Adjustable takeoff platform for aerial vehicles

Described are systems and methods for adjusting a takeoff platform for a vertical takeoff and landing (VTOL) aerial vehicle. The described systems and methods allow a VTOL aerial vehicle to be oriented prior to takeoff to reduce the effects that a VTOL aerial vehicle may experience due to weather conditions at takeoff. In view of the aerodynamic characteristics of a VTOL aerial vehicle and certain weather conditions, a heading, pitch, and/or roll of the VTOL can be provided to counteract the effects the VTOL may experience from the weather conditions at takeoff.

BACKGROUND

Vertical takeoff and landing (VTOL) aerial vehicles are often prone to drift caused by the wind during takeoff. These effects of the wind typically impact VTOL aerial vehicles until the aerial vehicle has had sufficient time to adjust its attitude to counteract the forces of the wind.

DETAILED DESCRIPTION

As is set forth in greater detail below, embodiments of the present disclosure are generally directed to an adjustable takeoff platform for aerial vehicles, and preferably, vertical takeoff and landing (VTOL) aerial vehicles, that can reduce the impact that wind can have on an aerial vehicle at takeoff. During takeoff, VTOL aerial vehicles can be blown by the wind, causing the aerial vehicle to drift from its intended flight plan. These effects can be experienced by VTOL aerial vehicles until the VTOL aerial vehicle has had sufficient time to determine the wind conditions and/or any drift the VTOL aerial vehicle has experienced, and adjust its attitude (e.g., yaw; pitch, and/or roll) to counteract the forces of the wind. For example, the wind can cause a VTOL aerial vehicle to drift several meters (e.g., 1 m, 2 m, 3 m, 4 m, 5 m, or more) from its intended flight plan, and it can take several seconds (e.g., 1 s, 2 s, 3 s, 4 s, 5 s, or more) for a VTOL aerial vehicle to adjust its attitude to recover from this drift.

To counteract the effects of wind conditions at takeoff, it may be preferable to adjust a heading, a pitch, and/or a roll of a VTOL aerial vehicle prior to takeoff to reduce the effects that the wind may have on the VTOL aerial vehicle upon takeoff. Embodiments of the present disclosure provide an adjustable takeoff platform that can be rotated and/or angled so as to orient the heading, pitch, and/or roll of a VTOL aerial vehicle in preparation for takeoff to compensate for wind conditions that may affect the VTOL aerial vehicle at takeoff.

As described herein, the adjustable takeoff platform according to embodiments of the present disclosure can include an alignment assembly and an adjustment assembly, which can include a rotation assembly and one or more tilting assemblies. The various assemblies can rotate and/or angle the platform to orient a VTOL aerial vehicle disposed thereon prior to takeoff to reduce the drift that the VTOL aerial vehicle may experience due to wind conditions at takeoff. The alignment assembly can include various features to facilitate positioning of a VTOL aerial vehicle on the adjustable takeoff platform so that the VTOL aerial vehicle is oriented on the adjustable takeoff platform in a known orientation relative to the adjustable takeoff platform prior to takeoff. For example, the alignment assembly can include various components, such as markings, sensors, keyed protrusions and recesses, etc., that may correspond to, mate with, be received by, and/or receive complementary components on the VTOL aerial vehicle to allow the VTOL aerial vehicle to be properly positioned on the adjustable takeoff platform and reduce the possibility of error in preparing the VTOL aerial vehicle for takeoff from the adjustable takeoff platform. The adjustable takeoff platform may include different alignment assemblies for different types of VTOL aerial vehicles that may be used with the adjustable takeoff platform. For example, each type of VTOL aerial vehicle that may be used with the adjustable takeoff platform may have a unique alignment assembly to ensure that the VTOL aerial vehicle is properly positioned on the adjustable takeoff platform. According to certain exemplary embodiments, the adjustable takeoff platform can also include an indicator to show that the VTOL aerial vehicle has been properly positioned on the adjustable takeoff platform.

With a VTOL aerial vehicle properly positioned on the adjustable takeoff platform, the adjustable takeoff platform can receive aircraft information corresponding to the VTOL aerial vehicle preparing for takeoff, as well as weather information at the takeoff location that may be affect a VTOL aerial vehicle at takeoff. According to certain embodiments, the weather information can include a wind direction and magnitude (speed) and the aircraft information can include a database of attitude parameters of the VTOL aerial vehicle for various weather conditions. Optionally, the weather information can further include temperature, relative humidity, barometric pressure, precipitation, visibility, dew point, etc. The aircraft information can specify aerodynamic characteristics of the aircraft, which can include a preferred heading (e.g., nose pointed into the wind), pitch for a given wind magnitude (e.g., 20 degrees pitch for a wind at 10 m/s), and roll (e.g., 0 degrees) for the VTOL aerial vehicle.

Based on the weather information and the aircraft information, the adjustable takeoff platform can be rotated and/or angled, in one or more directions, to orient the VTOL aerial vehicle with an attitude to reduce the effects that the wind may have on the VTOL aerial vehicle at takeoff. For example, a single adjustment assembly can rotate and angle the adjustable takeoff platform in one or more directions, including the VTOL aerial vehicle disposed thereon, to orient the VTOL aerial vehicle with a heading, pitch, and/or roll that can reduce the effects of the wind at takeoff. Alternatively, a rotation assembly can rotate the adjustable takeoff platform, including the VTOL aerial vehicle disposed on the platform, to orient the VTOL aerial vehicle with a heading that can reduce the effects of the wind at takeoff, and one or more tilting assemblies can adjust an angle of the adjustable takeoff platform, including the VTOL aerial vehicle disposed on the platform, in one or more directions, to orient the VTOL aerial vehicle with a pitch and/or roll that can further reduce the effects of the wind at takeoff. According to certain embodiments, the rotation assembly and the one or more tilting assemblies can include various controls, mechanics, motors, servomotors, linkages, hydraulics, pneumatics, etc., to rotate and/or adjust the angle of the adjustable takeoff platform.

Although embodiments of the present disclosure are described primarily with respect to VTOL aerial vehicles, embodiments of the present disclosure can be applicable to other types of aerial vehicles, such as short take-off and vertical landing aircraft (STOVL).

FIG.1Ais perspective view of an exemplary adjustable takeoff platform100, in accordance with embodiments of the present disclosure, from which aerial vehicle110can perform a takeoff in a trajectory shown by arrow A. As shown inFIG.1A, adjustable takeoff platform100can include base or frame102, movable takeoff pad104, and one or more adjustment assemblies106. According to embodiments of the present disclosure, movable takeoff pad104is preferably substantially circular, however, other shapes and configurations (e.g., rectangular, triangular, diamond-shaped, oval-shaped, pentagonal, hexagonal, heptagonal, octagonal, etc.) are contemplated. Further, movable takeoff pad104can be sized and dimensioned for any type of aerial vehicle. For example, movable takeoff pad can be 1 m, 2 m, 3 m, or more in diameter. Adjustable takeoff platform100can be formed of any suitable material, such as plastics, metals (e.g., aluminum, etc.), composites (e.g., graphite, carbon fiber, etc.), or any combination thereof. Although adjustable takeoff platform100is shown as a singular structure, it can be one of many takeoff platforms making up an array or assembly of takeoff platforms. Adjustable takeoff platform100can also include lights, markings, etc., that are typical of takeoff platforms for VTOL aerial vehicles. According to certain embodiments, adjustable takeoff platform100can be a portable structure or a permanent installation. In operation, one or more adjustment assemblies106can adjust movable takeoff pad104relative to frame102so as to orient aerial vehicle110with a heading, pitch, and/or roll prior to takeoff. For example, one or more adjustment assemblies106can rotate movable takeoff pad104relative to frame102about an axis of rotation to orient a heading of aerial vehicle110. Additionally, one or more adjustment assemblies106can also vary an angle of movable takeoff pad104in one or more directions relative to frame102to orient a pitch and/or roll of aerial vehicle110.

FIG.1Bis a perspective view of an exemplary adjustable takeoff platform100, in accordance with embodiments of the present disclosure. As shown inFIG.1B, adjustable takeoff platform100can also include platform control system120. Referring toFIG.1B, a block diagram of one control system for an adjustable takeoff platform in accordance with embodiments of the present disclosure is shown. In various examples, the block diagram ofFIG.1Bmay be illustrative of one or more aspects of the platform control system120that may be used to implement the various systems and processes discussed herein.

As is shown inFIG.1B, the platform control system120includes one or more processors122that are coupled to one or more memory components (e.g., a non-transitory computer-readable medium)124via an input/output (I/O) interface130. The platform control system120also includes controller132, a network interface134, one or more input/output devices136and a power controller or power supply module138.

The platform control system120may be a uniprocessor system including a single processor122, or a multiprocessor system including several processors122(e.g., two, four, eight, or another suitable number of processors). The processors122may be any suitable processor capable of executing instructions. For example, in some embodiments, one or more of the processors122may be general-purpose or embedded processors implementing any of a variety of instruction set architectures (ISAs), such as the x86, PowerPC, SPARC, or MIPS ISAs, or any other suitable ISA. In multiprocessor systems, one or more of the processors122may, but not necessarily, implement the same ISA.

The memory components124may be configured to store executable instructions, data, aircraft information, weather information, aircraft heading, pitch, and/or roll parameters for given weather conditions, or any other instructions, data or characteristics associated with operation of an adjustable takeoff platform and takeoff of an aerial vehicle, as well as any other data items accessible by the processor(s)122. In various embodiments, the memory components124may be implemented using any suitable memory technology, such as static random access memory (SRAM), synchronous dynamic RAM (SDRAM), non-volatile or Flash-type memory, or any other type of memory. As is shown inFIG.1B, program instructions and data implementing desired functions, such as those described above, are shown stored within the memory components124as program instructions126, data storage127and operational data128relating to aircraft information, weather information, aircraft heading, pitch, and/or roll parameters for given weather conditions, or any other instructions, data or characteristics associated with operation of an adjustable takeoff platform and takeoff of an aerial vehicle, and other operational data, respectively. In other embodiments, program instructions, data and/or operational data may be received, sent or stored upon different types of computer-accessible media, such as non-transitory media, or on similar media separate from the memory components124or the platform control system120. The information or data stored within the memory components124, e.g., the program instructions126, the stored data127and the operational data128, may include data related to the operation of servos, worm gears, worm drives, hydraulics, control surfaces or any other aspect of the operation of components of the adjustable takeoff platform described herein.

In some embodiments, the memory components124may include storage media or memory media such as magnetic or optical media, e.g., disk or CD/DVD-ROM, coupled to the platform control system120via the I/O interface130. Program instructions and data stored via the memory components124may be transmitted by transmission media or signals, such as electrical, electromagnetic, or digital signals, which may be conveyed via a communication medium such as a network and/or a wireless link, such as may be implemented via the network interface134.

In one implementation, the I/O interface130may be configured to coordinate I/O traffic between the processors122, the memory components124, and any peripheral devices, the network interface134or other peripheral interfaces, such as input/output devices136. In some implementations, the I/O interface130may perform any necessary protocol, timing or other data transformations to convert data signals from one component (e.g., one or more of the memory components124) into a format suitable for use by another component (e.g., processors122). In some implementations, the I/O interface130may include support for devices attached through various types of peripheral buses, such as a variant of the Peripheral Component Interconnect (PCI) bus standard or the Universal Serial Bus (USB) standard, for example. In some implementations, the functions of the I/O interface130may be split into two or more separate components, e.g., a north bridge and a south bridge. Also, in some implementations, some or all of the functionality of the I/O interface130, such as an interface to the memory components124, may be incorporated directly into the processors122.

The platform controls or controllers132may communicate with an adjustable takeoff platform, including any adjustment assemblies (e.g., a rotation assembly and/or one or more tilt assemblies), and adjust the movable takeoff pad prior to takeoff in view of prevailing weather conditions. For example, platform control system120can send instructions to adjustable takeoff platform100to cause adjustment assemblies106(e.g., adjustment assembly106-1, rotation assembly106-2, and/or one or more of tilt assemblies106-3and/or106-4) to rotate movable takeoff pad104about yaw axis101and vary an angle of movable takeoff pad104in one or more directions relative to horizontal so as to orient a heading, pitch, and/or roll of aerial vehicle110about pitch axis103and/or roll axis105, respectively.

The platform control system120may further include one or more network interfaces134that are configured to allow data to be exchanged between the platform control system120, other devices attached to a network, such as other computer systems, aerial vehicle control systems of other aerial vehicles, weather station140, and/or an aerial vehicle management system. For example, the network interface134may enable wireless communication between numerous aerial vehicles. In various implementations, the network interface134may support communication via wireless general data networks, such as a Wireless Fidelity (or “Wi-Fi”) network. The network interface134may also support communication via telecommunications networks such as cellular communication networks, satellite networks, and the like.

The platform control system120may also include one or more input/output devices136, e.g., one or more displays, image capture devices, imaging devices, thermal sensors, infrared sensors, accelerometers, pressure sensors, weather sensors, or the like.

As is shown inFIG.1B, the memory components124may include program instructions126which may be configured to implement the example processes and/or sub-processes described above. The data storage127and operational data128may include various data stores for maintaining data items that may be provided for controlling the actuation of the various propeller blade pitch adjustment apparatuses described herein to adjust pitches of propeller blades.

FIG.1Cis perspective view of adjustable takeoff platform100, in accordance with embodiments of the present disclosure. As shown inFIG.1C, adjustable takeoff platform100includes a single adjustment assembly106-1. According to certain embodiments, a single adjustment assembly106-1can adjust movable takeoff pad104in multiple degrees of freedom (e.g., 360-degree rotation about yaw axis101, an angle of movable takeoff pad104in one or more directions relative to horizontal, such as, about pitch axis103and roll axis105) to orient aerial vehicle110in preparation for takeoff. For example, adjustment assembly106-1can rotate movable takeoff pad104about yaw axis101and can vary an angle of movable takeoff pad104in one or more directions relative to horizontal to orient a heading, pitch, and/or roll of aerial vehicle110about yaw axis101, pitch axis103and/or roll axis105, respectively. Alternatively, as shown inFIG.1D, adjustable takeoff platform100can include rotation assembly106-2, which can rotate movable takeoff pad104about yaw axis101, and a single tilting assembly106-3, which can vary an angle of movable takeoff pad104in one or more directions relative to horizontal. Accordingly, rotation assembly106-2can orient a heading of aerial vehicle110and tilt assembly106-3can orient a pitch and/or roll of aerial vehicle110. According to yet another embodiment and, as shown inFIG.1E, adjustable takeoff platform100can include rotation assembly106-2, which can rotate movable takeoff pad104about yaw axis101, tilt assembly106-3, which can vary an angle of movable takeoff pad104in a first direction relative to horizontal, and tilt assembly106-4, which can vary an angle of movable takeoff pad104in a second direction relative to horizontal. Thus, rotation assembly106-2can orient a heading of aerial vehicle110, tilt assembly106-3can orient a pitch of aerial vehicle110, and tilt assembly106-4can orient a roll of aerial vehicle110. According to further embodiments, adjustable takeoff platform100can include any number of adjustment assemblies106to facilitate adjustment of movable takeoff pad104in any direction.

According to embodiments of the present disclosure, each of adjustment assembly106, adjustment assembly106-1, rotation assembly106-2, tilting assembly106-3, and/or tilting assembly106-4can include motors (e.g., servomotor, stepper motor, etc.), actuators (e.g., linear, rotary, etc.), pneumatics, worm screw arrangement, hydraulics, linkages, gears, belts, or various other configurations or arrangements to cause the adjustment of movable takeoff pad104relative to frame102. For example, one or more of adjustment assembly106, adjustment assembly106-1, rotation assembly106-2, tilting assembly106-3, and/or tilting assembly106-4can receive an instruction or command to adjust movable takeoff pad104in view of certain weather conditions to orient a heading, pitch, and/or roll of aerial vehicle110to counteract the prevailing weather conditions. According to one embodiment, adjustment assembly106-1can adjust movable takeoff pad104in multiple directions to orient a heading, pitch, and/or roll of aerial vehicle110. According to another embodiment, rotation assembly106-2can rotate movable takeoff pad104to adjust a heading of aerial vehicle110, and one or more of tilting assemblies106-3and/or106-4can vary an angle of movable takeoff pad104, in one or more directions, to orient a pitch and/or roll of aerial vehicle110. Further, each of adjustment assembly106, adjustment assembly106-1, rotation assembly106-2, tilting assembly106-3, and/or tilting assembly106-4can include stops or other mechanisms (e.g., locking pins, etc.) to releasably secure movable takeoff pad104in the desired takeoff position relative to frame102.

FIGS.2A,2B,3A,3B,4A, and4Bshow certain adjustments of adjustable takeoff platform100according to embodiments of the present disclosure. Except where otherwise noted, reference numerals preceded by the number “2,” “3”, or “4” shown inFIGS.2A,2B,3A,3B,4A, and4B, respectively, indicate components or features that are similar to components or features having reference numerals preceded by the number “1” inFIGS.1A,1B,1C,1D, and1E.

FIGS.2A and2Bshow top-down views of a rotation of movable takeoff pad204from a preliminary position to a takeoff position to, for example, orient a heading of aerial vehicle210in view of wind conditions in preparation for takeoff. As shown inFIGS.2A and2B, movable takeoff pad204has been rotated X degrees in a clockwise direction B. In embodiments where adjustable takeoff platform200includes a single adjustment assembly206-1, the rotation may have been caused by adjustment assembly206-1. In other embodiments where adjustable takeoff platform200may include a rotation assembly (e.g., such as rotation assembly106-2) and one or more tilting assemblies (e.g., such as tilting assemblies106-3and/or106-4), the rotation may have been caused by the rotation assembly (e.g., such as rotation assembly106-2). For example, platform control system120can send an instruction to adjustment assembly206-1(or a rotation assembly) to cause rotation of movable takeoff pad204. The instruction sent to cause rotation of movable takeoff pad204can specify, for example, current weather conditions, an angle of rotation, a direction of rotation, a heading for aerial vehicle210, aerodynamic characteristics of aerial vehicle210, mass properties of aerial vehicle210(e.g., mass, moment of inertia, location of center of gravity, etc.), a time at which to perform the rotation, etc. Upon receipt of the instruction to rotate movable takeoff pad204, adjustment assembly206-1(or a rotation assembly) can rotate movable takeoff pad204in accordance with the received instructions. AlthoughFIGS.2A and2Bshow movable takeoff pad204being rotated in a clockwise direction, movable takeoff pad204can also be rotated in a counter-clockwise direction, and movable takeoff pad204may have the capability to be rotated in both clockwise and counter-clockwise directions. In order to orient the heading of aerial vehicle210to any desired orientation, movable takeoff pad204can be rotated 360 degrees about its axis of rotation.

FIGS.3A and3Bshow side views of an angular adjustment of movable takeoff pad304in one direction relative to horizontal from a preliminary position to a takeoff position to, for example, orient a pitch or a roll of aerial vehicle310in view of wind conditions in preparation for takeoff. As shown inFIGS.3A and3B, an angle of movable takeoff pad304relative to horizontal has been adjusted by Y degrees in direction C. In embodiments where adjustable takeoff platform300includes a single adjustment assembly306-1, the angular adjustment may have been caused by adjustment assembly306-1. In other embodiments where adjustable takeoff platform300may include rotation assembly306-2and one or more tilting assemblies306-3and/or306-4, the angular adjustment may have been caused by one or more tilting assemblies306-3and/or306-4. For example, platform control system120can send an instruction to adjustment assembly306-1(or tilting assemblies306-3and/or306-4) to cause an angular adjustment of movable takeoff pad304. The instruction sent to cause the adjustment of the angle of movable takeoff pad304can specify, for example, current weather conditions, an angle of adjustment, a direction of angular adjustment, a takeoff, a pitch and/or roll for aerial vehicle310, aerodynamic characteristics of aerial vehicle310, mass properties of aerial vehicle310(e.g., mass, moment of inertia, location of center of gravity, etc.), a time at which to perform the adjustment, etc. Upon receipt of the instruction to adjust the angle of movable takeoff pad304, adjustment assembly306-1(or tilting assemblies306-3and/or306-4) can adjust the angle of movable takeoff pad304in accordance with the received instructions. According to embodiments of the present disclosure, movable takeoff pad304can be angled 5° relative to horizontal, 10° relative to horizontal, 15° relative to horizontal, 20° relative to horizontal, 30° relative to horizontal, 45° relative to horizontal, or more, or any angle therebetween.

FIGS.4A and4Bshow side views of an angular adjustment of movable takeoff pad404in more than one direction relative to horizontal from a preliminary position to a takeoff position to, for example, orient a pitch and a roll of aerial vehicle410in view of wind conditions in preparation for takeoff. As shown inFIGS.4A and4B, an angle of movable takeoff pad404relative to horizontal has been adjusted by Z degrees in direction D and Z′ degrees in direction E. In embodiments where adjustable takeoff platform400includes a single adjustment assembly406-1, the angular adjustment may have been caused by adjustment assembly406-1. In other embodiments where adjustable takeoff platform400may include rotation assembly406-2and one or more tilting assemblies406-3and/or406-4, the angular adjustment may have been caused by one or more tilting assemblies406-3and/or406-4. For example, platform control system120can send an instruction to adjustment assembly406-1(or tilting assemblies406-3and/or406-4) to cause an angular adjustment of movable takeoff pad404. The instruction sent to cause the adjustment of the angle of movable takeoff pad404can specify, for example, current weather conditions, an angle of adjustment, a direction of angular adjustment, a pitch and/or roll for aerial vehicle410, aerodynamic characteristics of aerial vehicle410, mass properties of aerial vehicle410(e.g., mass, moment of inertia, location of center of gravity, etc.), a time at which to perform the adjustment, etc. Upon receipt of the instruction to adjust the angle of movable takeoff pad404, adjustment assembly406-1(or tilting assemblies406-3and/or406-4) can adjust the angle of movable takeoff pad404in accordance with the received instructions. According to embodiments of the present disclosure, movable takeoff pad404can be angled in more than one direction (e.g., direction D and direction E) at various angles relative to horizontal (e.g., 5° relative to horizontal, 10° relative to horizontal, 15° relative to horizontal, 20° relative to horizontal, 30° relative to horizontal, 45° relative to horizontal, or more, or any angle therebetween) to adjust a pitch and/or roll of aerial vehicle410for various wind conditions.

Optionally, adjustable takeoff platform400can include securing assembly440to secure aerial vehicle410to movable takeoff pad404prior to takeoff. Securing assembly440can include a high-friction material that contacts aerial vehicle410and introduces a frictional force to prevent movement of aerial vehicle410regardless of the angular adjustments of movable takeoff pad404. Alternatively, securing assembly440can include a releasably locking mechanism (e.g., a press-fit connection, a robotic arm, etc.) that holds aerial vehicle410in place until takeoff.

FIGS.5A,5B,6A,6B, and6Cshow certain adjustments of adjustable takeoff platform100according to embodiments of the present disclosure in view of certain wind conditions. Except where otherwise noted, reference numerals preceded by the number “5” or “6” shown inFIGS.5A,5B,6A, and6B, respectively, indicate components or features that are similar to components or features having reference numerals preceded by the number “1” inFIGS.1A,1B,1C,1D, and1E.

FIGS.5A and5Bshow top-down views of a rotation of movable takeoff pad504to orient a heading of aerial vehicle510in preparation for takeoff in view of wind conditions shown by arrows W, which indicate the direction of the wind. As shown inFIGS.5A and5B, movable takeoff pad504has been rotated X degrees in a clockwise direction B. For example, it may be preferable to orient a heading of aerial vehicle510into the wind in preparation for takeoff. Accordingly, if the wind were blowing from the southeast, it may be preferable to orient aerial vehicle510to have a southeast heading facing the direction of the wind. Similarly, if the wind were blowing from the north-northwest, it may be preferable to orient aerial vehicle510to have a north-northwest heading facing the direction of the wind. The preferred heading for aerial vehicle510may depend on the aerodynamic characteristics of aerial vehicle510and may be different for each type of aerial vehicle. For example, based on the aerodynamic characteristics of the aerial vehicle, it may be preferable for an aerial vehicle to be oriented at an angle of 30° relative to the direction of the wind, 45° relative to the direction of the wind, 60° relative to the direction of the wind, 90° relative to the direction of the wind, or at any other angle relative to the wind that may be dictated by the aerodynamic characteristics of the aerial vehicle. Thus, movable takeoff pad504can be rotated 360 degrees to orient aerial vehicle510in any direction from which the wind may be blowing. In embodiments where adjustable takeoff platform500includes a single adjustment assembly (e.g., such as adjustment assembly106-1), the rotation may have been caused by the adjustment assembly (e.g., such as adjustment assembly106-1). In other embodiments where adjustable takeoff platform500may include a rotation assembly (e.g., such as rotation assembly106-2) and one or more tilting assemblies (e.g., such as tilting assemblies106-3and/or106-4), the rotation may have been caused by the rotation assembly (e.g., such as rotation assembly106-2). For example, platform control system120can send an instruction to the adjustment assembly (or rotation assembly) to cause rotation of movable takeoff pad504. The instruction sent to cause rotation of movable takeoff pad504can specify, for example, current weather conditions, an angle of rotation, a direction of rotation, a heading for aerial vehicle510, aerodynamic characteristics of aerial vehicle510, mass properties of aerial vehicle510(e.g., mass, moment of inertia, location of center of gravity, etc.), a time at which to perform the rotation, etc. Upon receipt of the instruction to rotate movable takeoff pad504, the adjustment assembly (or rotation assembly) can rotate movable takeoff pad504in accordance with the received instructions. AlthoughFIGS.5A and5Bshow movable takeoff pad504being rotated in a clockwise direction, movable takeoff pad504can also be rotated in a counter-clockwise direction, and movable takeoff pad504may have the capability to be rotated in both clockwise and counter-clockwise directions. In order to orient the heading of aerial vehicle510to accommodate any wind condition, movable takeoff pad504can be rotated 360 degrees about its axis of rotation for any wind condition that may be encountered.

FIGS.6A,6B, and6Cshow side views of angular adjustments of movable takeoff pad604in one direction relative to horizontal from a preliminary position to different takeoff positions to, for example, orient a pitch or a roll of aerial vehicle610in view of wind conditions in preparation for takeoff. As shown inFIGS.6A and6B, an angle of movable takeoff pad604relative to horizontal has been adjusted by Y degrees in direction C in view of the wind conditions shown inFIG.6Bprior to takeoff. InFIG.6C, angle of movable takeoff pad604relative to horizontal has been adjusted by Y′ degrees in direction C in view of the wind conditions shown inFIG.6C, which may be different than the wind conditions shown inFIG.6B. As shown inFIG.6A-FIG.6C, movable takeoff pad604has been adjusted to have a greater angle relative to frame602in the configuration shown inFIG.6Cwhen compared to the configuration shown inFIG.6B. For example, it may be preferable to pitch (and/or roll) aerial vehicle610at a certain angular orientation in view of the magnitude (speed) of the wind at takeoff. For example, platform control system120can send an instruction to adjustment assembly606-1(or tilting assemblies606-3and/or606-4) to cause an angular adjustment of movable takeoff pad604. The instruction sent to cause the adjustment of the angle of movable takeoff pad604can specify, for example, current weather conditions, an angle of adjustment, a direction of angular adjustment, a pitch and/or roll for aerial vehicle610, aerodynamic characteristics of aerial vehicle610, mass properties of aerial vehicle610(e.g., mass, moment of inertia, location of center of gravity, etc.), a time at which to perform the adjustment, etc. Upon receipt of the instruction to adjust the angle of movable takeoff pad604, adjustment assembly606-1(or tilting assemblies606-3and/or606-4) can adjust the angle of movable takeoff pad604in accordance with the received instructions. Accordingly, based on the aerodynamic characteristics of aerial vehicles, each type of aerial vehicle may have a pitch and/or roll for a given wind speed. For example, for a wind blowing at 10 m/s, it may be preferable to pitch aerial vehicle610approximately 20°. Similarly, for a wind with a magnitude of 2 m/s, it may be preferable to pitch aerial vehicle approximately 6°. According to embodiments of the present disclosure, movable takeoff pad604can be angled in more than one direction at various angles relative to horizontal (e.g., 5° relative to horizontal, 10° relative to horizontal, 15° relative to horizontal, 20° relative to horizontal, 30° relative to horizontal, 45° relative to horizontal, or more, or any angle therebetween) to orient a pitch and/or roll of aerial vehicle610for any given wind speed.

FIGS.7A,7B,7C,7D, and7Eshow certain alignment assemblies730of adjustable takeoff platform100according to embodiments of the present disclosure. Except where otherwise noted, reference numerals preceded by the number “7” shown inFIGS.7A,7B, and7CBindicate components or features that are similar to components or features having reference numerals preceded by the number “1” inFIGS.1A,1B,1C,1D, and1E.

As shown inFIGS.7A,7B,7C,7D, and7Eadjustable takeoff platform700can include one or more alignment assemblies730-1,730-2, and/or730-3to facilitate positioning of aerial vehicle710on adjustable takeoff platform700in a known orientation relative to movable takeoff pad704to reduce errors in adjusting movable takeoff pad704to position aerial vehicle710in view of the wind conditions at takeoff. Specifically, the orientation of aerial vehicle710should be known prior to adjusting movable takeoff pad704to properly position aerial vehicle710in view of the wind conditions at takeoff. Accordingly, alignment assemblies730-1,730-2, and/or730-3can allow aerial vehicle710to be positioned on movable takeoff pad704in a known orientation. Alignment assemblies730-1,730-2, and/or730-3can include various components to facilitate such positioning. For example, alignment assemblies730-1can include visual markings that align with markings or components (e.g., landing gears) of aerial vehicle710. Alternatively, or in addition, alignment assembly730can include keyed protrusion730-3and recess730-2that can only be mated in a single relative orientation. For example, one of adjustable takeoff platform700and aerial vehicle710can include a protrusion having an asymmetrical shape/design/cross-section that is configured to mate and be received by a complementary recess disposed on the other of adjustable takeoff platform700and aerial vehicle710. Alternatively or in addition, alignment assemblies730-1,730-2, and/or730-3can include optical, electrical, electromechanical, electromagnetic sensors (e.g., Hall sensor, inductive sensor, capacitive sensor, photoelectric sensor, radar, lidar, ultrasonic, laser ranging, etc.) that can detect proximity of certain components of aerial vehicle710to ensure proper alignment of aerial vehicle710on movable takeoff pad704. According to certain exemplary embodiments, alignment assembly can include securing assembly740to prevent movement of aerial vehicle710prior to takeoff. As described herein, securing assembly740can include a high-friction material that contacts aerial vehicle710and introduces a frictional force to prevent movement of aerial vehicle710regardless of the angular adjustments of movable takeoff pad704. Alternatively, securing assembly740can include a releasably locking mechanism (e.g., a press-fit connection, a robotic arm, etc.) that holds aerial vehicle710in place until takeoff.

Since different types of aerial vehicles may have different designs, components, configurations, etc., each type of aerial vehicle may require a unique alignment assembly730. For example, different types of aerial vehicles may include differently configured landing gear. Accordingly, alignment assembly730may be unique for every different landing gear configuration. According to certain embodiments, adjustable takeoff platform700can include an interchangeable alignment assembly730, which can be releasably secured to adjustable takeoff platform700depending on the type of aerial vehicle being used with adjustable takeoff platform700. For example, each type of aerial vehicle that can be used with adjustable takeoff platform700can include its own interchangeable alignment assembly730which can be fitted onto adjustable takeoff platform700prior to use. The interchangeable assembly can be releasably secured to adjustable takeoff platform via a press fit, fasteners, screws, clips, etc.

According to another embodiment of the present disclosure, as shown inFIG.7D, alignment assembly730-4can include visual markings734and one or more imaging sensors736. Imaging sensor(s)736can capture images of visual markings734after aerial vehicle710is placed on movable takeoff pad704, and based on the images of visual markings734, the relative position of aerial vehicle710to movable takeoff pad704can be determined. For example, the positioning, offset, etc. of visual markings734in the captured images can facilitate determining the relative positioning of aerial vehicle710to movable takeoff pad704. The relative positioning of aerial vehicle710can then be transmitted to platform control system120, and movable takeoff pad can be adjusted accordingly in view of the weather conditions and the relative positioning of aerial vehicle710to movable takeoff pad704. Accordingly, in embodiments employing visual markings734and imaging sensor(s)736, aerial vehicle710does not need to be placed in a known orientation relative to movable takeoff pad704. For example, any adjustments to a heading, pitch, and/or roll of aerial vehicle710can consider the relative position of aerial vehicle710to movable takeoff pad704and incorporate this relative positioning in adjusting the position of movable takeoff pad704and aerial vehicle710to compensate for such relative positioning.

According to certain embodiments, visual markings734can be disposed on movable takeoff pad704and imaging sensor(s)736can be disposed on aerial vehicle710. Accordingly, once aerial vehicle710is placed on movable takeoff pad704, imaging sensor(s)736can capture one or more images of visual markings734. The images of visual markings734can be transmitted, for example, to platform control system120, which can determine the relative position of aerial vehicle710to movable takeoff pad704based on the images of visual markings734. Alternatively, visual markings734can be disposed on aerial vehicle710and imaging sensor(s)736can be disposed on movable takeoff pad704. Accordingly, once aerial vehicle710is placed on movable takeoff pad704, imaging sensor(s)736can capture one or images of visual markings734. Then, platform control system120can determine the relative position of aerial vehicle710to movable takeoff pad704based on the images of visual markings734.

According to yet another embodiment of the present disclosure, as shown inFIG.7E, alignment assembly730-5can include one or more imaging sensors738. Imaging sensor(s)738can be disposed at a distance from adjustable takeoff platform700and aerial vehicle710. After aerial vehicle710is placed on movable takeoff pad704, imaging sensor(s)738can capture images of aerial vehicle710and movable takeoff pad704, and the relative position of aerial vehicle710to movable takeoff pad704can be determined. For example, the positioning, offset, etc. of aerial vehicle710relative to takeoff pad704in the captured images can facilitate determining the relative positioning of aerial vehicle710to movable takeoff pad704. The relative positioning of aerial vehicle710can then be transmitted to platform control system120, and movable takeoff pad can be adjusted accordingly in view of the weather conditions and the relative positioning of aerial vehicle710to movable takeoff pad704. Accordingly, in embodiments employing imaging sensors738, aerial vehicle710does not need to be placed in a known orientation relative to movable takeoff pad704. For example, any adjustments to a heading, pitch, and/or roll of aerial vehicle710can incorporate the positioning of aerial vehicle710relative to movable takeoff platform704to compensate for the relative positioning of aerial vehicle710.

Optionally, alignment assembly730can include alignment indicator732which can notify an operator or provide an instruction to platform control system120when aerial vehicle710is properly positioned on adjustable takeoff platform700. According to certain embodiments, indicator732can be a light, or an indication on a user interface of a software application, or an instruction and/or command that is sent to platform control system120to indicate that aerial vehicle710is properly positioned on adjustable takeoff platform700. According to certain exemplary embodiments, takeoff of aerial vehicle710can be prevented until alignment indicator732indicates that aerial vehicle710has been properly positioned on adjustable takeoff platform700.

According to certain embodiments, placement and positioning of aerial vehicle710on movable takeoff pad704can be an automated process. For example, aerial vehicle710can be placed and positioned on movable takeoff pad704by a robotic arm or other assemblies to facilitate operation of adjustable takeoff platform700and aerial vehicle710. According to certain embodiments, the assemblies for positioning aerial vehicle710on adjustable takeoff platform700can be automated to facilitate operation of adjustable takeoff platform700and/or aerial vehicle710with minimal or no user interaction. According to yet another embodiment, the assemblies for positioning aerial vehicle710onto adjustable takeoff platform700can also be used to load and/or unload a payload onto/from aerial vehicle710. For example, a robotic arm that can position aerial vehicle710onto adjustable takeoff platform700can also be used to load and/or unload a payload onto/from aerial vehicle710. Alternatively, a separate assembly can be provided that can load and/or unload a payload onto/from aerial vehicle710. According to yet another embodiment, adjustable takeoff platform700can include assemblies (e.g., cables, connectors, etc.) to facilitate providing power (e.g., charging batteries) to aerial vehicle710. According to one embodiment, alignment assembly730can include a power interface that can allow charging of aerial vehicle710while also facilitating proper positioning of aerial vehicle710on adjustable takeoff platform700.

FIG.8is a flow diagram of an exemplary platform adjustment process800according to embodiments of the present disclosure. As shown inFIG.8, process800can begin with step802upon receipt of command or instruction to initiate a flight of an aerial vehicle. For example, the command or instruction to initiate flight may be received by platform control system120from a remote computing resource that controls and/or manages the flight of the aerial vehicle. After the flight initiation command or instruction has been received, aircraft information associated with the aerial vehicle to perform the flight and weather information at the takeoff location are received in steps804and806(e.g., from platform control system120and weather station140). The aircraft information can include, for example, an aircraft identifier, a flight plan, aerodynamic characteristics of the aerial vehicle, a heading of the aerial vehicle for various weather conditions (e.g., wind direction, wind magnitude, barometric pressure, humidity, temperature, etc.), a pitch of the aerial vehicle for various weather conditions (e.g., wind direction, wind magnitude, barometric pressure, humidity, temperature, etc.), and/or a roll of the aerial vehicle for various weather conditions (e.g., wind direction, wind magnitude, barometric pressure, humidity, temperature, etc.). Weather information can include, for example, temperature, relative humidity, barometric pressure, precipitation, visibility, dew point, etc., at the takeoff location. Further, the weather information can include, for example, the current weather conditions at the takeoff location. Alternatively, or in addition, the weather information can include anticipated forecast weather conditions for the time at which the aerial vehicle is expected to takeoff. According to other embodiments, the weather information can include processed weather data at the takeoff location. For example, the processed weather data can include an averaged wind direction and magnitude over the last 1 minute, 5 minutes, 10 minutes, 15 minutes, 30 minutes, 1 hour, or other time period. The aircraft information can be stored locally or at a remote computing resource. Similarly, the weather information can be received from a remote computing resource (e.g., NOAA/national weather service, other weather monitoring stations, etc.) or from a local weather station disposed at the takeoff location with adjustable takeoff platform100. According to other exemplary embodiments, adjustable takeoff platform100can include various weather sensors (e.g., to measure the direction and magnitude of the wind, the temperature, the barometric pressure, the humidity, etc.) to measure the weather conditions being experienced at adjustable takeoff platform100itself.

Based on the weather information and aerial vehicle information, pre-takeoff parameters (e.g., heading, pitch, and/or roll) for the aerial vehicle can be received in step808for the given weather conditions (e.g., wind direction and magnitude). For example, the pre-takeoff parameters can be received by platform control system120. Alternatively, the pre-takeoff parameters can be stored in a datastore in platform control system120(e.g., operational data128). After the pre-takeoff parameters have been received, movable takeoff pad104of adjustable takeoff platform100can be adjusted (e.g., rotated and angled in one or more directions) such that the aerial vehicle has a heading, pitch, and/or roll as indicated in the pre-takeoff parameters in preparation for takeoff. For example, platform control system120can send an instruction to adjustment assembly106-1(or tilting assemblies106-3and/or106-4) to cause a rotation and/or an angular adjustment of movable takeoff pad104. The instruction sent to cause the rotation and/or adjustment of the angle of movable takeoff pad104can specify, for example, current weather conditions, an angle of rotation, a direction of rotation, an angle of adjustment, a direction of angular adjustment, a heading, pitch and/or roll for aerial vehicle110, aerodynamic characteristics of aerial vehicle110, mass properties of aerial vehicle110(e.g., mass, moment of inertia, location of center of gravity, etc.), a time at which to perform the adjustment, etc. Upon receipt of the instruction to rotate and/or adjust the angle of movable takeoff pad104, adjustment assembly106-1(or tilting assemblies106-3and/or106-4) can rotate and/or adjust the angle of movable takeoff pad104in accordance with the received instructions. As the adjustments are made, adjustable takeoff platform100can confirm whether the aerial vehicle preparing for takeoff is positioned with the pre-takeoff parameters for the given weather conditions, in steps810-820. For example, in steps810,814, and818, it can be determined whether aerial vehicle110has been positioned in accordance with the pre-takeoff parameters. For example, in step810, it can be determined whether the aerial vehicle110has been positioned with the correct heading. Similarly, in steps814and818, it can be determined whether the aerial vehicle110has been positioned with the correct pitch and roll, respectively. If any of the heading, the pitch, and the roll are not in accordance with the pre-takeoff parameters, the heading, pitch, and/or roll can be adjusted in steps812,816, and820, respectively. According to certain embodiments, the adjustments to orient the heading, pitch, and/or roll of aerial vehicle can be performed serially. Alternatively, the adjustments to aerial vehicle's heading, pitch, and/or roll can be performed in parallel. Also, all three of heading, pitch, and roll may not need to be adjusted for every aircraft. For example, based on the aerodynamic characteristics of aerial vehicle110, only a heading, only a pitch, only a roll, only a heading and a pitch, or any combination thereof, may need to be adjusted. After it is confirmed that the heading, pitch, and/or roll of the aerial vehicle are in accordance with the pre-takeoff parameters, a takeoff command or instruction may be received in step822.

FIG.9is a flow diagram of an exemplary pre-takeoff parameter feedback process900according to embodiments of the present disclosure. As shown inFIG.9, process900can begin with step902upon takeoff of an aerial vehicle. Upon takeoff of the aerial vehicle, the takeoff parameters (e.g., heading, pitch, and/or roll) utilized at takeoff and the weather conditions present at takeoff can be received in steps904and906. According to certain embodiments, this information may be received by platform control system120. Accordingly, the aerial vehicle may have taken off, in step902, with the heading, pitch, and/or roll defined by the pre-takeoff parameters. After takeoff, actual takeoff information can be received in step908regarding the effect that the weather conditions may have had at takeoff. For example, the takeoff weather effects information can include a direction and/or magnitude of drift or deviation from the intended flight plan that the aerial vehicle may have experienced at takeoff. This information can be received, for example, by platform control system120. In step910, the pre-takeoff parameters can be assessed against the actual weather conditions (which may have been received in step906) that were present at takeoff. For example, it can be determined in step910whether a drift or deviation from a planned flight path during takeoff exceeds a threshold. The threshold may be any defined amount or value and may vary for different aerial vehicles and/or different weather conditions. For example, during some weather conditions (e.g., wind below 3 m/s) the threshold may allow for up to 0.5 meters of draft from a planned flight path. During other weather conditions (e.g., wind between 3-10 m/s) the threshold may allow for up to a meter of drift.

In some examples, if the threshold is exceeded, it may be determined whether the experienced drift and/or deviation was the result of the pre-take off parameters or if there was unexpected weather at the time of takeoff (e.g., unexpected gust of wind). If it is determined that the drift and/or deviation was a result of the pre-takeoff parameters, the pre-takeoff parameters can be revised for the aerial vehicle for the weather conditions experienced at takeoff (step912). These revised pre-takeoff parameters can then be stored for future takeoffs (e.g., as aircraft information in platform control system120) in step914.

It should be understood that, unless otherwise explicitly or implicitly indicated herein, any of the features, characteristics, alternatives or modifications described regarding a particular implementation herein may also be applied, used, or incorporated with any other implementation described herein, and that the drawings and detailed description of the present disclosure are intended to cover all modifications, equivalents and alternatives to the various implementations as defined by the appended claims. Moreover, with respect to the one or more methods or processes of the present disclosure described herein, including but not limited to the flow charts shown inFIGS.8and9, orders in which such methods or processes are presented are not intended to be construed as any limitation on the claimed inventions, and any number of the method or process steps or boxes described herein can be combined in any order and/or in parallel to implement the methods or processes described herein. Also, the drawings herein are not drawn to scale.