Methods and apparatus to guide an unmanned aerial vehicle for recovery thereof

Patent metadata

Field	Value
Publication number	US-11899471-B2
Application number	US-202117368531-A
Country	US
Kind code	B2
Filing date	Jul 6, 2021
Priority date	Jul 6, 2021
Publication date	Feb 13, 2024
Grant date	Feb 13, 2024

Abstract

Methods and apparatus to guide an unmanned aerial vehicle for recovery thereof are disclosed. A disclosed example apparatus to recover an aircraft or a payload thereof includes a tether line, and markers supported by the tether line at different positions of the tether line, the markers to be detected by the aircraft, the aircraft to be guided to engage the tether line by determining positions of the markers and calculating a position of at least a portion of the tether line based on the determined position of the markers.

First claim

What is claimed is:

1. An apparatus to recover an aircraft or a payload carried thereby, the apparatus comprising:
a tether line; and
markers supported by the tether line at different positions of the tether line, the markers to be detected by the aircraft, the aircraft to be guided to engage the tether line by:
determining positions of the markers,
calculating a position of at least a portion of the tether line based on the determined position of the markers, and
directing, based on the position of the at least the portion of the tether line, movement of the aircraft to cause at least one of the aircraft or a payload carried by the aircraft to contact the tether line while the aircraft is in flight.

2. The apparatus as defined in claim 1 , wherein a flight controller of the aircraft is to determine the position of the at least the portion of the tether line based on angles of ones of the markers relative to the aircraft.

3. The apparatus as defined in claim 1 , wherein a flight controller of the aircraft is to determine at least one parameter associated with the tether line by determining at least one of a shape, size or indicator of the markers.

4. The apparatus as defined in claim 3 , wherein at least two of the markers include different shapes, the flight controller to determine the at least one parameter based on the different shapes.

5. The apparatus as defined in claim 3 , wherein ones of the markers have different sizes, the flight controller to determine the at least one parameter based on the different sizes.

6. The apparatus as defined in claim 1 , wherein three of the markers are spaced apart from one another at equal intervals.

7. The apparatus as defined in claim 1 , wherein the markers include at least one symbol to be read by a sensor of the aircraft.

8. The apparatus as defined in claim 1 , wherein the markers are reflective to visible light, laser or infrared emitted from the aircraft.

9. The apparatus as defined in claim 1 , wherein the markers are illuminated.

10. A non-transitory computer readable medium comprising instructions, which when executed, cause at least one processor to:
determine positions of markers placed on a tether line, the markers placed at different positions of the tether line;
calculate a position of at least portion of the tether line based on the determined positions of the markers; and
direct, based on the position of the at least the portion of the tether line, movement of an aircraft to cause the aircraft or a payload carried by the aircraft to contact and engage the tether line for recovery of at least one of the aircraft or the payload.

11. The non-transitory computer readable medium as defined in claim 10 , wherein the position of at least the portion of the tether line is calculated based on angles of ones of the markers relative to the aircraft.

12. The non-transitory computer readable medium as defined in claim 10 , wherein the movement of the aircraft is directed so that the aircraft contacts the tether line between two adjacent ones of the markers.

13. The non-transitory computer readable medium as defined in claim 10 , wherein the instructions cause the at least one processor to determine at least one parameter of the markers based on detected shapes of the markers.

14. The non-transitory computer readable medium as defined in claim 13 , wherein the at least one parameter of the markers includes a distance between at least two of the markers.

15. The non-transitory computer readable medium as defined in claim 14 , wherein the instructions cause the at least one processor to determine centers of the markers based on sensor data.

16. A method to guide an aircraft, the method comprising:
determining positions of markers, the markers placed at different positions of a tether line;
calculating, by executing instructions with at least one processor, a position of at least a portion of the tether line based on the determined positions of the markers; and
guiding the aircraft that is at a distance from the tether line toward the tether line to contact the tether line based on the position of the at least the portion of the tether line for recovery of the aircraft or a payload thereof.

17. The method as defined in claim 16 , wherein the determining of the positions is based on at least one of light, infrared signals or lasers emitted from the aircraft being reflected from the markers.

18. The method as defined in claim 16 , wherein the guiding of the aircraft includes guiding the aircraft to contact a center position between two adjacent ones of the markers.

19. The method as defined in claim 16 , further including determining, by executing instructions with the at least one processor, at least one parameter of the markers based on detected shapes of the markers.

20. The method as defined in claim 16 , further including determining, by executing instructions with the at least one processor, at least one parameter of the markers based on reading a symbol of at least one of the markers.

21. The apparatus as defined in claim 2 , wherein the flight controller of the aircraft is to direct the aircraft to cause a contact portion of the aircraft to contact and engage the tether line between two of the markers.

22. The apparatus as defined in claim 2 , wherein the flight controller of the aircraft is to direct the aircraft to cause the contact portion of the aircraft to contact a midpoint between the two of the markers.

23. The apparatus as defined in claim 3 , wherein the at least one parameter corresponds to at least one distance between ones of the markers.

Assignees

• Insitu Inc
• Insitu Inc A Subsidiary Of The Boeing Company

Inventors

• Bartow Matthew J

Classifications

• G05D1/101 Primary

  specially adapted for aircraft · CPC title

• B64F1/029 Primary

  using a cable or tether · CPC title

• G05D1/654 Primary

  Landing (docking at a base station G05D1/661) · CPC title

• B64F1/20

  Arrangement of optical beacons · CPC title

• B64U70/30

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