Method and apparatus for recovering unmanned aerial vehicles (UAVs) with light sails

Abstract

To provide methods and apparatus for recovering an unmanned aerial vehicle (UAV) with a kite.SOLUTION: The apparatus for recovering a UAV 120 during flight includes a tether 108, a tensioner 110 operatively coupled to the tether, and a kite 116 operatively coupled to the tether to support the tether for recovery of the UAV.SELECTED DRAWING: Figure 1

Description

[Technical Field]

[0001] The present disclosure relates generally to aircraft, and more particularly to a method and apparatus for kite recovery of an unmanned aerial vehicle (UAV). [Background technology]

[0002] In recent years, unmanned aerial vehicles (UAVs) or drones have been used to fly significant distances to deliver payloads (e.g., packages, supplies, equipment, etc.) or to gather information. Some UAVs land on runways, while others are captured in flight by UAV recovery systems. Capturing UAVs without using runways allows for more flexibility in recovery locations. In particular, UAVs can be recovered in unprepared areas or by relatively small ships or other vessels or vehicles. Summary of the Invention

[0003] An exemplary apparatus for recovering an unmanned aerial vehicle (UAV) in flight includes a mooring rope, a tensioner operably connected to the mooring rope, and a light sail operably connected to the mooring rope to support the mooring rope for recovery of the UAV.

[0004] An exemplary method for recovering a UAV in flight includes suspending a mooring rope via a light sail, contacting the UAV with the mooring rope to capture the UAV, and recovering the UAV with a tensioner operably coupled to the mooring rope in response to contacting the UAV with the mooring rope.

[0005] An exemplary non-transitory machine-readable medium includes instructions that, when executed, cause a processor to at least identify a location of a UAV to be captured by a mooring rope, identify a location of a light sail suspending the mooring rope, and adjust movement of at least one of the UAV or the light sail to capture the UAV by the mooring rope. [Brief explanation of the drawings]

[0006] [Figure 1] 1 illustrates an unmanned aerial vehicle (UAV) recovery system according to the teachings of the present disclosure. [Figure 2] 1 shows an exemplary series of recovery examples disclosed herein. [Figure 3] FIG. 2 is a detailed view of an exemplary light sail that may be implemented in embodiments disclosed herein. [Figure 4] 1 illustrates one embodiment of an exemplary tether rope spool that may be implemented in embodiments disclosed herein. [Figure 5] FIG. 1 is a schematic diagram of a UAV recovery and analysis system that may be implemented in embodiments disclosed herein. [Figure 6] 10 is a flowchart illustrating an example method of implementing the example UAV recovery system of FIG. 1 and / or the UAV recovery analysis system of FIG. 5. [Figure 7] 7 is a flowchart illustrating an example subroutine of the example method of FIG. 6. [Figure 8] FIG. 8 is a block diagram of an exemplary processing platform configured to execute the instructions of FIGS. 6 and 7 to implement embodiments disclosed herein. DETAILED DESCRIPTION OF THE INVENTION

[0007] The drawings are not to scale. Instead, the thickness of layers or regions may be exaggerated in the drawings. Generally, the same reference numbers are used throughout the drawings and the accompanying description to refer to identical or similar parts. As used in this patent application, a statement that a part is on another part in any manner (e.g., disposed on, located on, mounted on, formed on, etc.) means that the referenced part is either in contact with the other part or that the referenced part is on top of the other part with one or more intermediate parts between them. Connection references (e.g., attached, coupled, connected, and coupled) should be interpreted broadly and may include intermediate materials between sets of elements and relative movement between the elements, unless otherwise indicated. Thus, connection references do not necessarily imply that two elements are directly connected and in a fixed relationship to each other. A statement that a part is "in contact with" another part means that there are no intermediate parts between the two parts.

[0008] The terms "first," "second," "third," and the like are used herein to distinguish between multiple elements or components that may be referred to individually. Unless otherwise specified or understood based on their contextual usage, such terms are not intended to imply any sense of priority, physical order, or placement within a list, or chronological order, but are merely used as labels to refer to multiple elements or components individually to facilitate understanding of the disclosed embodiments. In some instances, the term "first" may be used to refer to an element in the detailed description, while the same element may be referred to by a different term, such as "second" or "third," in the claims. In such instances, it should be understood that such terms are used merely to facilitate referring to multiple elements or components.

[0009] A method and apparatus for recovering unmanned aerial vehicles (UAVs) using light sails is disclosed. Some UAVs are recovered by a recovery system that employs a vertically suspended recovery tether. In particular, the UAV contacts and / or strikes the tether, resulting in the UAV slowing down and / or stopping from flight, thereby enabling recovery of the UAV without the need for a runway. In some known implementations, a parachute or support beam or moveable boom is used to suspend the tether for recovery of the UAV.

[0010] Embodiments disclosed herein enable the effective and relatively low-cost recovery of an aircraft (e.g., a UAV) via, for example, a stationary platform or a moving vehicle and / or vessel (such as a ship or vessel). In particular, a light sail (e.g., a parafoil kite) extends from the boat or stationary platform and generates lift to support and / or suspend a mooring rope carried by the vessel, for example, to enable controlled recovery of the aircraft. The mooring rope is operably coupled to a tensioning device (e.g., a tensioner, a winch, an electric winch, etc.). The tensioning device is implemented to recover the mooring rope along with the light sail and aircraft.

[0011] In some examples, the sail is steerable to steer and / or guide the sail for recovery of the aircraft. In some such examples, the sail is steerable via at least one steering line. In some examples, a tensioning device is utilized to maintain the mooring rope within a predefined tension range and / or predefined tension value before the aircraft contacts the mooring rope. Furthermore, the movement of the sail and the aircraft is coordinated to enable capture of the aircraft via said mooring rope. In some examples, the sail is suspended from a vessel such as a ship. However, in other examples, the sail is suspended from the ground.

[0012] 1 illustrates a UAV recovery system 100 according to the teachings of the present disclosure. The UAV recovery system 100 of the illustrated example includes a mooring line control platform 102, which includes a boom (e.g., a lower mooring boom, a rotatable boom, a swivel boom, a pivoting boom, etc.) 104 and a boom support 106. In the illustrated example, a mooring line 108 extends from the mooring line control platform 102, while a tensioner or tensioning device 110, implemented as a winch in this example, is operably coupled to the mooring line 108. Further, the mooring line 108 is operably coupled to a sail (e.g., a parafoil kite) 116 having a support line (e.g., a sail line, a foil line, etc.) 117 and a foil (e.g., a lift foil, a lift-generating foil, a sail body) 118. The UAV recovery system 100 of the illustrated example is implemented to capture an aircraft 120, which is implemented as a UAV in this example. In other examples, aircraft 120 may be implemented as another type of aircraft (e.g., a manned aircraft), a spacecraft, etc.

[0013] The exemplary UAV 120 includes a fuselage 121, wings 122 each including a tip capture portion 123, and a propulsion system 124 having a propeller 125. In this example, the tip capture portions 123 extend from at least one of the corresponding wings 122 generally along the direction of movement of the UAV 120. However, any suitable type of capture or recovery mechanism may alternatively be implemented on any other portion and / or component of the UAV 120 (e.g., the fuselage 121). Additionally, any other suitable type of propulsion for the UAV 120 may alternatively be implemented.

[0014] As the UAV 120 moves along the flight path 126, one of the tip capture portions 123 is brought into contact with the mooring rope 108 extending between the light sail 116 and the mooring rope control platform 102 to recover and / or capture the UAV 120. As a result, the UAV 120 is stopped and remains attached to the mooring rope 108. In this example, the mooring rope 108 is suspended by the light sail 116 when the light sail 116 generates lift that supports the mooring rope 108 in the air (e.g., substantially vertical in the air, within 5 degrees of vertical).

[0015] In some examples, the tensioner 110 maintains tension in the mooring rope 108 extending between the mooring rope control platform 102 and the light sail 116 within a threshold range and / or at a nominal tension value. In some examples, the light sail 116 is steered to direct the tension line 108 within the required range of the aforementioned flight path 126. Additionally or alternatively, the light sail 116 is guided toward the flight path 126 based on the desired impact force of the mooring rope 108 with the tip catch portion 123.

[0016] In some examples, the UAV recovery system 100 includes a movement controller 130 that includes at least one sensor 132, a movement analyzer 134, and a transceiver 136. In some examples, the UAV recovery system 100 includes a steering actuator 140. In some such examples, the movement of the sail 116 is coordinated with the movement of the UAV 120 by the movement controller 130 and the steering actuator 140. In some examples, the movement controller 130 guides the movement of the steering actuator 140, and thus the movement of the sail 116, along with the UAV 120. In such examples, the sensor(s) 132 may detect the position, range, and / or movement of the sail 116, the mooring line 108, and / or the UAV 120, enabling the movement analyzer 134 to analyze the movement. Based on that movement, the example movement analyzer 134 may send a signal to cause movement of the sail 116 and / or the UAV 120 to increase the probability that the tip capture portion 123 will contact the mooring rope 108, thereby facilitating recovery of the UAV 120.

[0017] 2A-2C show a series of exemplary recovery examples disclosed herein. Figure 2A shows UAV 120 approaching mooring line 108 extending between vessel 202 and light sail 116. In this example, UAV 120 is navigated to bring tip catch portion 123 (shown in Figure 1) of UAV 120 into contact with mooring line 108, thereby slowing down UAV 120.

[0018] 2B, the UAV 120 is shown in contact with the mooring rope 108. In this example, the tip portion 123 of FIG. 1 is caught in the mooring rope 108, thereby displacing and / or moving the mooring rope 108 along with the sail 116 as the UAV 120 slows down, thereby reducing the amount of force transmitted to the UAV 120. Thus, in this example, the movement of the sail 116 causes the UAV 120 to slow down.

[0019] 2C shows the UAV 120 being captured by the mooring rope 108 and reeled in towards the vessel 202. In this particular example, the tensioning device 110 of FIG. 1 causes the mooring rope 108 and UAV 120 to move (e.g., reel in) towards the vessel 202, while the light sail 116 maintains a lift force (e.g., an upward lift force in the view of FIG. 2C) to support the mooring rope 108. As a result, the UAV 120 is carried above the vessel 202.

[0020] 3 is a detailed diagram of an exemplary light sail 116 that may be implemented in embodiments disclosed herein. In the illustrated example, the light sail 116 includes the aforementioned support lines 117 as well as foils 118. Additionally, steering lines 302 are shown extending from a main cable portion (e.g., cable bundle, cable assembly, etc.) 312 of the mooring ropes 108. Notably, the steering lines 302 are housed and protected within the main cable portion 312. In this example, the steering lines 302 are operably coupled to the foils 118. However, in some other examples, a first one of the steering lines 302 is coupled to a first set of support lines 117, while a second one of the steering lines 302 is coupled to a second set of support lines 117. In other words, the steering lines 302 may be coupled to various ones of the support lines 117, enabling controlled movement and / or steering of the light sail 116. In some examples, the support lines 117 are integral with the steering lines 302.

[0021] To steer the light sail 116 relative to the vessel 202 (shown in FIGS. 2A-2C ) for recovery and / or capture of the UAV 120, at least one of the steering lines 302 is linearly displaced, as generally indicated by arrow 320, to redirect the foil 118 and change the lift of the light sail 116. In particular, the steering line 302 has a movable portion (e.g., a caliper, a movable wire, etc.) enclosed within at least one cable extending through the aforementioned main cable portion 312 of the mooring rope 108. In other words, the steering line 302 can translate (e.g., translate linearly) relative to the main cable portion 312.

[0022] In this example, two of the steering lines 302 are shown, however, any suitable number of steering lines 302 may be implemented instead (e.g., 1, 3, 4, 5, 6, 10, 20, 50, etc.). Additionally, any other suitable type of steering mechanism for the light sail 116 may be implemented instead.

[0023] Figure 4 illustrates one embodiment of an exemplary mooring rope spool 400 that may be implemented in the embodiments disclosed herein. In the example illustrated in Figure 4, the mooring rope 108 is depicted as being coiled on the spool 401, with a portion of the mooring rope 108 extending from the spool 401 toward the steering actuator 140, while another portion of the mooring rope 108 extends toward the light sail 116 (not shown).

[0024] In operation, as generally indicated by double arrow 404, the spool 401 is rotated about an axis (e.g., a rotational pivot axis) 402 by the tensioner 110, which in this example is implemented as an electric winch. In this example, the steering actuator 140 causes at least one movement of the steering line 302 (e.g., movement of at least one caliper of the steering line 302) to translate the steering line 302 along the mooring rope 108 and steer the light sail. In other words, the light sail 116 can be steered from the vessel 202.

[0025] 5 is a schematic diagram of a UAV recovery analysis system 500 that may be implemented in examples disclosed herein. The UAV recovery analysis system 500 of the illustrated example includes a movement analyzer 134 operatively and / or communicatively connected to sensor(s) 132, a transceiver 136, a movement controller 502, and a light sail pilot 503, which is communicatively connected to a maneuvering actuator 140. The example movement analyzer 134 includes a flight path analyzer 504, a coordinator 506, a light sail analyzer 508, and a GPS / differential GPS analyzer 510. Additionally, in this example, the movement analyzer 134 controls the transceiver 136, which is communicatively connected to a network 520 (e.g., a communication network, a navigation network, a UAV flight system network, etc.).

[0026] In the illustrated example, flight path analyzer 504 identifies, estimates, interpolates, and / or calculates a flight path for UAV 120. In particular, flight path analyzer 504 may identify an estimated flight path, trajectory, and / or potential flight movement area (e.g., a parametric flight path cone based on known flight data, potential trajectory areas, or regions, etc.) for UAV 120. In some examples, flight path analyzer 504 utilizes data from network 520. Additionally or alternatively, the example flight path analyzer utilizes data (e.g., position data, image data, etc.) from sensor(s) 132 and global positioning system (GPS) or differential GPS data from GPS / differential GPS analyzer 510.

[0027] The example coordinator 506 calculates the movement of the sail 116 and / or the UAV 120 based on the aforementioned flight path of the UAV 120 to facilitate recovery of the UAV 120 via the mooring line 108. In some examples, the coordinator 506 guides the movement of both the UAV 120 and the sail 116 to increase the probability that an intended portion of the UAV 120 (e.g., the tip capture portion 123) will contact the mooring line 108. Additionally or alternatively, the movement coordinator 506 identifies a desired contact velocity of the UAV 120 to contact the mooring line 108. The desired contact velocity may be identified based on a desired contact / impact force, wind speed, wind resistance, movement of the mooring line 108, and / or movement of the vessel 202 (e.g., movement of the vessel 202 caused by waves and / or currents).

[0028] The light sail analyzer 508 in the illustrated example analyzes the movement of the light sail 116 to identify and / or increase the probability of recovery of the UAV 120 by the mooring line 108. In this example, the light sail analyzer 508 and / or the coordinator 506 instructs the light sail pilot 503, and thus the piloting actuator 140, to control the movement of the light sail 116 based on the analyzed movement as the light sail 116 generates lift to support the mooring line 108.

[0029] In some examples, the GPS / differential GPS data analyzer 510 identifies, predicts, interpolates, and / or analyzes GPS data associated with the UAV 120. Additionally or alternatively, the GPS / differential GPS data analyzer 510 identifies and / or analyzes GPS data associated with the light sail 116. In some such examples, the light sail 116 may include a GPS sensor and / or a transponder attached thereto.

[0030] The example movement controller 502 directs the movement of the control platform 102 (e.g., pivoting, translating, and / or extending the control platform 102) and / or the movement of the tensioner 110 based on instructions from the movement analyzer 134. In this example, the movement controller 502 controls the amount of tension in the tether 108 for recovery of the UAV 120. In particular, the movement controller 502 controls the tensioner 110 to maintain the tether 108 within a desired threshold tension range and / or a nominal tension value.

[0031] In the illustrated example, the light sail controller 503 controls the steering actuator 140 to direct the movement of the steering line 302 and thus the light sail 116 based on commands from the movement analyzer 134 .

[0032] While Figure 5 illustrates an example manner of implementing the UAV recovery analysis system 500 of Figure 5, one or more of the elements, processes, and / or devices illustrated in Figure 5 may be combined, divided, rearranged, omitted, removed, and / or implemented in any other manner. Additionally, the example movement controller 502, example light sail pilot 503, example flight path analyzer 504, example coordinator 506, example light sail analyzer 508, example GPS / differential GPS analyzer 510, and / or more generally the example UAV recovery analysis system 500 of Figure 5 may be implemented by hardware, software, firmware, and / or any combination of hardware, software, and / or firmware. Thus, for example, any of the example movement controller 502, example light sail pilot 503, example flight path analyzer 504, example coordinator 506, example light sail analyzer 508, example GPS / differential GPS analyzer 510, and / or more generally, the example UAV recovery analysis system 500 may be implemented using one or more analog or digital circuits, logic circuits, programmable processors, programmable controllers, graphics processing units (GPUs), digital signal processors (DSPs), application specific integrated circuits (ASICs), programmable logic devices (PLDs), and / or field programmable logic devices (FPLDs).If any apparatus or system claims of this patent application are read as encompassing purely software and / or firmware implementations, then at least one of the example movement controller 502, the example light sail pilot 503, the example flight path analyzer 504, the example coordinator 506, the example light sail analyzer 508, and / or the example GPS / differential GPS analyzer 510 are expressly defined herein to include a non-transitory computer-readable storage device or storage disk, such as a memory, a digital versatile disk (DVD), a compact disk (CD), a Blu-ray disk, etc., that contains such software and / or firmware. Furthermore, the example UAV recovery analysis system 500 of FIG. 5 may include one or more elements, processes, and / or apparatus in addition to or instead of those shown in FIG. 5, and / or may include two or more of any or all of the illustrated elements, processes, and apparatus. As used herein, the phrase "in communication," including variations thereof, includes direct communication and / or indirect communication through one or more intermediary components, and does not require direct physical (e.g., wired) communication and / or constant communication, but rather additionally includes selective communication at periodic intervals, scheduled intervals, aperiodic intervals, and / or one-time events.

[0033] Flowcharts representing example hardware logic, machine-readable instructions, hardware-implemented state machines, and / or any combination thereof for implementing the UAV recovery analysis system 500 of FIG. 5 are shown in FIGS. 6 and 7. The machine-readable instructions may be one or more executable programs or portions of executable programs for execution by a computer processor, such as the processor 712 shown in the example processor platform 700 discussed below in connection with FIG. 7. The programs may be embodied in software stored on a non-transitory computer-readable storage medium, such as a CD-ROM, floppy disk, hard drive, DVD, Blu-ray disk, or memory associated with the processor 712; alternatively, the entire program and / or portions thereof may be executed by a device other than the processor 712 and / or may be embodied in firmware or dedicated hardware. Furthermore, although the example programs are described in connection with the flowcharts shown in FIGS. 6 and 7, many other ways of implementing the example UAV recovery analysis system 500 may alternatively be used. For example, the order of execution of the blocks may be changed, and / or some of the described blocks may be modified, eliminated, or combined. Additionally or alternatively, any or all of the above blocks may be implemented by one or more hardware circuits (e.g., discrete and / or integrated analog and / or digital circuits, FPGAs, ASICs, comparators, operational amplifiers (op-amps), logic circuits, etc.) structured to perform the corresponding operations without executing software or firmware.

[0034] The machine-readable instructions described herein may be stored in one or more of a compressed, encrypted, fragmented, compiled, executable, packaged, etc. format. The machine-readable instructions described herein may be stored as data (e.g., portions of instructions, code, representations of code, etc.) that can be used to create, manufacture, and / or produce machine-executable instructions. For example, the machine-readable instructions may be fragmented and stored on one or more storage devices and / or computational devices (e.g., servers). The machine-readable instructions may require one or more of installing, modifying, adapting, updating, combining, supplementing, configuring, decrypting, unpacking, decompressing, distributing, rearranging, compiling, etc. to make them directly readable, interpretable, and / or executable by computational devices and / or other machines. For example, the machine-readable instructions may be individually compressed, encrypted, and stored in multiple portions stored on separate computational devices that, when decrypted, unpacked, and combined, form a set of executable instructions that implement a program such as those described herein.

[0035] In another example, machine-readable instructions may be stored in a state that can be read by a computer, but additional libraries (e.g., dynamic link libraries (DLLs), software development kits (SDKs), application programming interfaces (APIs), etc.) may be required to execute the instructions on a particular computer or other device. In another example, the machine-readable instructions may need to be configured (e.g., settings saved, data entered, network addresses stored, etc.) before the machine-readable instructions and / or corresponding programs can be executed in whole or in part. Thus, disclosed machine-readable instructions and / or corresponding programs are intended to include such machine-readable instructions and / or programs regardless of the particular format or state of the machine-readable instructions and / or programs, whether stored, at rest, or in data transmission.

[0036] The machine-readable instructions described herein may be expressed in any past, present, or future instruction language, scripting language, programming language, etc. For example, the machine-readable instructions may be expressed using any of the following languages: C, C++, Java, C#, Perl, Python, JavaScript, HyperText Markup Language (HTML), Structured Query Language (SQL), Swift, etc.

[0037] 6 and 7 may be implemented using executable instructions (e.g., computer-readable instructions and / or machine-readable instructions) stored on a non-transitory computer-readable and / or machine-readable medium, such as a hard disk drive, flash memory, read-only memory, compact disk, digital versatile disk, cache, random access memory, and / or any other storage device or disk that stores information for any period of time (e.g., long-term, permanently, short-term, as a temporary buffer, and / or for caching information). As used herein, the term non-transitory computer-readable medium is expressly defined to include any type of computer-readable storage device and / or disk, to exclude propagated signals, and to exclude transmission media.

[0038] The terms "including" and "comprising" (and all forms and tenses thereof) are used herein as open-ended terms. Thus, when any form of "include" or "comprise" (e.g., comprises, includes, comprising, including, having, etc.) is employed in a claim as a preamble or used in any type of claim recitation, it is to be understood that additional elements, terms, etc. may be present without departing from the scope of the corresponding claim or recitation. As used herein, the phrase "at least" is open-ended, just as the terms "comprising" and "including" are open-ended when used as transitional terms, for example, in a claim preamble. For example, the term "and / or," when used in the form "A, B, and / or C," refers to any combination or subset of A, B, and C, such as (1) A alone, (2) B alone, (3) C alone, (4) A and B, (5) A and C, (6) B and C, and (7) A, B, and C. As used herein in the context of describing structures, components, items, objects, and / or things, the phrase "at least one of A and B" is intended to refer to an implementation that includes any (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 structures, components, items, objects, and / or things, the phrase "at least one of A or B" is intended to refer to any (1) implementation that includes 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 the implementation or performance of a process, instruction, action, activity, and / or step, the phrase "at least one of A and B" is intended to refer to any implementation that includes (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 the implementation or performance of a process, instruction, action, activity, and / or step, the phrase "at least one of A or B" is intended to refer to any implementation that includes (1) at least one A, (2) at least one B, and (3) at least one A and at least one B.

[0039] As used herein, a reference to the singular (e.g., "a," "an," "first," "second," etc.) does not exclude a plurality. As used herein, the term "a" or "an" entity refers to one or more of that entity. The terms "a" (or "an"), "one or more," and "at least one" may be used interchangeably herein. Furthermore, although individually listed, a plurality of means, elements, or method actions may be implemented by, for example, a single unit or processor. Furthermore, although individual features may be included in various embodiments or claims, these could conceivably be combined, and inclusion in various embodiments or claims does not imply that a combination of features is not feasible and / or advantageous.

[0040] Figure 6 is a flowchart illustrating an example method 600 for implementing the example UAV recovery system 100 of Figure 1 and / or the UAV recovery analysis system 500 of Figure 5. In this example, the method 600 is performed to recover the example UAV 120 via the tether 108.

[0041] In block 602, the sail 116 supporting the mooring ropes 108 is deployed (e.g., deployed from the vessel 202). In this example, the coordinator 506 deploys and / or launches the sail 116.

[0042] In some examples, as described in more detail below in connection with FIG. 7, in block 604, the coordinator 506 coordinates the movement of the UAV 120 and / or the light sail 116 to facilitate the recovery of the UAV 120.

[0043] In block 606, the movement controller 502 and / or light sail analyzer 508 determines whether the measured tension value of the mooring rope 108 measured by the sensor 132 is within a predefined range. The range may be defined to ensure there is adequate tension for recovery of the UAV 120 while reducing potential damage to the UAV 120 (e.g., damage from excessive collision forces). If the tension is within the predefined range (block 606), control of the process passes to block 610. Otherwise, the process passes to block 608. In some examples, the tension is determined and / or measured by the tensioner 110.

[0044] If the tension is not within the predefined range (block 606), then in block 608, the movement controller 502 controls the tensioner 110 to adjust the tension to within the desired tension range and the process proceeds to block 610.

[0045] In block 610, the UAV 120 is brought into contact with the tether 108. In some examples, the coordinator 506 utilizes data from the flight path analyzer 504 to direct the movement of the UAV 120 into contact with the tether 108.

[0046] In block 612, the movement controller 502 controls the tensioner 110 to pull the mooring line 108 along with the UAV 120 towards the vessel 202. As a result, the UAV 120 is recovered by the vessel 202.

[0047] At block 614, it is determined whether to repeat the process. If the process is to be repeated (block 614), control of the process returns to block 602. Otherwise, the process ends. This determination may be based on whether more of the UAVs 120 should be retrieved.

[0048] Figure 7 is a flowchart illustrating an example subroutine 604 of the example method 600 of Figure 6. The example subroutine 604 is implemented to enable the tether 108 to be within a required distance (e.g., a close distance) of the UAV 120 for recovery of the UAV 120.

[0049] In block 702, the GPS / differential GPS analyzer 510 of the illustrated example determines the position of the vessel 202. In particular, the position of the vessel may be based on GPS data measured by a GPS receiver on the vessel 202.

[0050] In block 704 , the coordinator 506 and / or flight path analyzer 504 determine the relative position and / or actual position of the UAV 120 .

[0051] Additionally or alternatively, in block 706, the example GPS / differential GPS analyzer 510 and / or the example light sail analyzer 508 determine the position of the light sail 116. The position of the light sail 116 may be an actual position (e.g., in GPS coordinates) or a relative position of the light sail 116 with respect to the vessel 202 (e.g., with respect to the GPS position of the vessel 202). In some such examples, a GPS receiver may be located on or proximate to the light sail 116 to determine the position of the light sail 116. In some examples, the first position of the light sail 116 with respect to the vessel 202 and the second position of the vessel 202 (e.g., the measured GPS position of the vessel 202) are utilized (e.g., summed) to calculate a third position of the light sail 116 (e.g., the actual position of the light sail 116).

[0052] In block 708, in some examples, the position of the mooring rope 108 is determined by the light sail analyzer 508. In some such examples, the light sail analyzer 508 may determine a 3-D positional displacement and / or an overall displacement (e.g., displacement curvature along various portions of the mooring rope 108) of the mooring rope 108 as it extends from the vessel 202.

[0053] At block 710, the example coordinator 506 directs movement of the UAV 120 toward the mooring line 108. For example, the coordinator 506 may transmit movement commands and / or position coordinates to the UAV 120 via signals transmitted from or to the transceiver 136 and / or the network 520. In some examples, the coordinator 506 causes the transceiver 136 to transmit the position of the light sail to the UAV 120.

[0054] In block 712, in some examples, the light sail analyzer 508 instructs the light sail controller 503 to move the steering actuator 140 to steer the light sail 116. In particular, the light sail 116 may be moved along with the mooring rope 108 to increase the probability that the UAV 120 will come into contact with the mooring rope 108.

[0055] At block 714, it is then determined whether to repeat the process. If the process is to be repeated, control of the process returns to block 702. If not, the process ends / returns. This determination may be based on whether the mooring line 108 or light sail 116 is within a required range of the flight path of the UAV 120 (e.g., a planned flight path, an interpolated flight path, a light projected area, etc.) or within a specified location of the UAV 120.

[0056] Figure 8 is a block diagram of an exemplary processor platform 800 structured to execute the instructions of Figures 6 and 7 to implement the UAV recovery analysis system 500 of Figure 5. Processor platform 800 may be, for example, a server, a personal computer, a workstation, a self-learning machine (e.g., a neural network), a mobile device (e.g., a mobile phone, a smartphone, a tablet such as an iPad™), a personal digital assistant (PDA), an Internet appliance, a DVD player, a CD player, a digital video recorder, a Blu-ray player, a game console, a personal video recorder, a set-top box, a headset or other removable device, or any other type of computing device.

[0057] The processor platform 800 of the illustrated example includes a processor 812. The processor 812 of the illustrated example is hardware. For example, the processor 812 may be implemented by one or more integrated circuits, logic circuits, microprocessors, GPUs, DSPs, or controllers from any desired affiliate or manufacturer. The hardware processor may be a semiconductor-based (e.g., silicon-based) device. In this example, the processor implements an example movement controller 502, an example light sail pilot 503, an example flight path analyzer 504, an example coordinator 506, an example light sail analyzer 508, and an example GPS / differential GPS analyzer 510.

[0058] The processor 812 of the illustrated example includes a local memory 813 (e.g., a cache). The processor 812 of the illustrated example communicates with a main memory, including a volatile memory 814 and a non-volatile memory 816, via a bus 818. The volatile memory 814 may be implemented by synchronous dynamic random access memory (SDRAM), dynamic random access memory (DRAM), RAMBUS® dynamic random access memory (RDRAM®), and / or any other type of random access storage device. The non-volatile memory 816 may be implemented by flash memory and / or any other desired type of storage device. Access to the main memory 814, 816 is controlled by a memory controller.

[0059] The processor platform 800 of the illustrated example also includes an interface circuit 820. The interface circuit 820 may be implemented by any type of interface standard, such as an Ethernet interface, a universal serial bus (USB), a Bluetooth® interface, a near field communication (NFC) interface, and / or a PCI Express interface.

[0060] In the illustrated example, one or more input devices 822 are connected to interface circuitry 820. The input devices 822 enable a user to input data and / or commands to processor 812. The input devices may be implemented by, for example, an audio sensor, a microphone, a camera (still or video), a keyboard, buttons, a mouse, a touchscreen, a trackpad, a trackball, an isopoint, and / or a voice recognition system.

[0061] One or more output devices 824 are also connected to the interface circuit 820 of the illustrated example. The output device(s) 1024 may be implemented by, for example, 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-place switching (IPS) display, a touch screen, etc.), a tactile output device, a printer, and / or a speaker. Accordingly, the interface circuit 820 of the illustrated example typically includes a graphics driver card, a graphics driver chip, and / or a graphics driver processor.

[0062] The interface circuitry 820 of the illustrated example also includes communications devices such as transmitters, receivers, transceivers, modems, resident gateways, wireless access points, and / or network interfaces to facilitate data exchange with external machines (e.g., any type of computing device) over the network 826. Communications may be via, for example, an Ethernet connection, a digital subscriber line (DSL) connection, a telephone line connection, a coaxial cable system, a satellite system, a line-of-site wireless system, a cellular phone system, etc.

[0063] The processor platform 800 of the illustrated 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 drive disks, compact disk drives, Blu-ray disk drives, redundant array of independent disks (RAID) systems, and digital versatile disk (DVD) drives.

[0064] The machine-executable instructions 832 of Figures 6 and 7 may be stored on the mass storage device 828, the volatile memory 814, the non-volatile memory 816, and / or a removable non-transitory computer-readable storage medium such as a CD or DVD.

[0065] Example 1 includes an apparatus for retrieving an unmanned aerial vehicle (UAV) in flight, the apparatus including a tether line, a tensioner operably connected to the tether line, and a light sail operably connected to the tether line to support the tether line for retrieval of the UAV.

[0066] Example 2 includes the apparatus of example 1, wherein the light sail includes a parafoil kite.

[0067] Example 3 includes the apparatus of example 1 or 2, wherein the mooring rope includes a first steering line and a second steering line, the first steering line and the second steering line operably coupled to the light sail for steering the light sail.

[0068] Example 4 includes the apparatus of any one of examples 1 to 3, further including a sensor for measuring a first position of the light sail relative to a vessel to which the mooring rope extends.

[0069] Example 5 includes the apparatus of example 4, further including a light sail analyzer for calculating a second position of the light sail based on the first position and a third position of the vessel.

[0070] Example 6 includes the apparatus of example 5, further including a transceiver for transmitting the calculated position of the light sail to the UAV or a navigation network associated with the UAV.

[0071] Example 7 includes the apparatus of any one of examples 4 to 6, wherein the vessel includes a ship.

[0072] Example 8 includes the apparatus of any one of examples 1 to 7, wherein the tensioner maintains the tether line within a desired tension range before the UAV contacts the tether line.

[0073] Example 9 includes a method of recovering a UAV in flight, the method including suspending a tether line via a light sail, contacting the UAV with the tether line to capture the UAV, and recovering the UAV with a tensioner operatively coupled to the tether line in response to contacting the UAV with the tether line.

[0074] Example 10 includes the method of example 9, further including maintaining tension on the tether line within a desired tension range via the tensioner before the UAV contacts the tether line.

[0075] Example 11 includes a method according to example 9 or 10, further comprising coordinating movement of the UAV via instructions executed by at least one processor so that the UAV contacts the tether line.

[0076] Example 12 includes the method of example 11, further including determining, via instructions executed by at least one processor, a first position of the light sail relative to a vessel carrying the mooring rope.

[0077] Example 13 includes the method of example 12, further including calculating, via instructions executed by at least one processor, a second position of the light sail based on the determined first position and a third position of the vessel.

[0078] Example 14 includes the method of example 13, further including steering the sail based on the determined position of the sail and a flight path of the UAV.

[0079] Example 15 includes the method of example 14, wherein steering the light sail includes controlling first and second steering lines extending through the mooring ropes.

[0080] Example 16 includes the method of any one of examples 9 to 15, further including determining a position of the mooring rope via instructions executed by at least one processor.

[0081] Example 17 includes a non-transitory machine-readable medium containing instructions that, when executed, cause a processor to at least identify a location of a UAV to be captured by a mooring rope, identify a location of a light sail suspending the mooring rope, and adjust movement of at least one of the UAV or the light sail to capture the UAV by the mooring rope.

[0082] Example 18 includes the non-transitory machine-readable medium of Example 17, wherein the instructions cause the processor to move the sail via at least one steering line so that the mooring rope approaches a flight path of the UAV.

[0083] Example 19 includes the non-transitory machine-readable medium of example 17 or 18, wherein the position of the light sail is determined based on a position of the light sail relative to a vessel to which the mooring rope extends.

[0084] Example 20 includes the non-transitory machine-readable medium of example 19, wherein the instructions cause the processor to direct movement of the UAV based on the position of the sail.

[0085] By now it should be appreciated that exemplary methods, apparatus, and articles of manufacture have been disclosed that provide an effective and relatively low-cost method for recovering a UAV. The embodiments disclosed herein can also be used to effectively adjust the position of a recovery tether to the flight path of the UAV, thereby taking into account numerous variables that may affect the recovery of the UAV (e.g., recovery vessel movement, wind, etc.).

[0086] Although certain example methods, apparatus, and articles of manufacture have been disclosed herein, the scope of coverage of this patent application is not limited thereto. Rather, this patent application is directed to all methods, apparatus, and articles of manufacture that fairly fall within the scope of the claims of this patent application. While the embodiments disclosed herein are illustrated in the context of UAVs, the embodiments disclosed herein may be implemented in any suitable type of vehicle (e.g., spacecraft, personal watercraft, etc.) and / or other types of aircraft (e.g., manned aircraft).

[0087] The following claims are hereby incorporated by reference into the Detailed Description, with each claim standing on its own as a separate embodiment of this disclosure.

Claims

1. 1. An apparatus for recovering an unmanned aerial vehicle (UAV) (120) in flight, comprising: a mooring rope (108); a tensioner (110) operably connected to the mooring rope; a light sail (116) operably connected to the mooring line to support the mooring line for recovery of the UAV; a movement controller (130); a steering actuator (140) communicatively connected to the movement controller and configured to move the sail via at least one steering line (302) extending through the mooring rope so that the mooring rope approaches the flight path of the UAV; Equipped with The movement controller (130) At least one sensor (132) configured to determine the position of the light sail supporting the mooring rope and to determine the position of the UAV captured by the mooring rope, the at least one sensor (132) configured to measure a first position of the light sail relative to a stationary base or a mobile body (202) to which the mooring rope extends; a movement analyzer (134) configured to coordinate movement of at least one of the UAV and the light sail capturing the UAV, the movement analyzer (134) further comprising a light sail analyzer (508) configured to calculate a second position of the light sail based on the first position and a position of the stationary platform or the mobile body; a transceiver (136) configured to transmit the calculated second position of the sail to the UAV or a navigation network (520) associated with the UAV; 1. An apparatus comprising:

2. The apparatus of claim 1 , wherein the light sail comprises a parafoil kite.

3. 3. The apparatus of claim 1, wherein the at least one steering line includes a first steering line and a second steering line, the first steering line and the second steering line operatively connected to the light sail for steering the light sail.

4. The apparatus according to any one of claims 1 to 3, wherein the mobile body is a vessel (202).

5. The apparatus of claim 4 , wherein the vessel comprises a ship.

6. The apparatus of claim 1 , wherein the tensioner maintains the tether line within a desired tension range before the UAV contacts the tether line.

7. 7. The apparatus of claim 6, wherein the mooring rope extends from a mooring rope control platform.

8. The apparatus of claim 7, wherein the mooring rope control platform includes a boom (104) and a boom support (106).

9. 9. Apparatus according to any one of claims 1 to 8, wherein the steering lines are housed and protected within the main cable portion of the mooring rope.

10. 10. The apparatus of any one of claims 1 to 9, wherein the light sail (116) includes a GPS sensor and / or a transponder attached to the GPS sensor.

11. 1. A method for recovering an unmanned aerial vehicle (UAV) in flight, comprising: suspending a mooring rope (108) through a light sail (116); determining a position of the UAV captured by the tether via a movement controller (130) including at least one sensor (132) and a movement analyzer (134); determining, via instructions executed by one processor of the motion controller, the position of the light sail to which the mooring ropes are suspended; steering the sail based on the determined position of the sail and the flight path (126) of the UAV, including controlling first and second steering lines extending through the mooring ropes via a steering actuator (140) communicatively connected to the movement controller; contacting the UAV with the tether to capture the UAV; retrieving the UAV with a tensioner (110) operatively coupled to the tether in response to the UAV contacting the tether; A method comprising:

12. The method of claim 11 , further comprising maintaining tension in the tether line within a desired tension range via the tensioner before the UAV contacts the tether line.

13. The method of claim 11 or 12, further comprising directing movement of the UAV so that the UAV contacts the tether line via instructions executed by at least one processor (812) of the movement analyzer.

14. 14. The method of claim 13, further comprising measuring, via instructions executed by at least one processor of the at least one sensor, a first position of the light sail relative to a vessel (202) carrying the mooring rope.

15. 15. The method of claim 14, further comprising calculating a second position of the sail based on the measured first position and the position of the vessel via instructions executed by at least one processor of a sail analyzer included in the movement analyzer.

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