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] FIELD Embodiments of the present disclosure relate generally to systems and methods for landing unmanned aerial vehicles (UAVs), and more particularly to systems and methods for automatically landing UAVs at destinations in an efficient and orderly manner. [Background technology]

[0002] UAVs (also known as aerial drones) are rapidly becoming accessible to businesses and individuals. For example, certain businesses can use UAVs to deliver products to customers. As another example, individuals can fly UAVs for recreational purposes.

[0003] Airspace in certain areas can become congested with a relatively large number of UAVs. Additionally, certain airspace may be regulated for safety reasons. For example, airspace around airports, professional sporting events, etc. may be regulated to limit the number of UAVs within it.

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

[0005] UAVs may be prohibited from flying near or landing at certain locations. In areas where UAVs are permitted, human intervention is typically required to land the UAV. With increasing use, UAVs may outnumber civilian aircraft in the airspace. Therefore, in the future, human-based management and control of UAV traffic will prove difficult, if not impossible. Summary of the Invention [Problem to be solved by the invention]

[0006] A need exists for a system and method for coordinating the arrival of a UAV at a specific location. Further, a need exists for a system and method for automatically and safely landing a UAV at a specific location. [Means for solving the problem]

[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 coordination control unit configured to switch the UAV from a normal operating mode to a landing mode in response to the UAV entering restricted airspace associated with the destination. The normal operating mode includes normal instructions for flying and navigating to the destination. The landing mode includes landing instructions for a landing sequence at a landing field at the destination. The landing sequence may include one or more holding patterns.

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

[0009] In at least one embodiment, the landing coordination control unit is configured to take over operational control of the UAV in the landing mode to automatically land the UAV at the landing field. In at least one embodiment, the landing coordination control unit is configured to send landing commands to the UAV.

[0010] The landing instructions may be stored in a motion control unit of the UAV. The UAV may include a signal sensor configured to detect a signal from the landing coordination 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 coordination control unit to switch the UAV from a normal operating mode to a landing mode in response to the UAV entering restricted airspace associated with the destination. The normal operating mode includes normal instructions for flying and navigating to the destination. The landing mode includes landing instructions for a landing sequence at a landing field at the destination.

[0012] The method may include disposing the landing coordination control unit in a monitoring station separate from the UAV. Optionally, the method may include disposing the landing coordination control unit in 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. A landing coordination control unit is configured to switch the UAVs from a normal operation mode to a landing mode in response to the UAVs entering restricted airspace associated with the destination. The normal operation mode includes normal instructions for flying and navigating to the destination. The landing mode includes landing instructions for a landing sequence at a landing site at the destination. The landing coordination control unit is configured to automatically provide a landing sequence to the plurality of UAVs at the landing site. [Brief explanation of the drawings]

[0014] [Figure 1] FIG. 1 is a box diagram of a UAV landing system according to an exemplary embodiment of the present disclosure. [Figure 2] 1 is a schematic diagram of a UAV landing system configured to coordinate the arrival and landing of a UAV at a destination landing field, according to an exemplary embodiment of the present disclosure. [Figure 3] FIG. 1 is a top view of a UAV, according to an exemplary embodiment of the present disclosure. [Figure 4] 1 is a flowchart of a UAV landing method according to an exemplary embodiment of the present disclosure. DETAILED DESCRIPTION OF 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, it should be understood that an element or step preceded by the word "a" or "an" does not necessarily exclude a plurality of elements or steps. Furthermore, references to "one embodiment" are not intended to be interpreted as excluding the existence of additional embodiments that also incorporate the recited features. Also, unless expressly stated to the contrary, embodiments "comprising" or "having" one or more elements having a particular condition can include additional elements that do not have that condition.

[0016] Embodiments of the present disclosure provide systems and methods for coordinating the arrival of one or more unmanned aerial vehicles (UAVs) at fixed locations and sequential landing of the UAVs at fixed locations. Certain embodiments of the present disclosure provide unmanned aerial vehicle (UAV) landing systems and methods configured to control the approach and arrival of UAVs at specific landing locations, such as designated UAV ports. In at least one embodiment, the UAV landing systems and methods include a landing coordination control unit configured to switch the UAV into landing mode within defined restricted airspace. For example, the UAV may be switched into landing mode upon coming 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 begins a mission in a normal operating mode, where the UAV flies and navigates to a destination, including a landing site, in a known, conventional manner. In the normal operating mode, the UAV operates and flies according to preprogrammed instructions that cause the UAV to fly and navigate to the destination. In response to the UAV entering restricted airspace over and around the destination landing site, the UAV switches to a landing mode. In the landing mode, the UAV can detect and receive landing instructions output by a landing coordination control unit. For example, the landing instructions may be transmitted via infrared signals, ultrasonic signals, radio signals, etc. The landing instructions may change depending on current weather and traffic conditions near the destination. Alternatively, the UAV may be preprogrammed with landing instructions instead of receiving (or detecting and receiving) landing instructions.

[0018] Embodiments of the present disclosure provide UAV landing systems and methods that safely integrate UAVs into the airspace while allowing flexibility and spontaneity in UAV missions.Embodiments of the present disclosure provide automated UAV landing systems and methods that do not require humans to control UAV traffic.

[0019] 1 is a box 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 particular location where the UAV 102 lands. The monitoring station 104 is configured to communicate with the UAV 102, such as via infrared, laser, ultrasonic, radio, and / or other wireless signals.

[0020] The UAV 102 includes an operational control unit 106 operatively coupled to a propulsion system 108, a communication device 110, and a position sensor 112, such as through one or more wired or wireless connections. 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, transceiver, radio device, 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. In some cases, the monitoring station 104 may be located remotely from the destination. As another example, the monitoring station 104 may be aboard an aircraft, ship, spacecraft, etc. In at least one embodiment, the monitoring station 104 may be aboard a geostationary satellite.

[0022] The monitoring station 104 includes a landing coordination control unit 114 operably coupled to a communication device 116, such as an antenna, transceiver, radio, camera, or the like, and / or configured to transmit and receive wireless communication signals. For example, the landing coordination control unit 114 may send landing instructions 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. In some cases, the landing coordination control unit 114 may be onboard the UAV 102 rather than within the monitoring station 104.

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

[0024] When the UAV 102 enters restricted airspace associated with the destination, the UAV 102 switches from normal operation mode to landing mode. The landing mode includes landing instructions for a landing sequence at the destination landing field. For example, when the UAV 102 enters restricted airspace (determined by the position of the UAV 102 detected by the position sensor 112), the landing coordination 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 a landing sequence. In at least one embodiment, the motion control unit 106 is pre-programmed with instructions for a landing sequence, and the landing mode signal from the monitoring station simply switches the motion control unit 106 of the UAV 102 from a normal operation mode to a landing mode. In at least one embodiment, when the motion control unit 106 switches to the landing mode, the landing coordination control unit 114 takes over motion control of the UAV 102 to automatically land the UAV 102 at the destination.

[0026] The landing sequence provides a coordinated and controlled landing of the UAV 102. For example, the landing sequence may cause the UAV 102 to initiate a holding pattern at a particular altitude (e.g., 100 feet) for a predetermined time (e.g., 30 seconds) before approaching and landing at a destination landing field, after which the UAV may descend to a lower altitude (e.g., 50 feet) for a predetermined time (e.g., 20 seconds). The landing sequence may include additional, fewer, and / or different holding patterns (or no holding patterns) for longer or shorter periods than shown. It should be understood that the described landing sequences are merely non-limiting examples.

[0027] Additionally, the landing sequence may be different for different UAVs 102 based on the amount of UAV traffic associated with the destination. For example, if a large number of UAVs 102 are near the destination, the landing sequence for each UAV 102 may include a different holding pattern. As another example, if a relatively small number of UAVs 102 are near the destination, the landing sequence may not include any holding pattern, but may simply include a direct approach and landing procedure.

[0028] 2 is a schematic diagram of a UAV landing system 100 configured to coordinate the arrival and landing of UAVs 102a, 102b, 102c, and 102d at a landing field 200 at a destination 202, in accordance with 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 field 200. More or fewer UAVs than shown may be in the vicinity of destination 202.

[0029] The restricted airspace 204 is defined at the destination 202 over and around the landing field 200. The restricted airspace 204 may be a hemispherical volume of space. For example, the restricted airspace 204 may be defined by a radial distance r from the center of the landing field 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, in some cases, be greater or less than 200 feet (e.g., 1 mile or 50 feet). Also, in some cases, the restricted airspace 204 may have a shape other than a hemisphere. For example, the restricted airspace 204 may be cylindrical or conical.

[0030] 1 and 2, UAVs 102a, 102b, 102c, and 102d fly toward destination 202 according to a normal operating mode outside restricted airspace 204. When UAVs 102a, 102b, 102c, and 102d enter restricted airspace 204 (such as UAV 102c shown in FIG. 1), UAVs 102a, 102b, 102c, and 102d switch to landing mode. As described above, monitoring station 104 may output a landing mode signal to UAVs 102a, 102b, 102c, and 102d upon entering restricted airspace 204. The landing coordination control unit 114 automatically coordinates the landing of the UAVs 102a, 102b, 102c, and 102d at the landing field 200 based, for example, on the order in which the UAVs 102a, 102b, 102c, and 102d entered the restricted airspace 204. In at least one embodiment, the position sensor 112 determines the locations of the UAVs 102a, 102b, 102c, and 102d. The landing coordination control unit 114 receives position signals sent from the UAVs 102a, 102b, 102c, and 102d. In at least one embodiment, the monitoring station 104 may track the positions of the 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. As such, UAV 102c switches to landing mode first and is therefore able to land at landing field 200 first. The landing order may be based on the time that each of UAVs 102a, 102b, 102c, and 102d enters restricted airspace 204. In some cases, landing coordination control unit 114 may coordinate the landing of UAVs 102a, 102b, 102c, and 102d based on additional factors such as total flight time, the capabilities of UAVs 102a, 102b, 102c, and 102d (e.g., remaining power, remaining fuel, etc.), weather conditions, and the age of UAVs 102a, 102b, 102c, and 102d. For example, the landing coordination control unit 114 may reorder the landing queue based on whether UAVs 102a, 102b, 102c, and 102d have been flying longer than others. In this manner, a UAV 102 that enters the restricted airspace 204 after another UAV 102 may land before that other UAV 102. As another example, the landing coordination control unit 114 may arbitrate the landing order of multiple UAVs 102 that simultaneously enter the restricted airspace 204 based on flight times, relative sizes of the UAVs, starting points, etc.

[0032] 1 and 2, the landing coordination control unit 114 may be housed within the monitoring station 104. In some cases, one or more of the UAVs 102a, 102b, 102c, and 102d may include the landing coordination control unit 114. For example, the motion control unit 106 of at least one of the UAVs 102a, 102b, 102c, and 102d may include the landing coordination control unit 114 (or the landing coordination control unit 114 may be operatively coupled to the motion control unit 106). In at least one embodiment, each of the UAVs 102a, 102b, 102c, and 102d may include a separate landing coordination control unit 114. In this manner, the UAV landing system 100 need not include a separate monitoring station 104. Alternatively, the landing coordination 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 coordinate the landing of each of the UAVs 102a, 102b, 102c, and 102d.

[0033] As described herein, the UAV 102 operates according to a normal operating mode outside of the restricted airspace 204 to fly and navigate toward the destination 202. In response to the UAV 102 entering the restricted airspace 204, the UAV 102 switches to a landing mode. The UAV 102 may have instructions for a landing sequence stored in memory and / or may receive instructions for a landing sequence from the landing coordination control unit 114. The UAV 102 follows the instructions for the landing sequence to automatically land at the landing field 200.

[0034] In at least one embodiment, the landing coordination control unit 114 takes over operational control of the UAV 102 in landing mode to automatically land it at the landing field 200. For example, instructions for a landing sequence may be stored in a memory of the landing coordination control unit 114, and instead of simply sending instructions to the UAV 102, the landing coordination control unit 114 controls the UAV 102 in landing mode according to the instructions.

[0035] The landing coordination control unit 114 provides instructions defining one or more procedures for the arrival and landing of the UAV 102. The instructions are automatically output and / or otherwise followed as the UAV 102 enters the restricted airspace 204 (e.g., when the UAV 102 enters within a predetermined distance to the landing field 200). Each procedure assigned to the UAV 102 can be adapted to the capabilities (current speed, distance, angular position, etc.) of the particular UAV 102.

[0036] Referring again 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 a corresponding signal output by the monitoring station 104. For example, when the UAV 102 enters restricted airspace 204, the UAV 102 switches to a landing mode and activates the signal sensor 113 to scan and detect a signal output by the monitoring station 104. The UAV 102 may be in a holding pattern until the UAV 102 receives the signal output by the monitoring station 104. The signal output by the monitoring station 104 may include instructions for a landing sequence. In response to the UAV 102 receiving the signal from the monitoring station 104, the UAV 102 may then initiate a landing sequence based on the received instructions. In some cases, the UAV 102 may not include the signal sensor 113 and may instead be in communication with the landing coordination control unit 114 as described herein.

[0037] As used herein, the terms “control unit,” “central processing unit,” “unit,” “CPU,” “computer,” etc. may include any processor-based or microprocessor-based system, including systems using microcontrollers, reduced instruction set computers (RISC), application specific integrated circuits (ASICs), logic circuits, and other circuits or processors, including hardware, software, or combinations thereof, capable of performing the functions described herein. Such are merely examples and are thus not intended to limit in any way the definition and / or meaning of such terms. For example, the motion control unit 106 and the landing coordination 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 motion control unit 106 and the landing coordination control unit 114 are configured to execute instruction sets stored in one or more data storage devices or elements (such as one or more memories) to process data. For example, the motion control unit 106 and the landing coordination control unit 114 may be, or may be coupled to, one or more memories. The data storage devices may also store desired or required data or other information. The data storage devices may be in the form of an information source or a physical memory element within a processing machine.

[0039] The instruction set may include various commands that instruct the motion control unit 106 and landing coordination 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 instruction set may be in the form of a software program. The software may be in various forms, such as system software or application software. Furthermore, the software may be in the form of a collection of separate programs, a program subset within a larger program, or a portion 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 user commands, or in response to results of previous processing, or in response to a request made by another processing machine.

[0040] The diagrams of the embodiments herein depict one or more control or processing units, such as the motion control unit 106 and the landing coordination control unit 114. It should be understood that a processing or control unit may represent a circuit, circuitry, or portion thereof, that may be implemented as hardware (e.g., software stored on a tangible, non-transitory computer-readable storage medium, such as a computer hard drive, ROM, RAM, etc.) having associated instructions for performing the operations described herein. The hardware may include hardwired state machine circuitry to perform the functions described herein. In some cases, the hardware may include electronic circuitry including and / or connected to one or more logic-based devices, such as a microprocessor, processor, controller, etc. In some cases, the motion control unit 106 and the landing coordination control unit 114 may represent 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, whether or not expressly identified in a flowchart or method, may include aspects of the embodiments disclosed herein.

[0041] As used herein, the terms "software" and "firmware" are used interchangeably and include any computer program stored in a data storage device (e.g., one or more memories) for execution by a computer, 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 not limiting regarding the types of memory usable for storing computer programs.

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

[0043] 3 is merely one example of a UAV 102. The UAV 102 may optionally be a fixed-wing aircraft having various other types of propulsion systems. For example, the UAV 102 may be an unmanned aerial vehicle having one or more propellers, a jet engine, etc.

[0044] 4 shows a flowchart of a UAV landing method according to an exemplary embodiment of the present disclosure. With reference to FIGS. 1, 2, and 4, the method begins at 400 when the UAV 102 departs from an origin location toward the destination 202. At 402, the UAV 102 operates according to a normal operating mode to fly and navigate toward the destination 202.

[0045] At 404, the landing coordination control unit 114 (whether in the monitoring station 104 or on board the UAV 102) determines whether the UAV 102 is within restricted airspace 204 over and around the landing field 200 of the destination 202. If the UAV 102 is not within restricted airspace 204, the method returns to 402.

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

[0047] At 408, the UAV 102 then follows the instructions for the landing sequence and lands automatically (without human intervention) at the landing site 200 at the destination 202. The method then ends at 410.

[0048] As described herein, embodiments of the present disclosure provide a UAV landing system and method that automatically, efficiently, and safely coordinates the arrival of a UAV at a specific destination without requiring human intervention.

[0049] Embodiments of the present disclosure provide systems and methods that allow 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 in a single day. The number of UAVs may exceed the number of commercial aircraft in the airspace at that time. The vast amount of data is efficiently analyzed by the landing coordination control unit 114 as described herein. The UAV landing system and method analyzes data related to UAVs in a relatively short period of time. A human (such as an air traffic controller already engrossed in commercial aircraft) may not be able to analyze such a vast amount of data in such a short period of time. Therefore, embodiments of the present disclosure provide superior performance relative to a human analyzing such a vast amount of data. In short, embodiments of the present disclosure provide systems and methods that analyze thousands, if not millions, of calculations and operations that a human cannot perform efficiently, effectively, or accurately.

[0050] Furthermore, the present disclosure comprises 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 coordination control unit that switches the UAV from a normal operating mode to a landing mode in response to the UAV entering restricted airspace associated with the destination, the normal operating mode including normal instructions for flying and navigating to the destination, and the landing mode including landing instructions for a landing sequence at a landing field at the destination; A system comprising:

[0052] Item 2. The system described in Item 1, further comprising a monitoring station separate from the UAV, the monitoring station including a landing coordination control unit.

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

[0054] Item 4. The system described in Item 1, further comprising a UAV, the UAV including a landing coordination control unit.

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

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

[0057] Item 7. A system described in any one of items 1 to 6, wherein the landing coordination control unit is configured to send landing instructions to the UAV.

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

[0059] Item 9. A system described in any one of items 1 to 8, wherein the UAV is equipped with 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 the landing coordination control unit to switch the UAV from a normal operating mode to a landing mode in response to the UAV entering restricted airspace associated with the destination; Equipped with The normal operating mode includes normal instructions for flight and navigation to the destination, and the landing mode includes landing instructions for a landing sequence at the destination landing field; method.

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

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

[0063] Item 13. The method of item 10, further comprising the step of disposing a landing coordination control unit within the UAV.

[0064] Clause 14. The method of any of clauses 10 to 13, wherein the landing sequence comprises one or more holding patterns.

[0065] Clause 15. The method of any of clauses 10 to 14, wherein the step of using the landing coordination control unit comprises taking over operational control of the UAV in landing mode to automatically land the UAV at a landing site.

[0066] Clause 16. The method of any of clauses 10 to 15, wherein the step of using the landing coordination control unit comprises the step of sending a landing command to the UAV.

[0067] Clause 17. The method of any of clauses 10 to 16, further comprising storing landing instructions in the motion control unit of the UAV.

[0068] Item 18. The method of any of items 10 to 17, further comprising detecting a signal from the landing coordination control unit using a signal sensor of the UAV.

[0069] Item 19. A system for landing a plurality of unmanned aerial vehicles (UAVs) at a destination, the system comprising: Multiple UAVs arriving at the destination, a landing coordination control unit that switches the plurality of UAVs from a normal operation mode to a landing mode in response to the plurality of UAVs entering a restricted airspace associated with a destination, the normal operation mode including normal instructions for flying and navigating to the destination, the landing mode including landing instructions for a landing sequence at a landing site at the destination, the landing coordination control unit being configured to automatically provide a landing sequence to the plurality of UAVs at the landing site; and A system comprising:

[0070] Item 20. The system described in Item 19, further comprising a monitoring station separate from the plurality of UAVs, the monitoring station including a landing coordination control unit.

[0071] While various spatial and directional terms such as top, bottom, bottom, middle, side, horizontal, vertical, front, etc. may be used to describe embodiments of the present disclosure, it is understood that such terms are used solely with reference to the orientation shown in the drawings, which may be flipped, rotated, or otherwise changed so that top becomes bottom and vice versa, or horizontal becomes vertical.

[0072] As used herein, a structure, constraint, or element that is "configured" to perform a task or operation is specifically structurally shaped, constructed, or adapted in a manner corresponding to the task or operation. For purposes of clarity and avoidance of doubt, an object that is merely modifiable to perform a task or operation is not "configured" to perform a task or operation as used herein.

[0073] It should be understood that the above description is illustrative, and not limiting. For example, the above-described embodiments (and / or aspects thereof) may be used in combination with each other. In addition, many modifications may be made to adapt a particular situation or material to the teachings of the various embodiments of the present disclosure without departing from its scope. While the sizes and types of materials described herein are intended to define the parameters of the various embodiments of the present disclosure, the embodiments are by no means limiting and are exemplary embodiments. Many other embodiments will be apparent to those skilled in the art upon reviewing the above description. Accordingly, the scope of the various embodiments of the present disclosure should be determined with reference to the appended claims, along with the full range 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." Additionally, terms such as "first," "second," and "third" are used merely as labels and are not intended to impose numerical requirements on their objects. Moreover, the following claim limitations are not to be construed under 35 U.S.C. §112(f) in means-plus-function form, unless such claim limitation expressly uses a "means" followed by a function statement lacking further structure.

[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 making and using any device or system and performing any incorporated methods. The patentable scope of 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 words of the claims, or if the examples include equivalent structural elements that differ insignificantly from the literal words of the claims. [Explanation of symbols]

[0075] 100 UAV Landing System 102 Unmanned Aerial Vehicles (UAVs) 102a Unmanned Aerial Vehicles (UAVs) 102b Unmanned Aerial Vehicle (UAV) 102c Unmanned Aerial Vehicle (UAV) 102d Unmanned Aerial Vehicle (UAV) 104 Monitoring Station 106 Motion Control Unit 108 Propulsion System 110 Communication equipment 112 Position Sensor 113 Signal Sensor 114 Landing Adjustment Control Unit 116 Communication equipment 200 Landing Site 202 Destination 204 Restricted Airspace 320 aircraft 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 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 onto a landing field (200) at the destination (202), the landing sequence of multiple UAVs being coordinated by the landing coordination control unit (114) based on the relative sizes of the multiple UAVs; The UAV (102) 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 command is stored in a motion control unit (106) of the UAV (102).

5. 5. The system (100) of claim 1, 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 restricted airspace (204) associated with the destination (202), the normal operating mode including normal instructions for flight and navigation to the destination (202), the landing mode including landing instructions for a landing sequence onto a landing field (200) at the destination (202), the landing sequence of multiple UAVs being coordinated by the landing coordination control unit (114) based on the relative sizes 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) includes 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