Unmanned aerial vehicle launch and recovery

Unmanned aerial vehicle (UAV) launch and recovery is disclosed. A disclosed example apparatus for recovering a UAV includes a base to be mounted to a recovery vehicle, a flexible arm extending from the base to pivot therefrom, the arm having a first end at the base and a second end opposite the first end, the arm to move to counteract a movement of the recovery vehicle, and a coupler mounted on or proximate the second end of the arm, the coupler to be releasably coupled to the UAV.

FIELD OF THE DISCLOSURE

This disclosure relates generally to aircraft and, more particularly, to unmanned aerial vehicle launch and recovery.

BACKGROUND

In recent years, unmanned aerial vehicles (UAVs) or drones have been used to fly significant distances to transport payloads (e.g., packages, supplies, equipment, etc.) or gather information. Some UAVs land on runways while others are captured in flight by UAV recovery systems.

SUMMARY

An example apparatus for recovering an unmanned aerial vehicle (UAV) includes a base to be mounted to a recovery vehicle, an arm extending from the base to pivot therefrom, the arm having a first end at the base and a second end opposite the first end, the arm to move to counteract a movement of the recovery vehicle, and a coupler mounted on or proximate the second end of the arm, the coupler to be releasably coupled to the UAV.

An example method of recovering a UAV includes moving, in response to a movement of a recovery vehicle, an arm that pivots from a base fixed to the recovery vehicle to counteract the movement of the recovery vehicle, the arm having a distal end supporting a first coupler, and extending the arm toward the UAV as the UAV hovers to bring the first coupler in proximity of a second coupler carried by the UAV, the first coupler to be coupled to the second coupler to couple the UAV to the arm.

An example non-transitory computer readable medium includes instructions, which when executed, cause processor circuitry to determine a movement of a recovery vehicle carrying an arm for recovery of a UAV, the arm to pivot relative to the recovery vehicle, calculate a counteracting movement of the arm based on the measured movement of the recovery vessel, and control an actuator to move the arm based on the counteracting movement to bring a first coupler of the arm to a second coupler of the UAV to capture the UAV.

In general, the same reference numbers will be used throughout the drawing(s) and accompanying written description to refer to the same or like parts. The figures are not to scale. As used herein, unless otherwise stated, the term “above” describes the relationship of two parts relative to Earth. A first part is above a second part, if the second part has at least one part between Earth and the first part. Likewise, as used herein, a first part is “below” a second part when the first part is closer to the Earth than the second part. As noted above, a first part can be above or below a second part with one or more of: other parts therebetween, without other parts therebetween, with the first and second parts touching, or without the first and second parts being in direct contact with one another.

As used herein, “approximately” and “about” refer to dimensions that may not be exact due to manufacturing tolerances and/or other real world imperfections. As used herein “substantially real time” refers to occurrence in a near instantaneous manner recognizing there may be real world delays for computing time, transmission, etc. Thus, unless otherwise specified, “substantially real time” refers to real time +/−1 second.

DETAILED DESCRIPTION

Unmanned aerial vehicle (UAV) launch and recovery is disclosed. Some known UAV recovery systems can necessitate relatively large mechanisms that can add significant weight for recovery vehicles that carry these systems. These known systems can also require complex guidance and coordination systems to enable a UAV to be recovered when a recovery vehicle, such as a sea-faring vessel, experiences significant motion (e.g., motion pertaining to pitch, roll, etc.). Additionally, such motion can increase a time for the UAV to be recovered by the recovery vehicle. Even further, the unstable landing area of recovery vehicles can lead to destabilized landings, which can damage a UAV.

Recently, to enhance the capabilities of a UAV, fixed-wing flight has been combined with the capability for vertical takeoff and landing (VTOL). A fixed-wing UAV has the advantage of a relatively long flight/mission time while the VTOL capability allows the UAV to be deployed without necessitating a runway for takeoff and landing. Landing and takeoff of a fixed-wing VTOL UAV on level ground can be relatively simple since the ground does not move. However, takeoff and landing a fixed-wing VTOL UAV on a ship presents unique challenges. For example, on a ship, a deck may have significant motion due to waves and may also experience strong winds, all of which reduce or eliminate a stable surface for the UAV to takeoff from and land. Further, the strong winds may cause improper operation of the UAV attempting to takeoff and land. Even further, ground effects resulting from vertical lift thrust may create turbulence which, in turn, can contribute to the instability caused by winds. Foul weather may also cause the fixed-wing VTOL UAV to impact the deck of the ship and damage the fixed-wing VTOL UAV.

Examples disclosed herein enable an accurate, lightweight, compact and relatively low cost recovery/launch of an aircraft (e.g., a UAV, a fixed-wing VTOL UAV) with a moving vehicle. In particular, examples disclosed herein enable the aircraft to be recovered by accommodating motion of the recovery vehicle, thereby enabling the aircraft to be quickly recovered with relative ease. Further, examples disclosed herein do no necessitate relatively large equipment for launching and capturing a fixed-wing UAV. In particular, examples disclosed herein can be more portable than known UAV recovery systems, which utilize large components to dissipate forces from capturing UAVs. Examples disclosed herein can be implemented on existing UAVs as a retrofit capture implementation (e.g., via an upgrade kit).

Examples disclosed herein can decouple motion of a deck of a ship and stability of a UAV, thereby enabling the UAV to be captured so that the UAV can be securely held and brought down to the deck without damage thereto. Examples disclosed herein can also enable capture of the UAV at a position that is not directly on the deck of a ship. In scenarios with relatively small ships and boats that typically may not have enough deck space to recover a UAV, examples disclosed herein can enable an offset capture location to facilitate capture of the UAV thereon.

Examples disclosed herein utilize a support mount (e.g., a pole, an articulated pole, an extension, etc.) that extends from a vehicle that is moving or stationary (e.g. a maritime vessel, etc.). In particular, during recovery of an aircraft by the vehicle, a flexible arm of the support mount can articulate, pivot, extend and/or move relative to the vehicle to counteract a movement (e.g., a swaying, pitching and/or rolling motion of the vehicle). As a result, a coupler (e.g., a coupler supporting a rare earth magnet) attached to the support mount can be used to couple the aircraft to the support mount. According to examples disclosed herein, the aircraft can be hovering above (or to the side in other implementations) the support mount such that the support mount is extended longitudinally to couple the support mount to the aircraft. As a result, the aircraft can be recovered with relative ease as the support mount counteracts movement of the vehicle with minimal or negligible impact forces are applied to the aircraft.

In some examples, an actuator (e.g., a two-axis actuator, a three-axis actuator, etc.) is used to pivot, telescopically displace and/or rotate the support mount towards the aircraft as the vehicle moves. In such examples, a coordinated movement of the actuator with the aircraft can be implemented to accommodate for motion of the vehicle. In other examples, a person or operator being transported by the vehicle pivots and/or extends (e.g., telescopically extends) the support mount toward the aircraft as the aircraft is being recovered.

As used herein, the terms “arm” or “flexible arm” refer to an extension or structure, such as a pole or arm, for example, that extends away from a body or a deck of a vehicle for the purposes of recovering another vehicle. As used herein, the term “coupler” refers to a device, component and/or assembly utilized to facilitate coupling between at least two objects and/or components. As used herein, the terms “telescoping,” “telescopic stem,” “telescoping tube” or “telescopic tube” refer to a structure, such as a collapsing/telescoping pole, in which a longitudinal length thereof can be adjusted.

FIG.1illustrates a UAV launch and recovery system100in accordance with the teachings of this disclosure. The UAV launch and recovery system100of the illustrated example includes a vehicle (e.g., a launch and recovery vehicle, a recovery vehicle, etc.)102, which is implemented as a ship with a deck104, for example. In this example, a support mount (e.g., an aircraft recovery support mount)110is mounted to and/or extends from the aforementioned deck104. In the illustrated example, the support mount110includes a coupler112, an arm (e.g., a support arm, a flexible arm, a compliant pole, etc.)114that is opposite the first end, and a base116that positions the support mount110relative to the deck104. In this example, the arm114includes a first proximal end117at the base116, as well as a second distal end119(opposite the first proximal end117) supporting the coupler112.

In the illustrated example ofFIG.1, an aircraft120, which is launched from and recovered by the support mount110, is implemented as a UAV, which can be implemented as a vertical takeoff and landing (VTOL) aircraft or a short takeoff and landing (STOL) aircraft. In turn, the example aircraft120includes a fuselage121, rotors122, as well as a coupler (e.g., a docking plate, a steel plate, a metal disc, etc.)124. In some other examples, the aircraft120is implemented as a quadcopter.

According to some examples disclosed herein, the UAV launch and recovery system100includes a movement analyzer130, which may be communicatively coupled to at least one sensor132. In some examples, the UAV launch and recovery system100also includes a transceiver134that is communicatively coupled to a network136. Additionally or alternatively, the example UAV launch and recovery system100includes an actuator (e.g., a rotational actuator, a three-axis actuator, a two-axis actuator, etc.)140.

To facilitate recovery of the aircraft120as the aircraft120hovers relatively close to the support mount110, the support mount110is moved (e.g., pivoted, swayed, etc.) to counteract a movement of the vehicle102that can cause considerable displacement of the distal end119of the support mount110(e.g., movement caused by waves, rocking and/or swaying of the vehicle102as the vehicle102floats on a body of fluid/water), which is generally illustrated by a view141inFIG.1. In particular, the arm114is generally flexible (e.g., flexible, semi-rigid, etc.) and caused to sway against a movement of the vehicle102, as generally indicated by arrows142, so that the arm114is held relatively stable so that the coupler112of the support mount110can attract and be coupled (e.g., releasably coupled) to the coupler124of aircraft120while the vehicle102moves. In some examples, the arm114and/or the support mount110is telescopic such that the arm114can expand or contract along a longitudinal direction of the arm114, which is generally indicated by a double arrow144. In some such examples, an operator (e.g., a person on the deck104) can extend the support mount110to contact the aircraft120as the aircraft120moves in close proximity to the vehicle102. In other words, the support mount110can be moved toward the aircraft120based on operator adjustments. Additionally or alternatively, the operator can sway and/or pivot the generally flexible arm114and/or the support mount110to counteract and/or accommodate a motion of the deck104and/or the vehicle102. In one example, an actuator140that can pivot the arm114can be controlled by the operator to move and/or sway the distal end119having the support mount110based on observed movement of the vehicle102to counteract the sway of the vehicle102(e.g. ship pitching back and forth) to maintain the distal end119and the support mount110within a nominal range or proximity of an aircraft120hovering above the support mount110, thereby stabilizing the support mount110relative to the vehicle102and mitigating the motion of the vehicle102such that the coupler112can engage the coupler124on the aircraft120to facilitate docking and recovery of the aircraft. Once the coupler112is coupled to the coupler123on the hovering aircraft, at least a portion of the arm114(e.g. the proximal end portion) is sufficiently flexible such that propulsion forces generated by the docked aircraft that is still hovering in place cause the arm114to bend or flex relative to the base116to mitigate transfer of movement of the vehicle via the support mount110to the docked hovering aircraft, to better enable the aircraft to be safely lowered and recovered.

To control movement of the support mount110for recovery (or launch) of the aircraft120, in some examples, sensor output and/or data of the sensor(s)132is utilized to measure a movement of the vehicle102(e.g., a sway of the vehicle102caused by waves, conditions proximate the aircraft120and/or the vehicle102). In such examples, the movement analyzer130can be implemented to calculate a counteracting movement of the support mount110and/or the arm114. In turn, the actuator140can be controlled to move and/or sway the support mount110based on the calculated counteractive movement, thereby stabilizing the support mount110relative to the vehicle102despite motion of the vehicle102. As a result of mitigating the motion of the vehicle102, the coupler112can couple to the coupler124. In particular, the coupler112can include a magnet to attract the coupler124. In some examples, movement of the support mount110is at least partially based on measurements of wind conditions (e.g., wind conditions proximate the aircraft120, the support mount110and/or the vehicle102) measured by the sensor(s)132.

According to some examples disclosed herein, to coordinate movement (e.g., hovering) of the aircraft120relative to the vehicle102, the transceiver134is communicatively coupled (e.g., in wireless communication) with both the aircraft120and the vehicle102. In particular, the transceiver134receives position/movement data from the aircraft120and the vehicle102, and forwards this position/movement data to the network136and/or the movement analyzer130. In turn, the network136and/or the movement analyzer130sends movement commands, via the transceiver134, to direct movement of the aircraft120and/or the vehicle102so that the aircraft120can hover above the support mount110to cause the coupler112and the coupler124to be brought in relatively close proximity of one another. In some examples, global positioning system (GPS) data is used to coordinate relative movement between the aircraft120and the vehicle102.

In some examples, at least a portion of the arm114includes a bendable/flexible element, where upon engagement of the aircraft120to the support mount110, the bendable element enables the arm114to bend relative to the proximal end117at the base116, thereby mitigating and/or reducing transfer of ship movements to the aircraft120engaged to the support mount110. In some such examples, the bendable element includes sufficient elasticity to permit bending of the pole responsive to propulsion forces generated by the aircraft120(e.g., forces typically caused by hovering) when the aircraft120is engaged to the support mount110to improve stability of the aircraft120. In some examples, the bendable element includes sufficient stiffness to resist bending of the arm114caused primarily by a weight of a non-operating UAV engaged thereto.

In some examples, a lock210(shown inFIG.2A) or other locking mechanism can be implemented to secure the coupler112to the coupler124and, in turn, the aircraft120. In some such examples, the lock210can be utilized to push the coupler124and/or the aircraft120away from the coupler112(e.g., via a movable pin, etc.). In some examples, the coupler112is generally disc-shaped or includes a generally flat surface to contact the coupler124, which may include a complementary and/or flat surface.

While the vehicle102is shown implemented as a ship (e.g., a marine vessel, a boat, a maritime vessel, etc.) in this example, the vehicle102can be implemented as, but is not limited to, a ground vehicle, an automobile, a fixed wing aircraft, a rotorcraft, another UAV, a boat, a ship, a submarine, a quadcopter, a spacecraft, etc. As mentioned above, examples disclosed herein can also be utilized for launch of the aircraft120such that the aircraft120is stabilized by the support mount110when being launched.

FIGS.2A and2Bare detailed views of example coupling systems that can be implemented in examples disclosed herein. Turning toFIG.2A, an example coupling system200, which is self-centering, is shown. In this example, the coupler124shown inFIG.1includes a contoured inner ring surface202with an annular body204. Further, the coupler112also shown inFIG.1includes a cylindrical body206that supports and/or carries a contoured protrusion208.

In operation, the annular body is at least partially composed of metal (e.g., steel) while at least one of the contoured protrusion208and/or the cylindrical body includes a magnet (e.g., a rare earth magnet). Accordingly, during mating of the coupler124to the coupler112, an interaction between a shape of the contoured protrusion208and a shape of the inner ring surface202guides a relative positioning between the coupler112and the coupler124. In other words, shapes of the inner ring surface202and the contoured protrusion208enable the coupler112and the coupler124to be aligned to one another. As mentioned above in connection withFIG.1, the lock210can be implemented to secure the coupler112to the coupler124. In some such examples, the lock210can be implemented to push the aircraft120away during launch thereof (e.g., with a moving and/or actuated pin).

Turning toFIG.2B, an example coupling system211is shown. In this example, a hook and loop mating system (e.g., a Velcro® interface) is utilized such that a first part212of the hook and loop mating system is supported by a first body213of the coupler124. Further, a body214of the coupler112, which is supported by the arm114(e.g., the arm114acts a stabilization pole), positions a second part216of the hook and loop mating system.

FIGS.3A and3Billustrate example launch/recovery implementations of examples disclosed herein. In contrast to the example shown inFIG.1in which the aircraft120is recovered on the deck104,FIGS.3A and3Bdepicts launch/recovery of a UAV at a distance from a deck. Turning toFIG.3A, a vessel300supports a swing arm302, which functions as a swingable (e.g., laterally movable) and retractable/extendible boom for capturing the aircraft120. In other words, examples disclosed herein can also swing and/or rotate in a lateral direction away from a body of a recovery vehicle. In this example, the swing arm302is positioned at an aft side of the vessel300.

FIG.3Bis similar to the example ofFIG.3Abut, instead, depicts a vessel310supporting a swing arm312to launch/recover the aircraft120at a fore end of the vessel310. In this example, the swing arm312is rotatable relative to the vessel310and can be telescopically adjusted.

FIG.4illustrates an example mating assist that can be implemented in examples disclosed herein. In the illustrated example ofFIG.4, a winch402can support a line404that carries the coupler124. In this example, the winch402can lower or raise the coupler124. Further, the arm114carries a cable (e.g., a semi-rigid cable, a rigid cable, etc.)406that can be extended and/or manipulated to facilitate bringing the coupler112and the coupler124together.

FIG.5is a block diagram of an example aircraft recovery control system500to recover and/or launch the aircraft120. The example aircraft recovery control system500ofFIG.5may be instantiated (e.g., creating an instance of, bring into being for any length of time, materialize, implement, etc.) by processor circuitry such as a central processing unit executing instructions. Additionally or alternatively, the example aircraft recovery control system500ofFIG.5may be instantiated (e.g., creating an instance of, bring into being for any length of time, materialize, implement, etc.) by an ASIC or an FPGA structured to perform operations corresponding to the instructions. It should be understood that some or all of the circuitry ofFIG.5may, thus, be instantiated at the same or different times. Some or all of the circuitry may be instantiated, for example, in one or more threads executing concurrently on hardware and/or in series on hardware. Moreover, in some examples, some or all of the circuitry ofFIG.5may be implemented by one or more virtual machines and/or containers executing on the microprocessor.

The example aircraft recovery control system500includes example support mount adjuster circuitry504, example flight sensor analyzer circuitry506, example aircraft recovery controller circuitry508and example recovery vehicle movement analyzer circuitry510. In some examples, the aircraft recovery control system500includes and/or is communicatively coupled to the actuator140.

The support mount adjuster circuitry504of the illustrated example is implemented to determine a degree of adjustment of the support mount110so that the coupler112of the support mount110is maintained at and/or moved to a position within a minimum requisite distance of the coupler124of the aircraft120. In this example, the degree of adjustment of the support mount110is based on a measured movement (e.g., a sway) of the vehicle102determined by the example recovery vehicle movement analyzer circuitry510. The support mount adjuster circuitry504can control a sway and/or extension of the support mount110to counteract a movement (e.g., a rocking motion, a pitching motion, a rolling motion, etc.) of the vehicle102. Additionally or alternatively, the support mount adjuster circuitry504controls a degree to which the support mount110is extended along a longitudinal direction thereof (e.g., a telescopic length of the support mount110).

In some examples, the flight sensor analyzer circuitry506is implemented to analyze sensor data from the sensor(s)132and/or sensor(s) associated with the aircraft120. The example flight sensor analyzer circuitry506can be used to determine a position of the aircraft120and/or wind conditions proximate the aircraft120(e.g., for movement of the support mount110).

In some examples, the aircraft recovery controller circuitry508is utilized to control and/or coordinate movement of the aircraft120relative to the vehicle102. In some such examples, the aircraft recovery controller circuitry508directs the aircraft120toward a vicinity of the support mount110so that the aircraft120can hover generally above the support mount110.

The example recovery vehicle movement analyzer circuitry510determines a motion and/or movement of the vehicle102. In some examples, the movement analyzer circuitry510determines a swaying, pitching or rocking motion of the vehicle102so that the support mount110can be moved to counteract it. Additionally or alternatively, a motion of the aircraft120is utilized to determine a relative motion between the aircraft120and the vehicle102for determination of a counteracting motion of the support mount110.

While an example manner of implementing the example aircraft recovery control system500ofFIG.5is illustrated inFIG.5, one or more of the elements, processes, and/or devices illustrated inFIG.5may be combined, divided, re-arranged, omitted, eliminated, and/or implemented in any other way. Further, the example support mount adjuster circuitry504, example flight sensor analyzer circuitry506, example aircraft recovery controller circuitry508and recovery vessel movement analyzer circuitry510, and/or, more generally, the example aircraft recovery control system500ofFIG.5, may be implemented by hardware alone or by hardware in combination with software and/or firmware. Thus, for example, any of the example support mount adjuster circuitry504, example flight sensor analyzer circuitry506, example aircraft recovery controller circuitry508and recovery vehicle movement analyzer circuitry510and/or, more generally, the example aircraft recovery control system500, could be implemented by processor circuitry, analog circuit(s), digital circuit(s), logic circuit(s), programmable processor(s), programmable microcontroller(s), graphics processing unit(s) (GPU(s)), digital signal processor(s) (DSP(s)), application specific integrated circuit(s) (ASIC(s)), programmable logic device(s) (PLD(s)), and/or field programmable logic device(s) (FPLD(s)) such as Field Programmable Gate Arrays (FPGAs). Further still, the example aircraft recovery control system500ofFIG.5may include one or more elements, processes, and/or devices in addition to, or instead of, those illustrated inFIG.5, and/or may include more than one of any or all of the illustrated elements, processes and devices.

FIG.6is an example method600that can be implemented in examples disclosed herein. In this example, the aircraft120is to be launched and recovered by the vehicle102. In this example, the aircraft120is a VTOL or STOL aircraft that can hover with a relatively limited degree of control.

At block602, the aircraft120is launched from the vehicle102. In this example, prior to launch, the aircraft120is held by the support mount110as the coupler112and the coupler124are held together. Further, the coupler112and the coupler124are disengaged or moved away from one another to enable the aircraft120to depart therefrom. In particular, the lock210can push the aircraft120away when the aircraft120is to be launched, for example.

At block604, the aircraft120is flown (block604). In some examples, the aircraft recovery controller circuitry508controls flight of the aircraft120(e.g., based on data from the flight sensor analyzer circuitry506) and further directs and/or navigates the aircraft120to be moved in proximity of the support mount110once the aircraft120completes a mission.

At block608, in some examples, a speed of the vehicle102is reduced prior to recovering the aircraft120. In such examples, the aircraft recovery controller circuitry508can direct the aircraft120to reduce its speed and hover proximate the support mount110by utilizing data from the flight sensor analyzer circuitry506.

At block609, in some examples, the aircraft recovery controller circuitry508coordinates movement of the aircraft120with the vehicle102. For example, the aircraft recovery controller circuitry508directs the aircraft120to match a motion (e.g., a rolling motion, a swaying motion, a pitching motion, etc.) of the aircraft120when the aircraft120comes within a defined range (e.g., a defined range threshold) of the support mount110.

At block610, the recovery vehicle movement analyzer circuitry510determines, calculates and/or measures movement of the vehicle102. For example, the recovery vehicle movement analyzer circuitry510utilizes data from the sensor(s)132. In some examples, the recovery vehicle movement analyzer circuitry510determines a movement of fluid on which the vehicle102floats. In some examples, the recovery vehicle movement analyzer circuitry510determines a motion of the vehicle102pertaining to waves and/or fluid on which the vehicle102floats. Additionally or alternatively, the flight sensor analyzer circuitry506determines and/or calculates a motion of the aircraft120in combination with the vehicle102for recovery of the aircraft120.

At block611, in some examples, the aircraft recovery controller circuitry508and/or the support mount adjuster504calculates and/or determines a counteracting movement of the arm114. The counteracting movement can be calculated to mitigate any sudden movements of the vehicle102, for example. In other words, acceleration of the vehicle102can be mitigated, for example. In some examples, the counteracting movement is calculated and/or determined to maintain a first mating surface of the coupler112to be relatively horizontal to a second mating surface of the coupler124(e.g., within 5 degrees).

At block612, the example support mount adjuster504directs and/or causes the support mount110to move, rotate, swing and/or sway toward the aircraft120to counteract the movement of the vehicle102. In some examples, the support mount adjuster504causes the actuator140to angle, pivot, and/or translate the arm114and, thus, the coupler112toward the coupler124of the aircraft120based on the aforementioned determined movement of the vehicle102, thereby enabling a relative quick and easy recovery of the vehicle102.

At block614, In some examples, a length of the arm114is adjusted. For example, the arm114is longitudinally extended toward the aircraft120(e.g., via the actuator140or by an operator on the deck104). In some such examples, the support mount adjuster504causes the arm114to longitudinally extend (e.g., via the actuator140). In some examples, the arm114of the support mount110is extended by an operator on the deck104. In some such examples, the operator is prompted (e.g., provided with a visual indication) to extend the arm114of the support mount110toward the aircraft120(e.g., based on a proximity of the aircraft120to the support mount110). Additionally or alternatively, an electromagnet is employed to draw the coupler124to the coupler112.

At block616, the aircraft120is recovered by the vehicle102. In some examples, a height from the deck and/or a length of the arm114is reduced to bring the aircraft120closer to the deck104of the vehicle102. In some examples, data from the flight sensor analyzer circuitry506is utilized to determine a degree to which the height from the deck and/or the length is to be adjusted.

At block618, it is then determined whether to repeat the process. If the process is to be repeated, control of the process returns to block602. Otherwise, the process ends. This determination may be based on whether the aircraft120is to be re-launched or another aircraft is to be launched from the support mount110.

The processor platform700of the illustrated example includes processor circuitry712. The processor circuitry712of the illustrated example is hardware. For example, the processor circuitry712can be implemented by one or more integrated circuits, logic circuits, FPGAs, microprocessors, CPUs, GPUs, DSPs, and/or microcontrollers from any desired family or manufacturer. The processor circuitry712may be implemented by one or more semiconductor based (e.g., silicon based) devices. In this example, the processor circuitry712implements the example support mount adjuster circuitry504, the example flight sensor analyzer circuitry506, the example aircraft recovery controller circuitry508, and the example recovery vehicle movement analyzer circuitry510.

The processor circuitry712of the illustrated example includes a local memory713(e.g., a cache, registers, etc.). The processor circuitry712of the illustrated example is in communication with a main memory including a volatile memory714and a non-volatile memory716by a bus718. The volatile memory714may 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 RAM device. The non-volatile memory716may be implemented by flash memory and/or any other desired type of memory device. Access to the main memory714,716of the illustrated example is controlled by a memory controller717.

The processor platform700of the illustrated example also includes interface circuitry720. The interface circuitry720may be implemented by hardware in accordance with any type of interface standard, such as an Ethernet interface, a universal serial bus (USB) interface, a Bluetooth® interface, a near field communication (NFC) interface, a Peripheral Component Interconnect (PCI) interface, and/or a Peripheral Component Interconnect Express (PCIe) interface.

In the illustrated example, one or more input devices722are connected to the interface circuitry720. The input device(s)722permit(s) a user to enter data and/or commands into the processor circuitry712. The input device(s)722can be implemented by, for example, an audio sensor, a microphone, a camera (still or video), a keyboard, a button, a mouse, a touchscreen, a track-pad, a trackball, an isopoint device, and/or a voice recognition system.

The processor platform700of the illustrated example also includes one or more mass storage devices728to store software and/or data. Examples of such mass storage devices728include magnetic storage devices, optical storage devices, floppy disk drives, HDDs, CDs, Blu-ray disk drives, redundant array of independent disks (RAID) systems, solid state storage devices such as flash memory devices and/or SSDs, and DVD drives.

The machine executable instructions732, which may be implemented by the machine readable instructions ofFIG.6, may be stored in the mass storage device728, in the volatile memory714, in the non-volatile memory716, and/or on a removable non-transitory computer readable storage medium such as a CD or DVD.

FIG.8is a block diagram of an example implementation of the processor circuitry712ofFIG.7. In this example, the processor circuitry712ofFIG.7is implemented by a general purpose microprocessor800. The general purpose microprocessor circuitry800executes some or all of the machine readable instructions of the flowchart ofFIG.6to effectively instantiate the circuitry ofFIG.5as logic circuits to perform the operations corresponding to those machine readable instructions. In some such examples, the circuitry ofFIG.5is instantiated by the hardware circuits of the microprocessor800in combination with the instructions. For example, the microprocessor800may implement multi-core hardware circuitry such as a CPU, a DSP, a GPU, an XPU, etc. Although it may include any number of example cores802(e.g., 1 core), the microprocessor800of this example is a multi-core semiconductor device including N cores. The cores802of the microprocessor800may operate independently or may cooperate to execute machine readable instructions. For example, machine code corresponding to a firmware program, an embedded software program, or a software program may be executed by one of the cores802or may be executed by multiple ones of the cores802at the same or different times. In some examples, the machine code corresponding to the firmware program, the embedded software program, or the software program is split into threads and executed in parallel by two or more of the cores802. The software program may correspond to a portion or all of the machine readable instructions and/or operations represented by the flowchart ofFIG.6.

The cores802may communicate by a first example bus804. In some examples, the first bus804may implement a communication bus to effectuate communication associated with one(s) of the cores802. For example, the first bus804may implement at least one of an Inter-Integrated Circuit (I2C) bus, a Serial Peripheral Interface (SPI) bus, a PCI bus, or a PCIe bus. Additionally or alternatively, the first bus804may implement any other type of computing or electrical bus. The cores802may obtain data, instructions, and/or signals from one or more external devices by example interface circuitry806. The cores802may output data, instructions, and/or signals to the one or more external devices by the interface circuitry806. Although the cores802of this example include example local memory820(e.g., Level 1 (L1) cache that may be split into an L1 data cache and an L1 instruction cache), the microprocessor800also includes example shared memory810that may be shared by the cores (e.g., Level 2 (L2_cache)) for high-speed access to data and/or instructions. Data and/or instructions may be transferred (e.g., shared) by writing to and/or reading from the shared memory810. The local memory820of each of the cores802and the shared memory810may be part of a hierarchy of storage devices including multiple levels of cache memory and the main memory (e.g., the main memory714,716ofFIG.7). Typically, higher levels of memory in the hierarchy exhibit lower access time and have smaller storage capacity than lower levels of memory. Changes in the various levels of the cache hierarchy are managed (e.g., coordinated) by a cache coherency policy.

Each core802may be referred to as a CPU, DSP, GPU, etc., or any other type of hardware circuitry. Each core802includes control unit circuitry814, arithmetic and logic (AL) circuitry (sometimes referred to as an ALU)816, a plurality of registers818, the L1 cache820, and a second example bus822. Other structures may be present. For example, each core802may include vector unit circuitry, single instruction multiple data (SIMD) unit circuitry, load/store unit (LSU) circuitry, branch/jump unit circuitry, floating-point unit (FPU) circuitry, etc. The control unit circuitry814includes semiconductor-based circuits structured to control (e.g., coordinate) data movement within the corresponding core802. The AL circuitry816includes semiconductor-based circuits structured to perform one or more mathematic and/or logic operations on the data within the corresponding core802. The AL circuitry816of some examples performs integer based operations. In other examples, the AL circuitry816also performs floating point operations. In yet other examples, the AL circuitry816may include first AL circuitry that performs integer based operations and second AL circuitry that performs floating point operations. In some examples, the AL circuitry816may be referred to as an Arithmetic Logic Unit (ALU). The registers818are semiconductor-based structures to store data and/or instructions such as results of one or more of the operations performed by the AL circuitry816of the corresponding core802. For example, the registers818may include vector register(s), SIMD register(s), general purpose register(s), flag register(s), segment register(s), machine specific register(s), instruction pointer register(s), control register(s), debug register(s), memory management register(s), machine check register(s), etc. The registers818may be arranged in a bank as shown inFIG.8. Alternatively, the registers818may be organized in any other arrangement, format, or structure including distributed throughout the core802to shorten access time. The second bus822may implement at least one of an I2C bus, a SPI bus, a PCI bus, or a PCIe bus

FIG.9is a block diagram of another example implementation of the processor circuitry712ofFIG.7. In this example, the processor circuitry712is implemented by FPGA circuitry900. The FPGA circuitry900can be used, for example, to perform operations that could otherwise be performed by the example microprocessor800ofFIG.8executing corresponding machine readable instructions. However, once configured, the FPGA circuitry900instantiates the machine readable instructions in hardware and, thus, can often execute the operations faster than they could be performed by a general purpose microprocessor executing the corresponding software.

In the example ofFIG.9, the FPGA circuitry900is structured to be programmed (and/or reprogrammed one or more times) by an end user by a hardware description language (HDL) such as Verilog. The FPGA circuitry900ofFIG.9, includes example input/output (I/O) circuitry902to obtain and/or output data to/from example configuration circuitry904and/or external hardware (e.g., external hardware circuitry)906. For example, the configuration circuitry904may implement interface circuitry that may obtain machine readable instructions to configure the FPGA circuitry900, or portion(s) thereof. In some such examples, the configuration circuitry904may obtain the machine readable instructions from a user, a machine (e.g., hardware circuitry (e.g., programmed or dedicated circuitry) that may implement an Artificial Intelligence/Machine Learning (AI/ML) model to generate the instructions), etc. In some examples, the external hardware906may implement the microprocessor800ofFIG.8. The FPGA circuitry900also includes an array of example logic gate circuitry908, a plurality of example configurable interconnections910, and example storage circuitry912. The logic gate circuitry908and interconnections910are configurable to instantiate one or more operations that may correspond to at least some of the machine readable instructions ofFIG.6and/or other desired operations. The logic gate circuitry908shown inFIG.9is fabricated in groups or blocks. Each block includes semiconductor-based electrical structures that may be configured into logic circuits. In some examples, the electrical structures include logic gates (e.g., And gates, Or gates, Nor gates, etc.) that provide basic building blocks for logic circuits. Electrically controllable switches (e.g., transistors) are present within each of the logic gate circuitry908to enable configuration of the electrical structures and/or the logic gates to form circuits to perform desired operations. The logic gate circuitry908may include other electrical structures such as look-up tables (LUTs), registers (e.g., flip-flops or latches), multiplexers, etc.

The storage circuitry912of the illustrated example is structured to store result(s) of the one or more of the operations performed by corresponding logic gates. The storage circuitry912may be implemented by registers or the like. In the illustrated example, the storage circuitry912is distributed amongst the logic gate circuitry908to facilitate access and increase execution speed.

The example FPGA circuitry900ofFIG.9also includes example Dedicated Operations Circuitry914. In this example, the Dedicated Operations Circuitry914includes special purpose circuitry916that may be invoked to implement commonly used functions to avoid the need to program those functions in the field. Examples of such special purpose circuitry916include memory (e.g., DRAM) controller circuitry, PCIe controller circuitry, clock circuitry, transceiver circuitry, memory, and multiplier-accumulator circuitry. Other types of special purpose circuitry may be present. In some examples, the FPGA circuitry900may also include example general purpose programmable circuitry918such as an example CPU920and/or an example DSP922. Other general purpose programmable circuitry918may additionally or alternatively be present such as a GPU, an XPU, etc., that can be programmed to perform other operations.

AlthoughFIGS.8and9illustrate two example implementations of the processor circuitry712ofFIG.7, many other approaches are contemplated. For example, as mentioned above, modern FPGA circuitry may include an on-board CPU, such as one or more of the example CPU920ofFIG.9. Therefore, the processor circuitry712ofFIG.7may additionally be implemented by combining the example microprocessor800ofFIG.8and the example FPGA circuitry900ofFIG.9. In some such hybrid examples, a first portion of the machine readable instructions represented by the flowchart ofFIG.6may be executed by one or more of the cores802ofFIG.8, a second portion of the machine readable instructions represented by the flowchart ofFIG.6may be executed by the FPGA circuitry900ofFIG.9, and/or a third portion of the machine readable instructions represented by the flowchart ofFIG.6may be executed by an ASIC. It should be understood that some or all of the circuitry ofFIG.5may, thus, be instantiated at the same or different times. Some or all of the circuitry may be instantiated, for example, in one or more threads executing concurrently and/or in series. Moreover, in some examples, some or all of the circuitry ofFIG.2may be implemented within one or more virtual machines and/or containers executing on the microprocessor.

In some examples, the processor circuitry712ofFIG.7may be in one or more packages. For example, the processor circuitry800ofFIG.8and/or the FPGA circuitry900ofFIG.9may be in one or more packages. In some examples, an XPU may be implemented by the processor circuitry712ofFIG.7, which may be in one or more packages. For example, the XPU may include a CPU in one package, a DSP in another package, a GPU in yet another package, and an FPGA in still yet another package.

Example methods, apparatus, systems, and articles of manufacture to enable aircraft recovery systems that can quickly and easily recover aircraft are disclosed herein. Further examples and combinations thereof include the following:

Example 1 includes an apparatus for recovering an unmanned aerial vehicle (UAV), the apparatus comprising a base to be mounted to a recovery vehicle, a flexible arm extending from the base to pivot therefrom, the arm having a first end at the base and a second end opposite the first end, the arm to move to counteract a movement of the recovery vehicle, and a coupler mounted on or proximate the second end of the arm, the coupler to be releasably coupled to the UAV.

Example 2 includes the apparatus as defined in example 1, further including a sensor to measure the movement of the recovery vehicle.

Example 3 includes the apparatus as defined in example 2, further including an actuator to control movement of the arm based on the measured movement of the recovery vehicle.

Example 4 includes the apparatus as defined in example 3, further including at least one memory, instructions, and processor circuitry to execute the instructions to calculate a counteracting movement of the arm based on the measured movement, and control the actuator to move the arm based on the counteracting movement.

Example 5 includes the apparatus as defined in any of examples 1 to 4, wherein the arm is telescoping such that the arm can expand and contract longitudinally.

Example 6 includes the apparatus as defined in example 5, wherein the coupler includes a magnet, and wherein the arm is to be expanded longitudinally to bring the magnet in proximity of the UAV to attract the UAV.

Example 7 includes the apparatus as defined in any of examples 1 to 6, wherein the coupler includes a lock to secure the coupler to the UAV, the lock to push the UAV away during launch of the UAV.

Example 8 includes the apparatus as defined in any of examples 1 to 7, wherein the UAV is a vertical takeoff and landing (VTOL) aircraft or a short takeoff and landing (STOL) aircraft.

Example 9 includes a method of recovering an unmanned aerial vehicle (UAV), the method comprising moving, in response to a movement of a recovery vehicle, an arm that pivots from a base of a recovery vehicle to counteract the movement of the recovery vehicle, the arm having a distal end supporting a first coupler, and extending the arm toward the UAV as the UAV hovers to bring the first coupler in proximity of a second coupler carried by the UAV, the first coupler to be coupled to the second coupler to couple the UAV to the arm.

Example 10 includes the method as defined in example 9, further including measuring, with a sensor, the movement of the recovery vehicle.

Example 11 includes the method as defined in example 10, further including calculating, by executing instructions with at least one processor, a counteracting movement of the arm based on the measured movement of the recovery vehicle.

Example 12 includes the method as defined in example 11, further including controlling, by executing instructions with the at least one processor, an actuator operatively coupled to the arm based on the counteracting movement.

Example 13 includes the method as defined in example 12, wherein the counteracting movement of the arm is at least partially based on wind conditions proximate the UAV.

Example 14 includes the method as defined in any of examples 10 to 13, wherein the recovery vehicle is a marine vessel, and wherein measuring the movement of the recovery vehicle includes measuring a movement of fluid on which the marine vessel floats.

Example 15 includes a non-transitory computer readable medium comprising instructions, which when executed, cause processor circuitry to determine a movement of a recovery vehicle carrying an arm for recovery of an unmanned aerial vehicle (UAV), the arm to pivot relative to the recovery vehicle, calculate a counteracting movement of the arm based on the determined movement of the recovery vehicle, and control an actuator to move the arm based on the counteracting movement to bring a first coupler of the arm to a second coupler of the UAV to capture the UAV.

Example 16 includes the non-transitory computer readable medium as defined in example 15, wherein the movement of the recovery vehicle is determined based on output from a sensor of the recovery vehicle.

Example 17 includes the non-transitory computer readable medium as defined in any of examples 15 or 16, wherein the recovery vehicle is a marine vessel, and wherein the determination of the movement of the recovery vehicle is at least partially based on measuring a movement of fluid on which the marine vessel floats.

Example 18 includes the non-transitory computer readable medium as defined in any of examples 15 to 17, wherein the actuator is controlled at least partially based on a wind condition proximate the UAV.

Example 19 includes the non-transitory computer readable medium as defined in example 18, wherein the calculation of the counteracting movement of the arm is at least partially based on the wind condition.

Example 20 includes the non-transitory computer readable medium as defined in any of examples 15 to 19, wherein the instructions further cause the processor circuitry to direct the UAV to hover proximate the first coupler of the arm.

From the foregoing, it will be appreciated that example systems, methods, apparatus, and articles of manufacture have been disclosed that enable lightweight and compact launch/recovery of UAVs that adjusts for motion of a recovery vehicle. As a result, examples disclosed herein can enable quick recovery of UAVs, thereby saving fuel usually necessitated in extended duration landing and/or recovery attempts. Further, examples disclosed herein can be implemented for recovery of VTOL and STOL aircraft, which can be generally imprecise when hovering. Additionally, examples disclosed herein can accommodate for motion of recovery vehicles, wind conditions and/or thrust generated by aircraft being recovered.