Unmanned Aerial Vehicle (UAV) Landing System and Method

Abstract

To provide an unmanned aerial vehicle (UAV) landing system and a method.SOLUTION: A system (100) for making an unmanned aerial vehicle (UAV)(102) land at a destination (202) includes a landing adjustment control unit (114) configured to switch the UAV (102) from a normal operation mode to a landing mode as the UAV (102) enters a regulated air area (204) associated with the destination (202). The normal operation mode includes a normal command for flying or navigating to the destination (202). The landing mode includes a landing command for a landing sequence on a landing field (200) of the destination (202).SELECTED DRAWING: Figure 1

Description

Technical Field

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

Background Art

[0002] UAVs (also known as aerial drones) have become rapidly accessible to businesses and individuals. For example, certain businesses can utilize UAVs to deliver products to customers. As another example, individuals can fly UAVs for entertainment purposes.

[0003] The airspace in certain locations can be congested with a relatively large number of UAVs. Additionally, certain airspaces may be regulated for safety reasons. For example, the airspace around airports, sports events, etc. may be regulated to limit the number of UAVs therein.

[0004] Moreover, many UAVs may arrive at a particular location during the day. For example, in a metropolitan area, various business-related UAVs may arrive at locations at or near an airport. As can be understood, the arrival of a large number of UAVs at a particular location can cause UAVs to interfere with each other or with other vehicles (such as civilian aircraft) at or near that location.

[0005] UAVs may be prohibited from flying near or landing at a particular location. Typically, in areas where UAV landings are permitted, human intervention is required to land the UAV. With the increasing use, UAVs may outnumber civilian aircraft in the airspace. Thus, in the future, human-based management and control of UAV traffic will likely prove difficult if not impossible.

Summary of the Invention

Problems to be Solved by the Invention

[0006] There is a need for a system and method to adjust the arrival of an unmanned aerial vehicle (UAV) at a specific location. Further, there is a need for a system and method to automatically and safely land a UAV at a specific location.

Means for Solving the Problems

[0007] With these needs in mind, certain embodiments of the present disclosure provide a system for landing an unmanned aerial vehicle (UAV) at a destination. The system includes a landing adjustment control unit configured to switch the UAV from a normal operation mode to a landing mode in response to the UAV entering a restricted airspace associated with the destination. The normal operation mode includes normal commands for flying and navigating to the destination. The landing mode includes landing commands for a landing sequence to a landing site at the destination. The landing sequence may include one or more holding patterns.

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

[0009] In at least one embodiment, the landing adjustment control unit is configured to take over the operation control of the UAV in the landing mode in order to automatically land the UAV at the landing site. In at least one embodiment, the landing adjustment control unit is configured to transmit landing commands to the UAV.

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

[0011] Certain embodiments of the present disclosure provide a method for landing an unmanned aerial vehicle (UAV) at a destination. The method includes using a landing adjustment control unit to switch the UAV from a normal operation mode to a landing mode in response to the UAV entering a restricted airspace associated with the destination. The normal operation mode includes normal commands for flying and navigating to the destination. The landing mode includes landing commands for a landing sequence to a landing site at the destination.

[0012] The method may include placing the landing adjustment control unit within a different monitoring station separate from the UAV. Optionally, the method may include placing the landing adjustment control unit within the UAV.

[0013] Certain embodiments of the present disclosure provide a system for landing an unmanned aerial vehicle (UAV) at a destination. The system includes a plurality of UAVs arriving at the destination. The landing adjustment control unit is configured to switch the UAV from a normal operation mode to a landing mode in response to the UAV entering a restricted airspace associated with the destination. The normal operation mode includes normal commands for flying and navigating to the destination. The landing mode includes landing commands for a landing sequence to a landing site at the destination. The landing adjustment control unit is configured to automatically provide a landing order to the plurality of UAVs at the landing site.

Brief Description of the Drawings

[0014]

Figure 1

Figure 2

Figure 3

Figure 4

Best Mode for Carrying Out the Invention

[0015] The above summary, as well as the following detailed description of specific embodiments, will be better understood when read in conjunction with the accompanying drawings. As used herein, the words "a" or "an" preceding an element or step should not necessarily be construed as excluding a plurality of elements or steps. Further, reference to "one embodiment" is not intended to be construed as excluding the existence of additional embodiments that incorporate the recited features. Also, unless the contrary is explicitly stated, an embodiment "comprising" or "having" one or more elements with certain conditions can include additional elements that do not have those conditions.

[0016] Embodiments of the present disclosure provide a system and method for coordinating the arrival of one or more unmanned aerial vehicles (UAVs) at a fixed location and the sequential landing of the UAVs at the fixed location. Certain embodiments of the present disclosure provide an unmanned aerial vehicle (UAV) landing system and method configured to control the approach and arrival of a UAV at a specific landing location, such as a designated UAV port. In at least one embodiment, the UAV landing system and method include a landing adjustment control unit configured to switch the UAV to landing mode within a defined restricted airspace. For example, the UAV may be switched to landing mode when it enters within a predetermined distance of the landing location. The predetermined distance may be, for example, 50 feet, 100 feet, 200 feet, or more.

[0017] In at least one embodiment, the UAV starts a mission in a normal operation mode, and the UAV flies and navigates towards a destination including a landing location in a known normal manner. In the normal operation mode, the UAV operates and flies according to pre-programmed instructions that fly and navigate the UAV to the destination. In response to the UAV entering a restricted airspace above and around the landing location of the destination, the UAV switches to a landing mode. In the landing mode, the UAV can detect and receive a landing command output by a landing adjustment control unit. For example, the landing command may be transmitted by an infrared signal, an ultrasonic signal, a wireless signal, or the like. The landing command may be changed depending on the current weather and traffic conditions near the destination. Alternatively, instead of receiving (or instead of detecting and receiving) a landing command, the landing command may be pre-programmed in the UAV.

[0018] Embodiments of the present disclosure provide a UAV landing system and method that safely integrate a UAV into airspace while allowing flexibility and spontaneity for the UAV's mission. Embodiments of the present disclosure provide an automatic UAV landing system and method that do not require a human to control UAV traffic.

[0019] FIG. 1 is a block diagram of a UAV landing system 100 according to an exemplary embodiment of the present disclosure. The UAV landing system 100 includes a UAV 102 and a monitoring station 104. The monitoring station 104 may be located at or near a specific location where the UAV 102 lands. The monitoring station 104 is configured to communicate with the UAV 102 through infrared, laser, ultrasonic, wireless, and / or other wireless signals, etc.

[0020] The UAV 102 includes an operation control unit 106 operably coupled to a propulsion system 108, a communication device 110, and a position sensor 112 through one or more wired or wireless connections, etc. The propulsion system 108 may include one or more turbofan engines, one or more propellers, one or more rotors (such as those used in helicopters), etc. The communication device 110 may be an antenna, a transceiver, a wireless device, a camera, etc. configured to transmit and receive wireless communication signals. The position sensor 112 may be a navigation device such as a global positioning system (GPS) device configured to detect and determine the position of the UAV relative to a destination, for example.

[0021] The monitoring station 104 may be a ground station at or near the destination. Optionally, the monitoring station 104 may be located away from the destination. As another example, the monitoring station 104 may be mounted on an aircraft, a ship, a spacecraft, etc. In at least one embodiment, the monitoring station 104 may be mounted on a geostationary satellite.

[0022] The monitoring station 104 includes a landing adjustment control unit 114 operably coupled to a communication device 116 such as an antenna, a transceiver, a wireless device, a camera, etc., and / or one configured to transmit and receive wireless communication signals. For example, the landing adjustment control unit 114 may transmit a landing command to the UAV 102 through the communication device 116. The UAV 102 and the monitoring station 104 communicate with each other through their respective communication devices 110 and 116. Optionally, the landing adjustment control unit 114 may be mounted on the UAV 102 instead of in the monitoring station 104.

[0023] During operation, the UAV 102 departs from the departure point towards the destination according to the normal operation mode, and the instructions therefor may be stored in the memory of the operation control unit 106 (and / or the memory coupled to the operation control unit 106). The normal operation mode includes normal instructions for flying and navigating to the destination. For example, in the normal operation mode, the UAV 102 flies and navigates towards the destination according to the flight plan.

[0024] When the UAV 102 enters a restricted airspace related to the destination, the UAV 102 switches from the normal operation mode to the landing mode. The landing mode includes landing instructions for the landing sequence to the landing site at the destination. For example, when the UAV 102 enters the restricted airspace (determined by the position of the UAV 102 detected by the position sensor 112), the landing adjustment control unit 114 may output a landing mode signal to the UAV 102. The UAV 102 receives the landing mode signal from the monitoring station 104. The operation control unit 106 receives the landing mode signal and switches the UAV 102 to the landing mode.

[0025] In at least one embodiment, the landing mode signal output from the monitoring station includes instructions for the landing sequence. In at least one embodiment, the operation control unit 106 is pre-programmed with instructions for the landing sequence, and the landing mode signal from the monitoring station simply causes the operation control unit 106 of the UAV 102 to switch from the normal operation mode to the landing mode. In at least one embodiment, when the operation control unit 106 switches to the landing mode, the landing adjustment control unit 114 takes over the operation control of the UAV 102 to automatically land the UAV 102 at the destination.

[0026] The landing sequence provides for the adjustment and controlled landing of UAV 102. For example, the landing sequence may start a hold pattern at a specific altitude (such as 100 feet) for a predetermined time (such as 30 seconds) for UAV 102 before approach and landing at the destination landing site, and then the UAV may descend to a low altitude (such as 50 feet) for a predetermined time (such as 20 seconds). The landing sequence may include additional, fewer, and / or different hold patterns (or no hold patterns) over a longer or shorter period than shown. It should be understood that the described landing sequence is merely a non-limiting example.

[0027] Furthermore, the landing sequence may vary for different UAVs 102 based on the UAV traffic associated with the destination. For example, if a large number of UAVs 102 are in the vicinity of the destination, the landing sequence for each UAV 102 may include different hold patterns. As another example, if a relatively small number of UAVs 102 are in the vicinity of the destination, the landing sequence may not include any hold patterns but may simply include a direct approach and landing procedure.

[0028] FIG. 2 is a schematic diagram of a UAV landing system 100 configured to adjust the arrival and landing of UAVs 102a, 102b, 102c, and 102d at landing site 200 of destination 202, according to an exemplary embodiment of the present disclosure. As shown, UAVs 102a, 102b, 102c, and 102d are in the vicinity of destination 202 and are scheduled to land at landing site 200. More or fewer UAVs than shown may be in the vicinity of destination 202.

[0029] The restricted airspace 204 is defined for the destination 202 above and around the landing site 200. The restricted airspace 204 may be a hemispherical spatial volume. For example, the restricted airspace 204 may be defined by a radial distance r from the center of the landing site 200. The radial distance r may be, for example, 200 feet. It should be understood that 200 feet is merely a non-limiting example. The radial distance r may optionally be longer or shorter than 200 feet (such as 1 mile or 50 feet). Also, optionally, the restricted airspace 204 may have a shape other than a hemisphere. For example, the restricted airspace 204 may be cylindrical or conical.

[0030] Referring to FIGS. 1 and 2, UAVs 102a, 102b, 102c, and 102d fly towards the destination 202 according to the normal operation mode outside the restricted airspace 204. When UAVs 102a, 102b, 102c, and 102d enter the restricted airspace 204 (such as UAV 102c shown in FIG. 1), UAVs 102a, 102b, 102c, and 102d switch to the landing mode. As described above, the monitoring station 104 may output a landing mode signal to UAVs 102a, 102b, 102c, and 102d when they enter the restricted airspace 204. The landing adjustment control unit 114 automatically adjusts the landing of UAVs 102a, 102b, 102c, and 102d at the landing site 200 based on, for example, the order in which UAVs 102a, 102b, 102c, and 102d enter the restricted airspace 204. In at least one embodiment, the position sensor 112 determines the location of UAVs 102a, 102b, 102c, and 102d. The landing adjustment control unit 114 receives position signals sent from UAVs 102a, 102b, 102c, and 102d. In at least one embodiment, the monitoring station 104 may track the positions of UAVs 102a, 102b, 102c, and 102d through a separate tracking system such as radar, satellite tracking, ADS-B, etc.

[0031] As shown, UAV 102c is within restricted airspace 204. Therefore, UAV 102c first switches to the landing mode and can thus first land at landing site 200. The landing order may be based on the time when each of UAVs 102a, 102b, 102c, and 102d enters restricted airspace 204. Optionally, the landing adjustment control unit 114 may adjust the landing of UAVs 102a, 102b, 102c, and 102d based on additional factors such as the total flight time, the capabilities of UAVs 102a, 102b, 102c, and 102d (e.g., remaining battery power, remaining fuel, etc.), weather conditions, and the years of use of UAVs 102a, 102b, 102c, and 102d. For example, the landing adjustment control unit 114 may rearrange the landing queue based on whether UAVs 102a, 102b, 102c, and 102d have flown for a longer time than others. In this way, a UAV 102 that enters restricted airspace 204 after another UAV 102 may land before this other UAV 102. As another example, the landing adjustment control unit 114 may mediate the landing order of multiple UAVs 102 that enter restricted airspace 204 simultaneously based on the number of flight times, the relative sizes of the UAVs, the departure points, etc.

[0032] As shown in FIGS. 1 and 2, the landing adjustment control unit 114 may be housed within the monitoring station 104. Optionally, one or more of the UAVs 102a, 102b, 102c, and 102d may include the landing adjustment control unit 114. For example, at least one of the operation control units 106 of the UAVs 102a, 102b, 102c, and 102d may include the landing adjustment control unit 114 (or the landing adjustment control unit 114 may be operably coupled to the operation control unit 106). In at least one embodiment, each of the UAVs 102a, 102b, 102c, and 102d may include a separate landing adjustment control unit 114. Thus, the UAV landing system 100 may not include a separate different monitoring station 104. Instead, the landing adjustment control unit 114 may be mounted on at least one of the UAVs 102a, 102b, 102c, and 102d, and the UAVs 102a, 102b, 102c, and 102d may communicate with each other to adjust the landing of each of the UAVs 102a, 102b, 102c, and 102d.

[0033] As described herein, the UAV 102 operates in accordance with the normal operation mode outside the restricted airspace 204 in order to fly and navigate towards the destination 202. In response to the UAV 102 entering the restricted airspace 204, the UAV 102 switches to the landing mode. The UAV 102 may have instructions for the landing sequence stored in the memory and / or may receive instructions for the landing sequence from the landing adjustment control unit 114. The UAV 102 follows the instructions for the landing sequence in order to automatically land on the landing site 200.

[0034] In at least one embodiment, the landing adjustment control unit 114 takes over the operation control of the UAV 102 in the landing mode in order to automatically land on the landing site 200. For example, the instructions for the landing sequence may be stored in the memory of the landing adjustment control unit 114, and instead of simply sending instructions to the UAV 102, the landing adjustment control unit 114 controls the UAV 102 in the landing mode in accordance with the instructions.

[0035] The landing adjustment control unit 114 provides instructions that define one or more procedures for the arrival and landing of the UAV 102. The instructions are automatically output and / or otherwise followed in response to the UAV 102 entering the restricted airspace 204 (such as when the UAV 102 enters within a predetermined distance to the landing site 200). Each procedure assigned to the UAV 102 can be adapted to the performance of the specific UAV 102 (current speed, distance, angular position, etc.).

[0036] Referring back to FIG. 1, in at least one embodiment, the UAV 102 may include a signal sensor 113 (such as an ultrasonic, infrared, laser, or other sensor), which may be configured to detect the corresponding signal output by the monitoring station 104. For example, when the UAV 102 enters the restricted airspace 204, the UAV 102 switches to the landing mode and activates the signal sensor 113 to scan and detect the signal output by the monitoring station 104. The UAV 102 may be in a holding pattern until it receives the signal output by the monitoring station 104. The signal output by the monitoring station 104 may include instructions for the landing sequence. In response to receiving the signal from the monitoring station 104, the UAV 102 may then start the landing sequence based on the received instructions. Optionally, the UAV 102 may not include the signal sensor 113 and instead may be in communication with the landing adjustment control unit 114 as described herein.

[0037] As used herein, terms such as "control unit", "central processing unit", "unit", "CPU", "computer", etc. may include any processor-based or microprocessor-based system, including microcontrollers, reduced instruction set computers (RISC), application-specific integrated circuits (ASIC), logic circuits, and other circuits or systems using processors, which are capable of performing the functions described herein, including hardware, software, or combinations thereof. Such are merely examples and are not intended to limit the definition and / or meaning of such terms in any way. For example, the operation control unit 106 and the landing adjustment control unit 114 may be or include one or more processors configured to control the operation of the UAV 102 as described herein.

[0038] The operation control unit 106 and the landing adjustment control unit 114 are configured to execute an instruction set stored in one or more data storage devices or elements (such as one or more memories) to process data. For example, the operation control unit 106 and the landing adjustment control unit 114 may be or be coupled to one or more memories. The data storage device can also store desired or necessary data or other information. The data storage device may be in the form of an information source within the processing machine or a physical memory element.

[0039] The command set can include various commands that direct the operation control unit 106 and the landing adjustment control unit 114 as processing machines to perform specific operations such as the methods and processes of various embodiments of the subject matter described herein. The command set may be in the form of a software program. The software may be in various forms such as system software or application software. Further, the software may be in the form of a set of separate programs, a program subset within a larger program, or a part of a program. The software may also include modular programming in the form of object-oriented programming. The processing of input data by the processing machine may be in response to a user command, or in response to the result of a previous process, or in response to a request made by another processing machine.

[0040] The figures of the embodiments of this specification show one or more control or processing units, such as the operation control unit 106 and the landing adjustment control unit 114. It should be understood that the processing or control unit can represent a circuit, circuitry, or a part thereof implemented as hardware (e.g., software stored in a tangible non-transitory computer-readable storage medium such as a computer hard drive, ROM, RAM, etc.) having related instructions to execute the operations described herein. It is to be understood that the hardware may include a wired state machine circuitry connected to execute the functions described herein. Optionally, the hardware may include and / or be connected to an electronic circuit including one or more logic-based devices such as a microprocessor, a processor, a controller, etc. Optionally, the operation control unit 106 and the landing adjustment control unit 114 can represent a processing circuitry such as one or more of a field programmable gate array (FPGA), an application specific integrated circuit (ASIC), a microprocessor, etc. The circuitry in various embodiments may be configured to execute one or more algorithms for performing the functions described herein. The one or more algorithms may include aspects of the embodiments disclosed herein, whether or not explicitly specified in a flowchart or method.

[0041] As used herein, the terms “software” and “firmware” are interchangeable and include any computer program stored in a data storage device (e.g., one or more memories) for computer execution, including RAM memory, ROM memory, EPROM memory, EEPROM memory, and non-volatile RAM memory (NVRAM) memory. The above data storage device types are merely exemplary and thus do not limit with respect to the types of memory that can be used for storing computer programs.

[0042] Figure 3 is a top view of UAV 102 according to an exemplary embodiment of the present disclosure. UAV 102 may include an airframe 320 and a plurality of propulsion systems 322 coupled to the airframe 320. Generally, the airframe 320 forms the structure or framework of UAV 102. As shown in the embodiment illustrated in FIG. 3, UAV 102 includes four propulsion systems 322 such that each propulsion system 322 is mounted on respective arms 324, 325, 326, and 327. In the illustrated embodiment, UAV 102 includes four arms 324 to 327 and a single propulsion system 322 mounted on each of the respective arms 324 to 327. Optionally, UAV 102 may include more or fewer propulsion systems 322 than illustrated, more or fewer propulsion systems 322 per arm 324 to 327, and more or fewer arms 324 to 327.

[0043] The UAV 102 shown in FIG. 3 is merely an example of UAV 102. UAV 102 may optionally be a fixed-wing aircraft having various other types of propulsion systems. For example, UAV 102 may be a drone having one or more propellers, jet engines, and the like.

[0044] Figure 4 shows a flowchart of a UAV landing method according to an exemplary embodiment of the present disclosure. Referring to FIGS. 1, 2, and 4, the method begins at 400 where UAV 102 departs from a starting point towards a destination 202. At 402, UAV 102 operates according to a normal operating mode to fly and navigate towards the destination 202.

[0045] At 404, a landing adjustment control unit 114 (either within the monitoring station 104 or mounted on the UAV 102) determines whether UAV 102 is within the regulated airspace 204 above and around the landing site 200 of the destination 202. If UAV 102 is not within the regulated airspace 204, the method returns to 402.

[0046] However, if the UAV 102 is within the restricted airspace 204, the method proceeds from 404 to 406 and the UAV 102 switches to the landing mode. In the landing mode, the UAV 102 can receive commands for the landing sequence from the landing adjustment control unit 114. For example, the landing adjustment control unit 114 of the monitoring station 104 may send a landing command to the UAV 102.

[0047] At 408, the UAV 102 then automatically (without human intervention) lands at the landing site 200 of the destination 202 according to the commands for the landing sequence. And the method ends at 410.

[0048] As described herein, embodiments of the present disclosure provide a UAV landing system and method that do not require human intervention. The UAV landing system and method automatically, efficiently, and safely coordinate the arrival of a UAV at a specific destination.

[0049] Embodiments of the present disclosure provide a system and method for enabling a computing device to quickly and efficiently analyze large amounts of data. For example, hundreds if not thousands of UAVs may attempt to land at a destination within a day. The number of UAVs may exceed the number of civilian aircraft in the airspace during that time. A vast amount of data is efficiently analyzed by the landing adjustment control unit 114 as described herein. The UAV landing system and method analyze data related to the UAV in a relatively short time. A human (such as an air traffic controller already occupied with civilian aircraft) may not be able to analyze such a vast amount of data in such a short time. Thus, embodiments of the present disclosure provide better performance in relation to a human analyzing a vast amount of data. In short, embodiments of the present disclosure provide a system and method for analyzing millions if not thousands of calculations and operations that a human cannot perform efficiently, effectively, and accurately.

[0050] Furthermore, the present disclosure includes embodiments according to the following clauses.

[0051] Item 1. A system for landing an unmanned aerial vehicle (UAV) at a destination, the system comprising: A landing adjustment control unit that switches the UAV from a normal operation mode to a landing mode in response to the UAV entering a restricted airspace related to the destination, the normal operation mode including normal commands for flying and navigating to the destination, and the landing mode including landing commands for a landing sequence to a landing site at the destination, the landing adjustment control unit The system comprising.

[0052] Item 2. The system according to item 1, further comprising a different monitoring station separate from the UAV, the monitoring station including the landing adjustment control unit.

[0053] Item 3. The system according to item 2, wherein the monitoring station is at the destination.

[0054] Item 4. The system according to item 1, further comprising the UAV, the UAV including the landing adjustment control unit.

[0055] Item 5. The system according to any one of items 1 to 4, wherein the landing sequence comprises one or more holding patterns.

[0056] Item 6. The system according to any one of items 1 to 5, wherein the landing adjustment control unit is configured to take over the operation control of the UAV in the landing mode in order to automatically land the UAV at the landing site.

[0057] Item 7. The system according to any one of items 1 to 6, wherein the landing adjustment control unit is configured to send the landing command to the UAV.

[0058] Item 8. The system according to any one of items 1 to 7, wherein the landing command is stored in the operation control unit of the UAV.

[0059] Item 9. The system according to any one of Items 1 to 8, wherein the UAV includes a signal sensor configured to detect a signal from the landing adjustment control unit.

[0060] Item 10. A method for landing an unmanned aerial vehicle (UAV) at a destination, the method comprising: using a landing adjustment control unit to switch the UAV from a normal operation mode to a landing mode in response to the UAV entering a restricted airspace associated with the destination comprising: the normal operation mode includes normal instructions for flying and navigating to the destination, and the landing mode includes landing instructions for a landing sequence to a landing site at the destination. Method.

[0061] Item 11. The method according to Item 10, further comprising the step of disposing the landing adjustment control unit in a different monitoring station separate from the UAV.

[0062] Item 12. The method according to Item 11, further comprising the step of installing a monitoring station at the destination.

[0063] Item 13. The method according to Item 10, further comprising the step of disposing the landing adjustment control unit in the UAV.

[0064] Item 14. The method according to any one of Items 10 to 13, wherein the landing sequence includes one or more holding patterns.

[0065] Item 15. The method according to any one of Items 10 to 14, wherein the step of using the landing adjustment control unit comprises taking over the operation control of the UAV in the landing mode to automatically land the UAV at the landing site.

[0066] Item 16. The method according to any one of Items 10 to 15, wherein the step of using the landing adjustment control unit comprises transmitting a landing instruction to the UAV.

[0067] The method according to any one of claims 10 to 16, further comprising the step of storing a landing command in the operation control unit of the UAV.

[0068] The method according to any one of claims 10 to 17, further comprising the step of detecting a signal from the landing adjustment control unit using the signal sensor of the UAV.

[0069] A system for landing a plurality of unmanned aerial vehicles (UAVs) at a destination, the system comprising: A plurality of UAVs arriving at the destination; A landing adjustment control unit that switches the plurality of UAVs from the normal operation mode to the landing mode in response to the plurality of UAVs entering a restricted airspace associated with the destination. The normal operation mode includes normal commands for flying and navigating to the destination, and the landing mode includes landing commands for a landing sequence to a landing site at the destination. The landing adjustment control unit is configured to automatically provide a landing order to the plurality of UAVs at the landing site. The system comprising.

[0070] The system according to claim 19, further comprising a different monitoring station separate from the plurality of UAVs, the monitoring station including a landing adjustment control unit.

[0071] For the purpose of describing the embodiments of the present disclosure, various spatial and directional terms such as above, bottom, below, middle, side, horizontal, vertical, front, etc. may be used, but it is understood that such terms are used only with respect to the orientation shown in the drawings. The orientation may be changed by inversion, rotation, or other means such that the upper part becomes the lower part and vice versa, or the horizontal becomes vertical.

[0072] As used herein, a structure, limitation, or element that is "configured" to perform a task or operation is specifically structured, constructed, or adapted in a manner corresponding to the task or operation. For purposes of clarity and to avoid doubt, an object that is merely modifiable to perform a task or operation is not "configured" to perform the tasks or operations used herein.

[0073] It should be understood that the above description is illustrative and not restrictive. For example, the above embodiments (and / or aspects thereof) may be used in combination with each other. Additionally, many modifications may be made without departing from the scope of the present disclosure to adapt the teachings of the various embodiments thereof to a particular situation or material. The sizes and types of materials described herein are intended to define parameters of the various embodiments of the present disclosure, but the embodiments are in no way limiting and are exemplary embodiments. Many other embodiments will be apparent to those of ordinary skill in the art upon consideration of the above description. Accordingly, the scope of the various embodiments of the present disclosure should be determined with reference to the appended claims and the full scope of equivalents to which such claims are entitled. In the appended claims, the terms "including" and "in which" are used as the plain English equivalents of the respective terms "comprising" and "where." Also, terms such as "first," "second," and "third" are used merely as labels and are not intended to impose numerical requirements on these objects. Further, the limitations of the following claims are not to be construed in accordance with the means-plus-function format, except where such claim limitations expressly use the recitation of a means followed by further structure for performing the recited function, as defined in 35 U.S.C. § 112(f).

[0074] This written description uses examples to disclose various embodiments of the present disclosure, including the best mode, and to enable those skilled in the art to practice various embodiments of the present disclosure, including the creation and use of any device or system and the execution of any incorporated method. The patentable scope of the various embodiments of the present disclosure is defined by the claims and may include other examples that occur to those skilled in the art. Such other examples are intended to be within the scope of the claims if they have structural elements that do not differ from the literal language of the claims, or if the examples include equivalent structural elements with only minor differences from the literal language of the claims.

Description of Reference Numerals

[0075] 100 UAV Landing System 102 Unmanned Aerial Vehicle (UAV) 102a Unmanned Aerial Vehicle (UAV) 102b Unmanned Aerial Vehicle (UAV) 102c Unmanned Aerial Vehicle (UAV) 102d Unmanned Aerial Vehicle (UAV) 104 Monitoring Station 106 Operation Control Unit 108 Propulsion System 110 Communication Device 112 Position Sensor 113 Signal Sensor 114 Landing Adjustment Control Unit 116 Communication Device 200 Landing Site 202 Destination 204 Restricted Airspace 320 Airframe 322 Propulsion System 324 Arm 325 Arm 326 Arm 327 Arm

Claims

1. A system (100) for landing an unmanned aerial vehicle (UAV) (102) at a destination (202), the system comprising: a landing coordination control unit (114) configured to switch the UAV (102) from a normal operation mode to a landing mode in response to the UAV (102) entering a restricted airspace (204) associated with the destination (202), the normal operation mode including normal instructions for flying and navigating to the destination (202), the landing mode including landing instructions for a landing sequence to a landing field (200) of the destination (202), the landing instructions defining a landing procedure adapted to a current speed of the UAV (102), and a landing sequence of multiple UAVs being coordinated by the landing coordination control unit (114) based on capabilities of the multiple UAVs; The UAV (102) and and wherein the UAV (102) includes the landing coordination control unit (114).

2. 2. The system (100) of claim 1, wherein the landing coordination control unit (114) is configured to take over operational control of the UAV (102) in the landing mode to automatically land the UAV (102) at the landing site (200).

3. 3. The system (100) of claim 1 or 2, wherein the landing coordination control unit (114) is configured to transmit the landing command to the UAV (102).

4. The system (100) of claim 1 or 2, wherein the landing instructions are stored in a motion control unit (106) of the UAV (102).

5. The system (100) of any one of claims 1 to 4, wherein the UAV (102) comprises a signal sensor (113) configured to detect a signal from the landing coordination control unit (114).

6. 1. A method for landing an unmanned aerial vehicle (UAV) (102) at a destination (202), the method comprising: disposing a landing coordination control unit (114) within the UAV (102); using the landing coordination control unit (114) to switch the UAV (102) from a normal operating mode to a landing mode in response to the UAV (102) entering a restricted airspace (204) associated with the destination (202), the normal operating mode including normal instructions for flying and navigating to the destination (202), the landing mode including landing instructions for a landing sequence to a landing field (200) of the destination (202), the landing instructions defining a landing procedure adapted to a current speed of the UAV (102), and a landing sequence of multiple UAVs being coordinated by the landing coordination control unit (114) based on capabilities of the multiple UAVs; A method comprising:

7. 7. The method of claim 6, wherein using the landing coordination control unit (114) includes taking over operational control of the UAV (102) in the landing mode to automatically land the UAV (102) at the landing site (200).

8. The method of claim 6 or 7, wherein using the landing coordination control unit (114) comprises transmitting the landing command to the UAV (102).

9. The method of claim 6 or 7, further comprising storing the landing command in a motion control unit (106) of the UAV (102).

10. The method of any one of claims 6 to 9, further comprising detecting a signal from the landing coordination control unit (114) using a signal sensor (113) of the UAV (102).

Images