turn, contact the towline.

[0019] In some examples, information and / or parameters associated with the tether can be communicated to the aforementioned flight controller via the shape and / or sequence of the markers detected by the sensors. For example, a series of differently shaped markers can indicate a distance between the markers (e.g., adjacent markers). Additionally or alternatively, differently sized and / or readable indicators can also communicate information about the tether. The readable indicators can include barcodes or QR codes. In some examples, the markers can reflect light (e.g., visible light), laser, or infrared signals emitted from the aerial vehicle, thereby enabling the flight controller to determine the location of the markers. In some examples, a geometric center of the markers is calculated based on the sensor data. In some examples, the markers are illuminated. In some such examples, some of the markers can be illuminated in a pattern (e.g., a sequential pattern of illumination of the markers) to communicate information to the aerial vehicle for aerial vehicle recovery.

[0020] Figure 1 An unmanned aerial vehicle (UAV) recovery system 100 in accordance with the teachings of the present disclosure is shown. The illustrated example UAV recovery system 100 includes a base 102, a mast 104, a boom 106, and a tether 108 having markers 110. The example markers 110 are supported by the tether 108 and placed along different longitudinal positions of the tether 108. The example tether 108 is operatively coupled to a tensioner 111. In this example, the boom 106 includes a first end (e.g., proximal end) 112 at the mast 104 and a second end (e.g., distal end) 114 of the boom 106 opposite the first end 112. The illustrated example tether 108 extends from the mast 104 to the base 102 and is guided by the boom 106. Further, a first portion 116 of the tether 108 extends from the base 102 and / or the ground associated with the base 102 to the second end 114 for contact with a UAV 120, while a second portion 118 of the tether 108 extends between the second end 114 and the mast 104 to constrain / guide the tether 108.

[0021] The example UAV 120 includes a fuselage 121, wings 122, each including a distal capture portion 123, and a propulsion system 124. In this example, the distal capture portions 123 extend generally along a direction of motion of the UAV 120 from at least one corresponding wing 122. However, any suitable type of capture or recovery mechanism can alternatively be implemented on any other component and / or assembly of the UAV 120 (e.g., the fuselage 121). In the present example, the UAV 120 includes sensors 130 and a flight controller 132. In some examples, the UAV 120 carries and / or supports a payload (e.g., a package, a detachable package, a tear-off package, etc.) 125. In some such examples, the payload 125 is recovered by the tether 108.

[0022] To recover and / or capture UAV 120 as it moves along flight path 136, one of the remote capture portions 123 is brought into contact with the first portion 116 of tether 108. This causes UAV 120 to decelerate. Subsequently, UAV 120 is brought to a stop and remains attached to tether 108. In this example, tether 108 is suspended such that it is supported in the air (e.g., substantially vertical in the air, deviating from vertical by no more than 5 degrees). In some other examples, payload 125 is recovered from UAV 120 as it is guided toward tether 108. Payload 125 may be detached from or removed from UAV 120. In some examples, multiple payloads 125 are implemented, and information transmitted from tether 108 instructs UAV 120 that a specific one of the payloads 125 is left at tether 108.

[0023] In order to guide UAV 120 toward tether 108 and / or first part 116, as described below Figures 3 to 8 In more detail, the sensor 130 of UAV 120 detects marker 110 and uses the position of marker 110 to determine the position and / or distance of at least a portion of tether 108 relative to UAV 120. For example, the distance to tether 108 is determined based on known distances between two of the markers 110 (e.g., pre-programmed distances, predetermined distances, etc.) combined with, for example, triangulation and / or geometric calculations. Therefore, UAV 120 uses the determined position and / or distance of tether 108 to guide itself to contact and be captured by tether 108. Due to the self-guided navigation of UAV 120, no signals (e.g., differential GPS signals) are required to be transmitted and received from UAV 120.

[0024] In some examples, tensioner 111 maintains the tension of tether 108 within a threshold range and / or at a nominal tension value (e.g., a tension value that helps capture UAV 120). In some examples, tether 108 is steered within the necessary range of the aforementioned flight path 136 used to capture UAV 120.

[0025] Although Figure 1 The examples are shown in the context of fixed, land-based structures, but the examples disclosed herein can be applied to any fixed or mobile support structure (e.g., a vehicle). Furthermore, any appropriate number of markers 110 can be implemented. Specifically, the examples disclosed herein can be implemented using two markers 110.

[0026] Figures 2A-2C An example recycling sequence is depicted in accordance with the teachings of this disclosure. Figure 2AUAV 120 approaching the tether 108, which extends between the vessel 201 and the kite 202. In this example, as the UAV 120 is controlled and / or navigated based on the markers 110, the kite 202 supports the tether 108 such that the distal capture portion 123 (shown) of the UAV 120 contacts the tether 108 for deceleration and subsequent recovery of the UAV 120. Figure 1

[0027] Turning to Figure 2B , the UAV 120 is shown in contact with the tether 108. In this example, Figure 1 the distal capture portion 123 shown in FIG. 1 1 is captured on the tether 108. In this example, the distal capture portion 123 contacts the tether 108 between two markers 110. In some examples, the UAV 120 is directed to a point that is centered between the two markers 110 (e.g., the two markers 110 are adjacent to each other, the two markers 110 are farthest apart from each other, etc.).

[0028] Figure 2C depicts the UAV 120 captured on the tether 108 and being winched toward the vessel 201. In this particular example, Figure 1 the tensioner 111 shown in FIG. 12 causes movement (e.g., a winding movement) of the tether 108 and the UAV 120 toward the vessel 201 while the kite 202 maintains a lifting force (e.g., an upward lifting force in the view of FIG. 13) to support the tether 108. Thus, the UAV 120 is brought onto the vessel 201. Figure 2C

[0029] Figure 3 is a detailed view of an example marker implementation of the example UAV recovery system 100 of Figure 1 FIG. 1. According to the example shown, the tether 108 includes markers 110, all of which are positioned at different locations / heights (e.g., longitudinal positions) of the tether 108 and arranged (e.g., at equal intervals) equidistant from each other by a distance 302 (hereinafter distances 302a, 302b, 302c, 302d). In other examples, at least two of the distances 302a, 302b, 302c, 302d are different from each other. Moreover, in the present example, the markers 110 are spaced such that the UAV 120 can contact the tether 108 between two adjacent markers 110.

[0030] To direct Figures 1-2C ​​The UAV 120 is captured by the tether 108, and the markers 110 are detected by the sensors 130 of the UAV 120. In this example, the markers 110 are generally arcuate and / or circular in shape (e.g., a disc, a spherical volume, an elliptical outline, etc.) such that the flight controller 132 can calculate a center of the markers 110 based on sensor data from the sensors 130 (e.g., a geometric sensor). In turn, the flight controller 132 uses the center of the markers 110 to determine a location and / or spatial definition of at least a portion of the tether 108 based on known / predetermined distances between at least two markers 110. Specifically, the flight controller 132 determines (e.g., via triangulation, geometric calculations involving angles from the markers 110 of the UAV 120, etc.) a determination of a distance and / or heading between the UAV 120 and at least a portion of the tether 108 to direct movement of the UAV 120. In some examples, the flight controller 132 directs the UAV 120 to contact a close or center distance between two markers 110. In other words, the UAV 120’s contact with the tether 108 can occur approximately equidistant from adjacent ones of the markers 110.

[0031] In some examples, multiple distances between the markers 110 are calculated to determine a distance and / or heading between the UAV 120 and the tether 108. Additionally or alternatively, as the UAV 120 approaches the tether 108, the UAV 120 repeatedly and / or continuously (e.g., substantially in real-time) detects and analyzes locations (e.g., relative locations, longitudinal locations) of the markers 110. In some examples, an orientation (e.g., a tilt from vertical) of the tether 108 is determined by the flight controller 132 based on detected and / or determined locations of the markers 110. As discussed below in connection with FIG. 3, the flight controller 132 can determine a location of the UAV 120 relative to the tether 108 based on the detected and / or determined locations of the markers 110. Figures 4A-5 In more detail, in some examples, information is communicated to the UAV 120 and / or the flight controller 132 via the markers 110 (e.g., a shape of the markers 110, an indicator on the markers 110, a sequence of the markers 110, which payload 125 is to be dropped, etc.). In some examples, the flight controller 132 identifies and / or determines distances 302 between the markers 110 based on a number of the markers 110 (e.g., five markers 110 indicate that the distances 302a, 302b, 302c, 302d are each 1.0 meter). In some examples, the flight controller 132 determines a curvature and / or twist of the tether 108 based on the detected markers 110. In some examples, the flight controller 132 utilizes at least one distance between non-adjacent markers 110. Additionally or alternatively, the flight controller 132 utilizes a distance between overlapping markers 110.

[0032] While five of the example markers 110 are shown in this example, any suitable number (e.g., two, three, four, six, seven, eight, nine, ten, fifteen, twenty, thirty, fifty, etc.) of markers 110 can alternatively be implemented. In some specific examples, only two markers 110 are implemented.

[0033] In some examples, the markers 110 are at least partially composed of a reflective material. In some such examples, the markers 110 can reflect light (e.g., visible light), infrared signals, laser light, etc. emitted from the UAV 120 such that the UAV 120 can determine the location of the markers 110 using the corresponding reflected signals. In some examples, a rangefinder system is implemented on at least one of the markers 110 and / or the UAV 120.

[0034] Figures 4A-4F Alternative example marker implementations that can be implemented in examples disclosed herein are depicted. Turning to Figure 4A The leash 108 supports the markers 402, 404 along their longitudinal lengths. In this example, the markers 402, 404 have different shapes to communicate information to the flight controller 132 via the sensors 130 shown. Figure 1 For example, a series of differently shaped markers 402, 404 can communicate the distance between the markers 402, 404 (e.g., the defined distance between the circle with the pentagon below is associated with the distance between the markers 402, 404). Additionally or alternatively, the colors of the markers 402, 404 are changed to communicate information to the flight controller 132 via the sensors 130.

[0035] Figure 4B Example marker implementations in which the markers 410, 412, 414 have different sizes (e.g., outer dimensions, outer radii, etc.) are depicted. In the illustrated example, the different sizes can communicate information to the flight controller 132 (e.g., distance information, a space or location at which the UAV 120 contacts the leash 108, etc.). Additionally or alternatively, the colors of the markers 410, 412, 414 are changed to communicate information to the flight controller 132. In some examples, the different sizes can communicate as different lengths in a pattern that communicates information in a Morse-code-like message. Additionally or alternatively, different portions of the leash 108 are painted and / or wrapped to facilitate the communication of this information.

[0036] Turning to Figure 4C, an example marker 420 with readable indicators 422 is shown positioned on the leash 108. In this example, the indicators 422, some of which are different from one another, are implemented to convey information to the flight controller 132. In some examples, a combination of the indicators 422 indicates information, such as, for example, at least one distance between the markers 420. In some examples, the indicators 422 are arranged symmetrically to guide the UAV 120 to contact a segment and / or a portion of the leash 108.

[0037] Figure 4D A leash 108 with markers 430 installed is depicted. In this example, at least one of the markers 430 includes a readable indicator (e.g., a machine-readable indicator) 432. In this particular example, two readable indicators 432 are implemented on the markers 430. Further, the indicators 432 are implemented as QR codes. However, any other type of readable indicator (e.g., barcodes, text, etc.) can alternatively be implemented.

[0038] Figure 4E and Figure 4F An example marker implementation is depicted in which the markers are illuminated. Turning to Figure 4E , an example leash 108 is shown supporting markers 440. In this example, at least one of the markers is illuminated to guide the UAV 120 and / or to convey information to the flight controller 132 via the sensor 130. In some examples, at least one of the markers 440 is illuminated at predetermined time intervals (e.g., strobed, flashed, etc.).

[0039] Figure 4F A different example is depicted in which the markers 440 are illuminated according to Figure 4E . Specifically, Figure 4F An example marker implementation of Figure 4F is depicted, but at different times. In some examples, different ones of the markers 440 are illuminated at different time intervals to convey information to the flight controller 132. In other words, different ones of the markers 440 can be illuminated in a pattern to convey information to the flight controller 132.

[0040] Figures 3 to 4FAny aspect of the example flag implementation shown in FIG. 6 can be combined and / or integrated with any other aspect of the example flag implementation. In some examples, the information communicated to the flight controller 132 can include, but is not limited to, the line tension, the line material, the time / date, the status of the leash 108 (e.g., whether the leash 108 is in use / available), etc. In some examples, the leash 108 moves (e.g., rotates) and / or acts like a barber shop sign to communicate information to the flight controller 132. Additionally or alternatively, the information communicated from the leash 108 to the flight controller 132 can communicate an emergency communication or status (e.g., whether the light and / or radio is unable to communicate information for guiding the UAV 120).

[0041] Figure 5 is an example aerial vehicle guidance analyzer system 500 that can be implemented in the UAV 120 and / or the flight controller 132. Figure 1 FIG. 7 is a schematic overview of an example aerial vehicle guidance analyzer system 500 that can be implemented in the UAV 120 and / or the flight controller 132. The example aerial vehicle guidance analyzer system 500 includes a flight director 502, which in turn includes a flight analyzer 504, a flag analyzer 506, an information determiner 508, and a position calculator 510. In this example, the flight director 502 is communicatively coupled to the sensor 130, which is implemented as an optical sensor (e.g., a camera) to detect flags (e.g., flags 110, 402, 404, 410, 412, 420, 430, 440). However, any appropriate sensor type can be alternatively implemented.

[0042] The example flag analyzer 506 calculates and / or determines a position (e.g., a center position). In this example, the flag analyzer 506 determines a geometric center of the flags. Additionally or alternatively, the identification and / or indication of the flags assists the example flag analyzer 506 in determining the position. Figure 5 The example flag analyzer 506 calculates and / or determines a position (e.g., a center position). In this example, the flag analyzer 506 determines a geometric center of the flags. Additionally or alternatively, the identification and / or indication of the flags assists the example flag analyzer 506 in determining the position.

[0043] The position calculator 510 of the example shown calculates a position (e.g., a relative position) of at least a portion of the leash 108 relative to the UAV 120 based on the determined positions of the flags from the example flag analyzer 506. In this example, the position calculator 510 determines the position based on the angles of the flags relative to the UAV 120 in conjunction with known or predetermined distances between the flags (e.g., between adjacent flags). Additionally or alternatively, triangulation is used on the positions of the flags. For example, a geometric calculation of the position of at least a portion of the leash 108 can be determined based on the identified positions of the flags. Additionally or alternatively, the example position calculator 510 determines positions of multiple segments of the leash 108. In some examples, a 3-D spatial representation of the leash 108 is generated.

[0044] The flight analyzer 504 of the illustrated example controls and / or directs the motion of the UAV 120. In this example, the flight analyzer 504 directs the flight of the UAV 120 based on the calculated position of the tether 108 and / or a portion of the tether 108. This portion of the tether 108 can be associated with a segment of the tether 108 positioned between two adjacent markers.

[0045] In some examples, the information determiner 508 is implemented to determine information from the markers and / or the arrangement of the markers on the tether 108 as discussed above in connection with Figures 4A-4F For example, this information can relate to at least one distance between the markers. Additionally or alternatively, this information can correspond to a characteristic of the tether 108 such as, but not limited to, a geometric characteristic of the tether 108, an elastic characteristic of the tether 108, a marker configuration and / or arrangement of the tether 108, and / or the like. In some examples, the information determiner 508 determines information of the markers based on the markers being illuminated (e.g., illuminated in a continuous pattern).

[0046] While an example manner of implementing the flight director analyzer system 500 Figure 5 is shown in Figure 5 FIG. 10, Figure 5 one or more elements, processes and / or devices shown in Figure 5 may be combined, divided, re-arranged, omitted, eliminated and / or implemented in any other way. Further, Figure 5 The example flight analyzer 504, the example marker analyzer 506, the example information determiner 508, the example position calculator 510, and / or, more generally, the example flight director analyzer system 500 can be implemented by hardware, software, firmware and / or any combination of hardware, software and / or firmware. 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As used herein, the phrase “communication” (including variations thereof) covers direct and / or indirect communication via one or more intermediate components and does not require direct physical (e.g., wired) communication and / or constant communication, but additionally includes selective communication at periodic intervals, scheduled intervals, non-periodic intervals, and / or one-off events.

[0047] exist Figure 6 and Figure 7 The diagram shows the representation used for implementation. Figure 5 The flowchart illustrates the exemplary hardware logic, machine-readable instructions, hardware-implemented state machine, and / or any combination thereof of the aircraft guidance analyzer system 500. Machine-readable instructions may be one or more executable programs or portions thereof for execution by a computer processor and / or processor circuitry, such as those combined below. Figure 8 The processor 812 is shown in the example processor platform 800 discussed. Programs can be implemented in software stored on non-transitory computer-readable storage media (such as CD-ROMs, floppy disks, hard disks, DVDs, Blu-ray discs, or memory associated with the processor 812), but the entire program and / or portions thereof can alternatively be executed by means of a device other than the processor 812 and / or embodied in firmware or dedicated hardware. Furthermore, although references to... Figure 6 and Figure 7 The flowcharts shown describe an example program, but many other methods for implementing the example aircraft guidance analyzer system 500 can be used instead. For example, the execution order of the blocks can be changed, and / or some of the described blocks can be changed, eliminated, or combined. Additionally or alternatively, any or all of the blocks can be implemented by one or more hardware circuits (e.g., discrete and / or integrated analog and / or digital circuits, FPGAs, ASICs, comparators, operational amplifiers, logic circuits, etc.) configured to perform the corresponding operations without executing software or firmware. The processor circuitry can be distributed across different network locations and / or local to one or more devices (e.g., a multi-core processor in a single machine, multiple processors distributed across a server rack, etc.).

[0048] The machine-readable instructions described herein can be stored in one or more of a compressed format, an encrypted format, a segmented format, a compiled format, an executable format, a packaged format, etc. The machine-readable instructions as described herein can be stored as data or data structures that can be used to create, manufacture, and / or produce machine-executable instructions (e.g., portions of instructions, code, representations of code, etc.). For example, the machine-readable instructions can be segmented and stored on one or more storage devices and / or computing devices (e.g., servers) located in the same or different locations of a network or collection of networks (e.g., in the cloud, in edge devices, etc.). The machine-readable instructions can require one or more of installation, modification, adaptation, updating, combining, supplementing, configuring, decryption, decompression, unpacking, allocation, reassignment, compilation, etc. in order to make them directly readable, interpretable, and / or executable by computing devices and / or other machines. For example, the machine-readable instructions can be stored in multiple components that are individually compressed, encrypted, and stored on separate computing devices, where when decrypted, decompressed, and combined, the components form an executable instruction set that implements one or more functions that together form a program such as described herein.

[0049] In another example, the machine-readable instructions can be stored in a state in which they are readable by a processor circuit, but require the addition of a library (e.g., a dynamic link library (DLL)), a software development kit (SDK), an application programming interface (API), etc. to execute the instructions on a particular computing device or other device. In another example, the machine-readable instructions can require configuration (e.g., stored settings, data input, recorded network addresses, etc.) before the machine-readable instructions and / or corresponding program can execute in whole or in part. Thus, a machine-readable medium as used herein can include machine-readable instructions and / or programs regardless of the particular format or state of the machine-readable instructions and / or programs when stored or otherwise at rest or in transit.

[0050] The machine-readable instructions described herein can be represented by any past, present, or future instruction language, scripting language, programming language, etc. For example, the machine-readable instructions can be represented using any of the following languages: C, C++, Java, C#, Perl, Python, JavaScript, HyperText Markup Language (HTML), Structured Query Language (SQL), Swift, etc.

[0051] As described above, Figure 6 and Figure 7Example processes of the present disclosure can be implemented using executable instructions (e.g., computer and / or machine readable instructions) stored on a non-transitory computer and / or machine readable medium such as a hard disk drive, a flash memory, a read-only memory, a compact disk, a digital versatile disk, a cache, a random access memory, and / or any other storage devices or storage disks in which information is stored for any duration (e.g., for extended time periods, permanently, for brief instances, temporarily buffered, and / or the like). As used herein, the term non-transitory computer readable medium is expressly defined to include any type of computer readable storage device and / or storage disk and to exclude propagating signals and transitory

[0052] “Include” and “comprise” (and all forms of these terms) are used herein as open-ended terms. Thus, whenever a claim employs any form of “include” or “comprise” (e.g., includes, comprising, having, contain, etc.) as a preamble, it will be understood that additional elements, terms, etc. can be present in the corresponding claim or statement without falling outside the scope of that claim or statement. As used herein, the phrase “at least” is used as an open-ended term in the same manner as the term “comprising” and “including” when used as a transitional term in, for example, a claim. The term “and / or” when used in the form “A, B, and / or C” means A, B, C individually or any combination or subset of these, such as (1) A alone, (2) B alone, (3) C alone, (4) A with B, (5) A with C, (6) B with C, and (7) A, B, and C. As used herein in the context of describing structural, compositional, item, object, and / or thing related contexts, the phrase “at least one of A and B” is intended to refer to any of (1) at least one A, (2) at least one B, and (3) at least one A and at least one B. Similarly, as used herein in the context of describing structural, compositional, item, object, and / or thing related contexts, the phrase “at least one of A and B” is intended to refer to implementations that include (1) at least one A, (2) at least one B, and (3) at least one A and at least one B. As used herein in the context of describing performance or execution of processes, instructions, actions, activities, and / or steps, the phrase “at least one of A and B” is intended to refer to any of (1) at least one A, (2) at least one B, and (3) at least one A and at least one B. Similarly, as used herein in the context of describing performance or execution of processes, instructions, actions, activities, and / or steps, the phrase “at least one of A and B” is intended to refer to implementations that include (1) at least one A, (2) at least one B, and (3) at least one A and at least one B.

[0053] As used herein, singular references (e.g., “a,” “an,” “one,” “the,” etc.) do not exclude a plurality. As used herein, the term “a” or “an” entity refers to one or more than one of that entity. The terms “a” (or “an”), “one or more,” and “at least one” are used interchangeably herein. Furthermore, although individually listed, a plurality of means, elements or method actions can be implemented by, e.g., a single unit or processor. Additionally, although various features can be included in different examples or claims, these features can be combined, and the name of a feature cannot be construed as excluding from a claim a feature that is different from that feature.

[0054] Figure 6 The example method 600 begins with an aerial vehicle (e.g., UAV 120) being guided by a marker (e.g., markers 110, 402, 404, 410, 412, 420, 430, 440) to recover the aerial vehicle. Specifically, the aerial vehicle to be guided by the marker guides the aerial vehicle into contact with the tether 108. In other examples, the aerial vehicle is guided toward the tether 108 for recovery of a payload 125 carried by the aerial vehicle.

[0055] At block 602, the tether 108 is suspended. In the illustrated example, the tether 108 is suspended generally vertically with respect to the earth. In some examples, a tension of the tether 108 is maintained by the tensioner 111 to promote stability of the tether 108 and / or recovery of the aerial vehicle.

[0056] At block 604, the marker analyzer 506 of the illustrated example identifies the marker. Specifically, the example marker analyzer 506 determines a presence of the marker based on data from the sensor 130 for subsequent determination of at least one distance and / or angular displacement from the marker (e.g., between two adjacent markers) to the aerial vehicle.

[0057] At block 606, in some examples, the information determiner 508 determines information from the marker and / or arrangement of the markers. For example, a shape and / or other external features of the marker can indicate a distance between adjacent markers and / or a portion of the tether 108 to which the aerial vehicle is to be guided.

[0058] At block 608, the aerial vehicle is guided toward the tether 108 based on the marker detected by the sensor 130, as discussed in more detail below. Figure 7 The aerial vehicle is guided toward the tether 108 based on the marker detected by the sensor 130, as discussed in more detail below.

[0059] At block 610, the vehicle is engaged with the towline 108. In this example, at least a portion of the vehicle contacts and is captured by the towline 108. In some examples, the vehicle is controlled to impact the towline 108 at a defined speed range. In some other examples, the vehicle engages the towline 108 by contacting the towline 108 with the payload 125.

[0060] At block 612, the vehicle and / or payload 125 is towed and / or recovered via the towline 108. In this example, the vehicle is pulled toward the vessel 201 for recovery of the vehicle. In other examples, the vehicle is pulled toward a land-based fixed ground structure.

[0061] At block 614, a determination is made as to whether the process is repeated. If the process is to be repeated (block 614), control of the process returns to block 602. Otherwise, the process ends. The determination can be based on whether additional vehicles are to be recovered.

[0062] Turning to Figure 7 The example routine 608 begins with the vehicle being directed to fly toward the towline 108 for recovery. In this example, the vehicle is directed to impact the towline 108.

[0063] At block 702, the example marker analyzer 506 determines a center of the markers. In this particular example, the marker analyzer 506 calculates and / or identifies a geometric center of the markers based on data (e.g., image data) from the sensors 130.

[0064] At block 704, the example marker analyzer 506 determines a distance and / or angular displacement between the markers. In the illustrated example, the distance and / or angular displacement is known. In other examples, the distance and / or angular displacement is communicated via the markers.

[0065] At block 706, the position calculator 510 of the illustrated example calculates a distance and / or position of the towline 108 (e.g., a portion of the towline 108 that contacts the vehicle) relative to the vehicle based on the positions of the markers. Additionally or alternatively, the example position calculator calculates a bearing and / or spatial representation of at least a portion of the towline 108 (e.g., a portion of the towline 108 between adjacent markers).

[0066] In box 708, example flight analyzer 504 controls and / or directs the aircraft's movement toward tether 108, and the process ends / returns. Specifically, the aircraft's movement (e.g., the aircraft's heading and altitude) is directed based on a calculated position and / or distance from tether 108 determined by position calculator 510. In some examples, flight analyzer 504 controls the aircraft toward tether 108 substantially in real time. In some such examples, sensor data related to the marker from sensor 130 is analyzed continuously and / or periodically as the aircraft moves closer to tether 108.

[0067] Figure 8 It is constructed to execute Figure 6 and Figure 7 Instructions to achieve Figure 5 The diagram illustrates an example processor platform 800 for an aircraft guidance analyzer system 500. The processor platform 800 can be, for example, a server, personal computer, workstation, self-learning machine (e.g., neural network), mobile device (e.g., cellular phone, smartphone, such as iPad). TM Tablet computers, personal digital assistants (PDAs), internet-connected appliances, DVD players, CD players, digital video recorders, Blu-ray players, game consoles, personal video recorders, set-top boxes, headphones or other wearable devices, or any other type of computing device.

[0068] The processor platform 800 shown in the example includes a processor 812. The processor 812 shown in the example is hardware. For example, the processor 812 can be implemented by one or more integrated circuits, logic circuits, microprocessors, GPUs, DSPs, or controllers from any desired home or manufacturer. The hardware processor can be a semiconductor-based (e.g., silicon-based) device. In this example, the processor implements an example flight analyzer 504, an example marker analyzer 506, an example information determiner 508, and an example location calculator 510.

[0069] The processor 812 of the illustrated example includes local memory 813 (e.g., cache). The processor 812 of the illustrated example communicates via bus 818 with main memory, which includes volatile memory 814 and non-volatile memory 816. The volatile memory 814 may be synchronous dynamic random access memory (SDRAM), dynamic random access memory (DRAM), etc. Dynamic Random Access Memory It can be implemented using flash memory and / or any other type of random access memory device. The non-volatile memory 816 can be implemented using flash memory and / or any other desired type of memory device. Access to the main memory 814, 816 is controlled by the memory controller.

[0070] The processor platform 800 shown in the example also includes interface circuitry 820. Interface circuitry 820 can be implemented using any type of interface standard, such as an Ethernet interface, Universal Serial Bus (USB), etc. Interfaces, Near Field Communication (NFC) interfaces and / or PCI Fast Interfaces.

[0071] In the example shown, one or more input devices 822 are connected to interface circuitry 820. Input devices 822 allow a user to input data and / or commands into processor 812. Input devices may be implemented as, for example, audio sensors, microphones, cameras (still or video), keyboards, buttons, mice, touchscreens, trackpads, tracking balls, isotopes, and / or voice recognition systems.

[0072] One or more output devices 824 are also connected to the interface circuitry 820 of the illustrated example. The output devices 1024 may be implemented, for example, by a display device (e.g., a light-emitting diode (LED), an organic light-emitting diode (OLED), a liquid crystal display (LCD), a cathode ray tube display (CRT), an in-situ switching (IPS) display, a touchscreen, etc.), a haptic output device, a printer, and / or a speaker. Therefore, the interface circuitry 820 of the illustrated example typically includes a graphics driver card, a graphics driver chip, and / or a graphics driver processor.

[0073] The interface circuitry 820 shown in the example also includes communication devices such as transmitters, receivers, transceivers, modems, residential gateways, wireless access points, and / or network interfaces to facilitate data exchange with external machines (e.g., any kind of computing device) via network 826. This communication can be via, for example, Ethernet connections, digital subscriber line (DSL) connections, telephone line connections, coaxial cable systems, satellite systems, field wireless systems, cellular telephone systems, etc.

[0074] The processor platform 800 shown in the example also includes one or more mass storage devices 828 for storing software and / or data. Examples of such mass storage devices 828 include floppy disk drives, hard disk drives, compact disk drives, Blu-ray disc drives, redundant array of independent disks (RAID) systems, and digital universal disc (DVD) drives.

[0075] Figure 6 and Figure 7 The machine-executable instructions 832 may be stored in mass storage device 828, in volatile memory 814, in non-volatile memory 816 and / or on a removable non-transitory computer-readable storage medium such as a CD or DVD.

[0076] Example 1 includes an apparatus for recovering an aerial vehicle or a payload thereof. The apparatus includes a tether and markers supported by the tether at different locations of the tether, the markers being detected by the aerial vehicle, the aerial vehicle being guided to engage the tether by determining locations of the markers and computing a location of at least a portion of the tether based on the determined locations of the markers.

[0077] Example 2 includes the apparatus as defined in example 1, wherein a flight controller of the aerial vehicle determines the location of the at least a portion of the tether based on angles of some of the markers relative to the aerial vehicle.

[0078] Example 3 includes the apparatus as defined in any one of examples 1 or 2, wherein a flight controller of the aerial vehicle determines at least one parameter associated with the tether by determining at least one of a shape, a size, and an indicator of the markers.

[0079] Example 4 includes the apparatus as defined in example 3, wherein at least two of the markers include different shapes, the flight controller determining the at least one parameter based on the different shapes.

[0080] Example 5 includes the apparatus as defined in any one of examples 3 or 4, wherein some of the markers have different sizes, the flight controller determining the at least one parameter based on the different sizes.

[0081] Example 6 includes the apparatus as defined in any one of examples 1 to 5, wherein three of the markers are spaced apart from each other at equal intervals.

[0082] Example 7 includes the apparatus as defined in any one of examples 1 to 6, wherein the markers include at least one indicator to be read by a sensor of the aerial vehicle.

[0083] Example 8 includes the apparatus as defined in any one of examples 1 to 7, wherein the markers reflect visible light, laser, or infrared emitted from the aerial vehicle.

[0084] Example 9 includes the apparatus as defined in any one of examples 1 to 8, wherein the markers are illuminated.

[0085] Example 10 includes a non-transitory computer-readable medium having instructions that, when executed, cause at least one processor to: determine locations of markers on a tether, the markers being arranged at different locations of the tether; compute a location of at least a portion of the tether based on the determined locations of the markers; and direct movement of an aerial vehicle to engage the tether based on the computed location for recovery of the aerial vehicle or a payload of the aerial vehicle.

[0086] Example 11 includes the non-transitory computer-readable medium as defined in example 10, wherein the position of the tether is calculated based on an angle of some of the markers relative to the aerial vehicle.

[0087] Example 12 includes the non-transitory computer-readable medium as defined in any one of examples 10 or 11, wherein the movement of the aerial vehicle is directed such that the aerial vehicle contacts a tether between two adjacent ones of the markers.

[0088] Example 13 includes the non-transitory computer-readable medium as defined in any one of examples 10 to 12, wherein the instructions cause the at least one processor to determine at least one parameter of the markers based on a shape of the detected markers.

[0089] Example 14 includes the non-transitory computer-readable medium as defined in example 13, wherein the at least one parameter of the markers comprises a distance between at least two of the markers.

[0090] Example 15 includes the non-transitory computer-readable medium as defined in example 14, wherein the instructions cause the at least one processor to determine a center of the markers based on sensor data.

[0091] Example 16 includes a method for directing an aerial vehicle. The method includes determining a position of markers arranged at different positions of a tether, calculating, by at least one processor executing instructions, a position of at least a portion of the tether based on the determined position of the markers, and directing the aerial vehicle toward the tether based on the calculated position of the at least a portion of the tether to recover the aerial vehicle or a payload thereof.

[0092] Example 17 includes the method as defined in example 16, wherein the determination of the position is based on at least one of a light, an infrared signal, and a laser emitted from the aerial vehicle that is reflected by the markers.

[0093] Example 18 includes the method as defined in any one of examples 16 or 17, wherein the directing of the aerial vehicle includes directing the aerial vehicle toward a center between two adjacent ones of the markers.

[0094] Example 19 includes the method as defined in any one of examples 16 to 18, further comprising determining, by using the at least one processor executing instructions, at least one parameter of the markers based on a shape of the detected markers.

[0095] Example 20 includes the method as defined in any one of examples 16 to 19, further comprising determining, by using the at least one processor executing instructions, at least one parameter of the markers based on reading an indicator of at least one of the markers.

[0096] From the foregoing, it will be appreciated that example methods, devices, and articles of manufacture have been disclosed that enable accurate recovery of an aerial vehicle, such as a UAV. Moreover, examples disclosed herein enable covert operation of aerial vehicles by reducing and / or eliminating the need for a guided signal associated with the aerial vehicle. Thus, examples disclosed herein can be used for guidance of aerial vehicles without an effective signal (e.g., a low signature signal). By eliminating a complex and relatively expensive guidance system, examples disclosed herein can also be cost effective. Examples disclosed herein can enable recovery and guidance of aerial vehicles in low visibility conditions. Examples disclosed herein can also be implemented in low visibility conditions and / or reduced line of sight conditions, such as when an aerial vehicle does not have a line of sight to a base station (e.g., the base station is behind a wall, cliff, tree line, etc. or is otherwise inaccessible).

[0097] While certain example methods, devices, and articles of manufacture have been disclosed herein, the scope of coverage of this patent is not limited thereto. On the contrary, this patent covers all methods, devices, and articles of manufacture falling within the scope of the claims appended hereto, and their equivalents.

[0098] The following claims are hereby incorporated into this detailed description by this reference, wherein each claim stands as a separate embodiment of this disclosure.

Claims

1. An apparatus (100) for recovering an aerial vehicle (120) or a payload (125) carried by the aerial vehicle, the apparatus (100) comprising: a tether (108); and a plurality of markers (110, 402, 404, 410, 412, 420, 430, 440) supported by the tether (108) at different locations of the tether (108), the markers (110, 402, 404, 410, 412, 420, 430, 440) being detected by the aerial vehicle (120), the aerial vehicle (120) being guided to engage the tether (108) by: determining locations of the markers (110, 402, 404, 410, 412, 420, 430, 440), calculating a location of at least a portion of the tether (108) based on the determined locations of the markers (110, 402, 404, 410, 412, 420, 430, 440), and guiding movement of the aerial vehicle based on the location of the at least a portion of the tether such that at least one of the aerial vehicle and the payload carried by the aerial vehicle contacts the tether while the aerial vehicle is in flight. a flight controller (132) of the aerial vehicle (120) is configured to determine the location of the at least a portion of the tether (108) based on angles of some of the markers (110, 402, 404, 410, 412, 420, 430, 440) relative to the aerial vehicle (120).

2. The device (100) of claim 1, wherein, a flight controller (132) of the aerial vehicle (120) is configured to determine at least one parameter associated with the tether (108) by determining at least one of a shape, a size, and an indicator (422, 432) of the markers (110, 402, 404, 410, 412, 420, 430, 440).

3. The device (100) of claim 1, wherein, at least two of the markers (110, 402, 404, 410, 412, 420, 430, 440) comprise different shapes, the flight controller (132) determining the at least one parameter based on the different shapes.

4. The device (100) of claim 3, wherein, some of the markers (110, 402, 404, 410, 412, 420, 430, 440) have different sizes, the flight controller (132) determining the at least one parameter based on the different sizes.

5. The device (100) of claim 3, wherein, three of the markers (110, 402, 404, 410, 412, 420, 430, 440) are spaced apart from each other at equal intervals.

6. The device (100) of claim 1, wherein, the markers (110, 402, 404, 410, 412, 420, 430, 440) comprise at least one indicator (422, 432) to be read by a sensor (130) of the aerial vehicle (120).

7. The device (100) of claim 1, wherein, the apparatus comprises an unmanned aerial vehicle recovery system (100) configured to recover the aerial vehicle (120) or the payload (125).

8. The device (100) of claim 1, wherein, ​ 9. A method (600) of guiding a flying vehicle (120), the method comprising: determining positions of markers (110, 402, 404, 410, 412, 420, 430, 440) placed at different positions of a tether (108); computing, by executing instructions using at least one processor, a position of at least a portion of the tether (108) based on the determined positions of the markers (110, 402, 404, 410, 412, 420, 430, 440); and guiding the flying vehicle at a distance from the tether by a distance towards the tether (108) based on the position of the at least a portion of the tether (108) to contact the tether for recovering the flying vehicle (120) or a payload (125) of the flying vehicle.

10. The method (600) of claim 9, wherein, The determination of the positions is based on at least one of light, infrared signals and laser light emitted from the flying vehicle (120) reflected by the markers (110, 402, 404, 410, 412, 420, 430, 440).

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