IPC분류정보
국가/구분 |
United States(US) Patent
등록
|
국제특허분류(IPC7판) |
|
출원번호 |
US-0788053
(2013-03-07)
|
등록번호 |
US-9221557
(2015-12-29)
|
발명자
/ 주소 |
|
출원인 / 주소 |
- Lockheed Martin Corporation
|
대리인 / 주소 |
|
인용정보 |
피인용 횟수 :
8 인용 특허 :
7 |
초록
▼
An apparatus for capture of an unmanned aerial vehicle (UAV) comprises a wind tunnel including at least one fan for generating airflow in the wind tunnel; sensors for sensing characteristics of the UAV; and a control system coupled to said sensors and said at least one fan. The control system is con
An apparatus for capture of an unmanned aerial vehicle (UAV) comprises a wind tunnel including at least one fan for generating airflow in the wind tunnel; sensors for sensing characteristics of the UAV; and a control system coupled to said sensors and said at least one fan. The control system is configured to cause the at least one fan to generate airflow based on the sensed characteristics of the UAV to bring the UAV that is in the wind tunnel to a low or zero airspeed above a floor of the wind tunnel, thereby allowing the UAV to be dropped onto the floor of the wind tunnel when the airflow and a motive force of the UAV are stopped.
대표청구항
▼
1. An apparatus for capture of an unmanned aerial vehicle (UAV) comprising: a wind tunnel including at least one fan for generating airflow in the wind tunnel;sensors for sensing characteristics of the UAV; anda control system coupled to said sensors and said at least one fan;wherein said control sy
1. An apparatus for capture of an unmanned aerial vehicle (UAV) comprising: a wind tunnel including at least one fan for generating airflow in the wind tunnel;sensors for sensing characteristics of the UAV; anda control system coupled to said sensors and said at least one fan;wherein said control system is configured to cause the at least one fan to vary the airflow based on the sensed characteristics of the UAV, to bring the UAV to a low or zero airspeed above a floor of the wind tunnel after the UAV enters and traverses a portion of the wind tunnel, thereby allowing the UAV to be dropped onto the floor of the wind tunnel when the airflow and a motive force of the UAV are stopped. 2. The apparatus of claim 1, wherein the sensors comprise at least one of a speed sensor, a heading sensor, and an airflow sensor. 3. The apparatus of claim 2, wherein the control system is configured to determine an inertial mass of the UAV based on the airflow sensor. 4. The apparatus of claim 3, wherein the control system is configured to vary a direction and speed of the airflow generated by the at least one fan to dynamically match the inertial mass, speed, and heading of the UAV to bring the UAV to a low or zero airspeed above the floor of the wind tunnel. 5. The apparatus of claim 1, further comprising a database of UAV inertial masses, and wherein the control system is configured to determine the inertial mass of the UAV based on the database of UAV inertial masses. 6. The apparatus of claim 1, wherein the floor of the wind tunnel comprises a landing pad onto which the UAV is dropped. 7. A method for capturing an unmanned aerial vehicle (UAV) comprising: sensing characteristics relating to a UAV to be captured;directing said UAV into a wind tunnel;dynamically adjusting a speed and direction of an airflow in the wind tunnel based on the sensed characteristics to bring the UAV in the wind tunnel to a low or zero airspeed at a low height above a floor of said wind tunnel; andstopping the airflow and a motive force of the UAV, thereby causing the UAV to drop onto the floor of said wind tunnel. 8. The method of claim 7, wherein sensing characteristics relating to the UAV comprises sensing at least one of a speed, a heading, or an inertial mass of the UAV. 9. The method of claim 8, wherein sensing the inertial mass of the UAV comprises dynamically estimating the inertial mass of the UAV from a response of the UAV to the airflow. 10. The method of claim 8, wherein sensing the inertial mass of the UAV comprises determining the inertial mass from a database of UAV inertial masses for a model of the UAV being captured. 11. The method of claim 8, wherein dynamically adjusting the speed and the direction of the airflow in the wind tunnel based on the sensed characteristics comprises dynamically adjusting the speed and the direction of the airflow based on the speed, the heading, and the inertial mass of the UAV. 12. The method of claim 11, further comprising dynamically adjusting the speed and the direction of the airflow in the wind tunnel based on control parameters of the UAV. 13. The method of claim 12, wherein the control parameters of the UAV comprise at least one of speed, acceleration, attitude, and heading of the UAV. 14. The method of claim 7, wherein stopping the airflow and the motive force of the UAV causes the UAV to drop onto a landing pad on the floor of said wind tunnel. 15. A system for capture of an unmanned aerial vehicle (UAV) comprising: a wind tunnel including at least one fan for generating airflow in the wind tunnel;an integrated control for controlling flight control parameters of the UAV and the airflow generated by the at least one fan;sensors, for sensing characteristics relating to the UAV, coupled to the integrated control; andwind tunnel sensors, for sensing characteristics relating to the wind tunnel, coupled to the integrated control;wherein the integrated control is configured to dynamically adjust one or both of flight control parameters for the UAV and the airflow generated by the at least one fan, based on one or both of the sensed characteristics relating to the UAV and the sensed characteristics relating to the wind tunnel, to bring the UAV to a low or zero airspeed above a floor of the wind tunnel, andwherein the integrated control is further configured to stop the airflow and a motive force of the UAV when the UAV is at the low or zero airspeed above the floor of the wind tunnel, thereby allowing the UAV to drop onto the floor of the wind tunnel. 16. The system of claim 15, wherein the sensors for sensing characteristics relating to the UAV comprise one or both of sensors on the UAV or sensors integral to the wind tunnel, including at least one of a speed sensor, an acceleration sensor, an attitude sensor, a heading sensor, and an airflow sensor. 17. The system of claim 15, wherein the sensors for sensing characteristics relating to the wind tunnel comprise at least one of a speed sensor, a heading sensor, and an airflow sensor. 18. The system of claim 15, wherein the integrated control is further configured to dynamically adjust the airflow generated by the at least one fan based on the flight control parameters of the UAV including at least one of a speed, an acceleration, an attitude, and a heading of the UAV. 19. The system of claim 15, wherein the integrated control dynamically adjusts one or both of a speed and a direction of the at least one fan to adjust the airflow generated by the at least one fan in the wind tunnel. 20. The system of claim 15, wherein the integrated control is further configured to dynamically estimate the inertial mass of the UAV using an airflow sensor or a database of UAV inertial masses for a model of the UAV being captured, and wherein the integrated control is further configured to dynamically adjust the airflow generated by the at least one fan based on the estimated inertial mass of the UAV.
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