Methods and apparatus to recover unmanned aerial vehicles (UAVs) with kites

Patent metadata

Field	Value
Publication number	US-11745897-B2
Application number	US-201916707971-A
Country	US
Kind code	B2
Filing date	Dec 9, 2019
Priority date	Dec 9, 2019
Publication date	Sep 5, 2023
Grant date	Sep 5, 2023

Abstract

Methods and apparatus to recover unmanned aerial vehicles (UAVs) with kites are disclosed. A disclosed example apparatus to recover a UAV during flight includes a tether line, a tensioner operatively coupled to the tether line, and a kite operatively coupled to the tether line to support the tether line for recovery of the UAV.

First claim

What is claimed is:

1. An apparatus to recover an unmanned aerial vehicle (UAV) during flight, the apparatus comprising:
a tether line;
first and second steering lines;
a tensioner operatively coupled to the tether line;
a kite operatively coupled to the tether line to support the tether line for recovery of the UAV, the first and second steering lines operatively coupled to the kite;
a sensor to detect a position of the UAV ire flight, the sensor remotely positioned from the UAV;
at least one memory,
machine readable instructions; and
at least one processor to execute the machine readable instructions to:
calculate a projected flight path of the UAV based on the detected position of the UAV, and
cause, based on the calculated projected flight path, an actuator to linearly displace at least one of the first or second steering lines to steer the kite toward the UAV for recovery thereof.

2. The apparatus as defined in claim 1 , wherein the kite includes a parafoil kite.

3. The apparatus as defined in claim 1 , wherein the sensor is a first sensor, and further including a second sensor to measure a first position of the kite relative to a vessel from which the tether line extends.

4. The apparatus as defined in claim 3 , wherein the at least one processor is to execute the machine readable instructions to calculate a second position of the kite based on the first position of the kite and a position of the vessel supporting the apparatus.

5. The apparatus as defined in claim 4 , further including a transceiver to transmit the calculated second position of the kite to the UAV or a navigation network associated with the UAV.

6. The apparatus as defined in claim 3 , wherein the vessel includes a ship.

7. The apparatus as defined in claim 1 , wherein the tensioner is to maintain the tether line within a desired tension range prior to contact of the UAV with the tether line.

8. The apparatus as defined in claim 1 , wherein each of the first and second steering lines includes a movable wire or caliper.

9. The apparatus as defined in claim 1 , further including a third steering line operatively coupled to the kite.

10. The apparatus as defined in claim 1 , wherein the first and second steering lines are independently linearly displaced from one another relative to a main cable portion from which the first and second steering lines extend.

11. The apparatus as defined in claim 1 , wherein the tether line is coupled to the kite at a first end of the tether line and coupled to a fixed point at a second end of the tether line opposite the first end.

12. The apparatus as defined in claim 11 , wherein the fixed point corresponds to a ground-based structure.

13. The apparatus as defined in claim 11 , wherein the fixed point corresponds to a ship.

14. The apparatus as defined in claim 1 , wherein the at least one processor is to execute the instructions to further calculate relative positions of portions of the tether line relative to the flight path, and wherein the actuator is caused to linearly displace the at least one of the first or second steering lines at least partially based on the relative positions of the portions of the tether line.

15. A method of recovering an unmanned aerial vehicle (UAV) during flight, comprising:
suspending a tether line via a kite having first and second steering lines operatively coupled thereto;
detecting, via a sensor remote from the UAV, a position of the UAV in flight;
calculating, by executing instructions with at least one processor, a projected flight path of the UAV based on the position of the UAV;
steering, via an actuator, the kite toward the UAV by linearly displacing at least one of the first and second steering lines operatively coupled to the kite based on the projected flight path of the UAV;
contacting the UAV with the tether line to capture the UAV; and
in response to contacting the UAV with the tether line, retrieving the UAV with a tensioner operatively coupled to the tether line.

16. The method as defined in claim 15 , further including maintaining, via the tensioner, a tension of the tether line within a desired tension range prior to contact of the UAV with the tether line.

17. The method as defined in claim 15 , further including coordinating, by executing instructions with the at least one processor, movement of the UAV for the UAV to contact the tether line.

18. The method as defined in claim 17 , further including determining, by executing instructions with the at least one processor, a first position of the kite relative to a vessel carrying the tether line.

19. The method as defined in claim 18 , further including calculating, by executing instructions with the at least one processor, a second position of the kite based on the determined first position of the kite and a position of the vessel.

20. The method as defined in claim 19 , further including steering the kite based on the determined first position of the kite and the projected flight path of the UAV.

21. The method as defined in claim 15 , further including determining, by executing instructions with the at least one processor, a position of the tether line.

22. A non-transitory machine readable medium comprising instructions, which when executed, cause at least one processor to at least:
determine a first position of an unmanned aerial vehicle (UAV) to be captured by a tether line based on information from a sensor remote to the UAV;
calculate a projected flight path of the UAV based on the first position;
determine a second position of a kite suspending the tether line;
cause, based on the projected flight path and the second position, the kite to be steered toward the UAV by directing an actuator to linearly displace at least one of a first steering line or a second steering line, the first and second steering lines operatively coupled to the kite; and
adjust movement of at least one of the UAV or the kite to capture the UAV by the tether line.

23. The non-transitory machine readable medium as defined in claim 22 , wherein the actuator is directed to move the kite to bring the tether line proximate the projected flight path of the UAV.

24. The non-transitory machine readable medium as defined in claim 22 , wherein the second position of the kite is determined based on a position of the kite relative to a vessel from which the tether extends.

25. The non-transitory machine readable medium as defined in claim 24 , wherein the instructions cause the processor to direct movement of the UAV based on the second position of the kite.

Assignees

• Insitu Inc

Inventors

• Brown Benjamin T
• Fockele Alice
• Comstock Kelly A
• Wong John
• Allen Jacob
• Shaw Daniel L
• Kiewit Jesse D

Classifications

• B64U70/30

  for capturing UAVs in flight by ground or sea-based arresting gear, e.g. by a cable or a net · CPC title

• G05D1/105

  specially adapted for unpowered flight, e.g. glider, parachuting, forced landing (parachutes per se B64D17/00) · CPC title

• B64F1/0295 Primary

  aerodynamically or aerostatically supported, e.g. parafoil or balloon · CPC title

• B63B35/52 Primary

  Nets, slipways or the like, for recovering aircraft from the water · CPC title

• B64F1/029 Primary

  using a cable or tether · CPC title