Patent Publication Number: US-2022221863-A1

Title: Systems and methods for alignment of objects

Description:
FIELD OF THE DISCLOSURE 
     The present disclosure is directed generally to lifting mechanisms, specifically to lifting mechanisms arranged to engage with an Unmanned Aerial Vehicle (UAV), even more specifically, to methods and systems for aligning a UAV and an object. 
     BACKGROUND 
     Luminaires for street lamps and other electromagnetic radiation fixtures are typically mounted atop a pole or post making it difficult to install, replace, or maintain luminaires after the pole or post is mounted upright. 
     SUMMARY OF THE DISCLOSURE 
     The present disclosure is related to systems and methods for lifting, installation, removal, and/or servicing of a luminaire or lamp, specifically systems and methods for allowing for remote and/or automated alignment of a UAV and an object. 
     In an aspect there is provided a system for positioning a payload above an object. The system may include a vehicle, for example, an unmanned aerial vehicle (UAV) having a body, a payload, the payload having a first surface, the first surface having a first engagement interface, an object, the object having a second engagement interface arranged to engage with the first engagement interface when the first engagement interface is aligned with the second engagement interface, the second engagement interface, a first electromagnetic radiation source arranged to generate a first electromagnetic radiation, the first electromagnetic radiation source positioned on the payload or connected to the UAV, such that the first electromagnetic radiation is arranged to create a first electromagnetic radiation pattern on the object when the payload and the object are aligned. 
     In an aspect, the UAV further comprises a camera arranged to capture a first image of the first electromagnetic radiation pattern on the object, the camera operatively engaged with the first electromagnetic radiation source. 
     In an aspect, the first electromagnetic radiation pattern is arranged to project onto an alignment window of the object when the payload is aligned with the object. 
     In an aspect, a second electromagnetic radiation source is provided, the second electromagnetic radiation source arranged to generate a second electromagnetic radiation, the second electromagnetic radiation source positioned on the payload or connected to the UAV, such that the second electromagnetic radiation is arranged to create a second electromagnetic radiation pattern on the object or on the first engagement interface of the UAV. 
     In an aspect, the first electromagnetic radiation pattern comprises a first horizontal component arranged substantially parallel to a first axis and a first vertical component arranged substantially parallel to a second axis orthogonal to the first axis, wherein the first vertical component is arranged to bisect the first horizontal component at a first intersection point. 
     In an aspect, the first horizontal component comprises a first right component arranged in a first direction along the first axis with respect to the first intersection point, the first right component having a first right component length, and a first left component arranged in a second direction along the first axis with respect to the intersection point, where the second direction is opposite the first direction, the first left component having a first left component length, wherein, the payload and object are aligned along the first axis when the first right component length and the first left component length are substantially equal. 
     In an aspect, the second electromagnetic radiation pattern includes a second horizontal component and a second vertical component wherein the second vertical component is arranged to bisect the second horizontal component at a second intersection point and wherein the payload and the object are aligned along the second axis when the first intersection point and the second intersection point overlap. 
     In an aspect, the second electromagnetic radiation pattern further comprises a second left component arranged in the first direction along the first axis with respect to the second intersection point, the second left component having a second left component length, and a second right component arranged in the second direction along the first axis with respect to the second intersection point, the second right component having a second right component length, wherein the payload and the object are aligned along the first axis when the ratio of the first left component to the first right component is substantially equal to the ratio of the second left component and the second right component. 
     In an aspect, the first electromagnetic radiation pattern comprises a first diagonal component and a second diagonal component, wherein the first diagonal component is arranged to bisect the second diagonal component at a third intersection point. 
     In an aspect, the second electromagnetic radiation pattern comprises a third diagonal component and a fourth diagonal component, wherein the third diagonal component is arranged to bisect the fourth diagonal component at a fourth intersection point and wherein the payload and the object are aligned along a second axis when the third intersection point and the fourth intersection point overlap. 
     In an aspect, the first electromagnetic radiation pattern is a first dot and the second electromagnetic radiation pattern is a second dot and the payload and the object are aligned along the second axis when the first dot overlaps the second dot. 
     In an aspect, the first electromagnetic radiation pattern comprises a first top edge created by a portion of first electromagnetic radiation contacting the first engagement interface and the second electromagnetic radiation pattern comprises a second top edge created by the second electromagnetic radiation contacting the first engagement interface wherein the payload and the object are aligned along the second axis when the first top edge overlaps the second top edge. 
     In an aspect, a method of aligning a payload and an object is provided, the method comprising: generating, via a first electromagnetic radiation source connected to a vehicle, for example, an unmanned aerial vehicle (UAV), or the payload, a first electromagnetic radiation, the first electromagnetic radiation arranged to project a first electromagnetic radiation pattern on an object while the UAV is in a first position with respect to the object; capturing, via a camera connected to the UAV, a first image, the first image including the first electromagnetic radiation pattern projected on the object while the UAV is in the first position; directing the UAV to move along a first axis or a second axis, where the second axis is orthogonal to the first axis, to a second position based at least in part on the first image, wherein the second position is aligned with the object along the first axis and/or the second axis. 
     In an aspect, the method further comprises: generating, via a second electromagnetic radiation source connected to the UAV or the payload, a second electromagnetic radiation, the second electromagnetic radiation arranged to project a second electromagnetic radiation pattern on the object while the UAV is in the first position with respect to the object, wherein the first electromagnetic radiation pattern and the second electromagnetic radiation pattern are arranged to project onto an alignment window of the object when the payload is aligned with the object along the first axis and/or the second axis. 
     In an aspect, the method further comprises: generating, via a second electromagnetic radiation source connected to the UAV or the payload, a second electromagnetic radiation, the second electromagnetic radiation arranged to project a second electromagnetic radiation pattern on the object, wherein the first electromagnetic radiation pattern is arranged to overlap the second electromagnetic radiation pattern when the payload and the object are aligned along the first axis and/or the second axis. 
     These and other aspects of the various embodiments will be apparent from and elucidated with reference to the embodiment(s) described hereinafter. 
    
    
     
       BRIEF DESCRIPTION OF THE DRAWINGS 
       In the drawings, like reference characters generally refer to the same parts throughout the different views. Also, the drawings are not necessarily to scale, emphasis instead generally being placed upon illustrating the principles of the various embodiments. 
         FIG. 1  is a perspective view of a positioning system according to the present disclosure. 
         FIG. 2A  is a front view of a positioning system according to the present disclosure. 
         FIG. 2B  is a side view of a positioning system according to the present disclosure. 
         FIG. 2C  is a front view of a positioning system according to the present disclosure. 
         FIG. 2D  is a side view of a positioning system according to the present disclosure. 
         FIG. 3A  is a front view of a positioning system according to the present disclosure. 
         FIG. 3B  is a side view of a positioning system according to the present disclosure. 
         FIG. 3C  is a front view of a positioning system according to the present disclosure. 
         FIG. 3D  is a side view of a positioning system according to the present disclosure. 
         FIG. 4A  is a front view of a positioning system according to the present disclosure. 
         FIG. 4B  is a side view of a positioning system according to the present disclosure. 
         FIG. 4C  is a front view of a positioning system according to the present disclosure. 
         FIG. 4D  is a side view of a positioning system according to the present disclosure. 
         FIG. 5A  is a front view of a positioning system according to the present disclosure. 
         FIG. 5B  is a side view of a positioning system according to the present disclosure. 
         FIG. 5C  is a front view of a positioning system according to the present disclosure. 
         FIG. 5D  is a side view of a positioning system according to the present disclosure. 
         FIG. 6A  is a front view of a positioning system according to the present disclosure. 
         FIG. 6B  is a side view of a positioning system according to the present disclosure. 
         FIG. 6C  is a front view of a positioning system according to the present disclosure. 
         FIG. 6D  is a side view of a positioning system according to the present disclosure. 
         FIG. 7A  is a front view of a positioning system according to the present disclosure. 
         FIG. 7B  is a side view of a positioning system according to the present disclosure. 
         FIG. 7C  is a front view of a positioning system according to the present disclosure. 
         FIG. 7D  is a side view of a positioning system according to the present disclosure. 
         FIG. 8  is a perspective view of a positioning system according to the present disclosure. 
         FIG. 9A  is a front view of a positioning system according to the present disclosure. 
         FIG. 9B  is a side view of a positioning system according to the present disclosure. 
         FIG. 9C  is a front view of a positioning system according to the present disclosure. 
         FIG. 9D  is a side view of a positioning system according to the present disclosure. 
         FIG. 10A  is an enlarged side view of the positioning system illustrated in  FIG. 9B  according to the present disclosure. 
         FIG. 10B  is an enlarged side view of the positioning system illustrated in  FIG. 9D  according to the present disclosure. 
         FIG. 11A  is a front view of a positioning system according to the present disclosure. 
         FIG. 11B  is top plan view of object  114  according to the present disclosure. 
         FIG. 11C  is a side view of a positioning system according to the present disclosure. 
         FIG. 11D  is a side view of a positioning system according to the present disclosure. 
         FIG. 12A  is a front view of a positioning system according to the present disclosure. 
         FIG. 12B  is a side view of a positioning system according to the present disclosure. 
         FIG. 12C  is a front view of a positioning system according to the present disclosure. 
         FIG. 12D  is a side view of a positioning system according to the present disclosure. 
         FIG. 13  is a flow chart illustrating the steps of a method according to the present disclosure. 
         FIG. 14  is a flow chart illustrating the steps of a method according to the present disclosure. 
     
    
    
     DETAILED DESCRIPTION OF EMBODIMENTS 
     The present disclosure is related to systems and methods for lifting, installation, removal, and/or servicing of a luminaire or lamp . . . . 
     The following description should be read in view of  FIGS. 1-12D .  FIG. 1  illustrates a perspective view of positioning system  100 . Positioning system  100  broadly includes a vehicle  101 , for example, an unmanned aerial vehicle (UAV)  102  arranged to engage with, lift, and transport a payload  104 . It should be appreciated, although the present disclosure illustrates and describes system  100  from the perspective of a UAV, i.e., UAV  102 , vehicle may be a manned aerial vehicle, a manned or unmanned terrestrial vehicle, or any other vehicle capable of motorized and/or remote controlled motion to, for example, lift the weight of payload  104 . UAV  102  is a device capable of sustained, unmanned flight. UAV  102  is intended to be a motorized, remote controlled, flying vehicle, for example, a drone, having enough lift force orthogonal to the surface of the ground in which is installed, to lift the combined weight of UAV  102  and payload  104 . It should be appreciated that UAV  110  may include a first controller C having a first processor and first memory arranged to execute and store, respectively, a first set of non-transitory computer readable instructions arranged to perform the steps of the method outlined below. Additionally, first controller may be electrically connected to a first antenna arranged to receive wired or wireless communications from a remote device R. As will be discussed below, it should be appreciated that the first processor and first memory can be arranged to send and receive wireless data, for example, data related to first image  112  (not shown) such that a user or suitable image recognition module may further analyze the image data and drive UAV  102  to a more suitable position, i.e., a position that is aligned with the axes discussed below. It should be appreciated that the term image recognition module may refer to a set of non-transitory computer readable instructions, executable on a processor which can extract data from an image, e.g., feature point data or other known image recognition applications such that the distinguishing electromagnetic radiation patterns below may be discerned and automatically compensated for if it is determined that payload  104  is not aligned with object  114  as will be discussed below. 
     Payload  104  includes a first surface  106  having a first engagement interface  108  projecting therefrom in a direction orthogonal to first surface  106 . Payload  104  is intended to be a lamp or luminaire arranged to engage, via the at least the first engagement interface  108  with an object, i.e., object  114  discussed below. Additionally, positioning system  100  may further include a camera  110  fixedly secured to either UAV  102  (as shown in  FIGS. 1 and 8 ) or payload  104  (not shown). Camera  110  is arranged to capture a first image, i.e., first image  112  of object  114  and/or payload  104  from viewing angle V, as will be discussed below. It should be appreciated that camera  110  may capture a plurality of images in real-time, i.e., a video. First image  112  or a plurality of images in the form of a real-time video may be sent via the first antenna of the first controller of the UAV to the remote device R such that a user may use the visual indicators discussed below to align and/or position UAV  102  and payload  104  with respect to object  114  along a first axis A 1  and/or a second axis A 2 , where the first axis A 1  and the second axis A 2  are arranged parallel to the surface of the ground within which object  114  is secured within or on and second axis A 2  is orthogonal to the first axis A 1 . 
     Object  114  is intended to be a post, lamp post, or pole arranged to receive and fixedly secure to payload  104 . Object  114  includes a second engagement interface  116  arranged at a first end of object  114  along a third axis A 3  arranged orthogonal to the first axis A 1  and the second axis A 2 , the second engagement interface  116  arranged to engage with first engagement interface  108  of payload  104 . Second engagement interface may include a plurality of male or female oriented helical threads arranged to receive complementary plurality of male or female oriented helical threads of first engagement interface  108 . Alternatively, first engagement interface  108  and second engagement interface  116  can include a pair of complementary magnets such that when first engagement interface  108  and second engagement interface  116  can magnetically couple when payload  104  and object  114  are aligned along the first axis A 1  and/or the second axis A 2  as will be discussed below. It should be appreciated that, in the alternative to complementary helical threads or complementary magnets, first engagement interface  108  and second engagement interface  116  can be arranged to engage via other mechanical connections, e.g., a slip-on arrangement where first engagement interface  108  is a substantially cylindrical projection arranged to encompass and slide over and around second engagement interface  116 ; a mechanical lock configuration where first engagement interface  108  is arranged to mechanically lock, in a translational or twisting motion around or with respect to third axis A 3 ; or any other mechanical connection capable of removable securing payload  104  and object  114 . 
     As illustrated in at least  FIGS. 2A and 2C , second engagement interface  116  includes a vertical component having first outer circumferential surface  118 . First outer circumferential surface  118  is arrange to receive a projected electromagnetic radiation, e.g., first electromagnetic radiation  122  and second electromagnetic radiation  136  discussed below, revealing an image or pattern which can be captured within first image  112  taken by camera  110 . It should be appreciated that the electromagnetic radiation and electromagnetic radiation patterns discussed throughout this disclosure can be within and out of the visible spectrum of light such that the electromagnetic radiation patterns described herein may be observed or detected by a camera, e.g., camera  110  in situations where there may be visual noise, i.e., situations where it may be difficult to see an electromagnetic radiation pattern in the visible spectrum due to intense sunlight or other visual noise. 
     As illustrated in at least  FIGS. 2A and 2C , payload  104  may include a first electromagnetic radiation source  120 . First electromagnetic radiation source  120  is arranged to produce or generate a first electromagnetic radiation  122 . It should be appreciated that first electromagnetic radiation source  120  may be selected from: a single Light-Emitting Diode (LED), a single Organic Light-Emitting Diode (OLED), a plurality of LEDs, a plurality of OLEDs, a laser, or any other electromagnetic radiation source capable of producing a pattern of electromagnetic radiation, e.g., first electromagnetic radiation pattern  124  described below. First electromagnetic radiation source  120  may also be arranged to generate a first electromagnetic radiation pattern  124  using first electromagnetic radiation  122 . First electromagnetic radiation pattern  124  can take the form of a dot (shown in  FIGS. 3A-3D and 5A-5D ), a vertical cross pattern (shown in  FIGS. 6A-6B and 9A-10B ), a diagonal cross (shown in  FIGS. 7A-7D ), or any combination thereof. 
     In one example, illustrated in  FIGS. 2A-2D  First electromagnetic radiation source  120  may be a point electromagnetic radiation source, e.g., an LED arranged to produce first electromagnetic radiation  122  and first electromagnetic radiation pattern  124 . As illustrated, in an example, first electromagnetic radiation pattern  124  may be a cone shaped pattern having at least a top edge, e.g., first top edge  128 . In the example shown in  FIG. 2A , first electromagnetic radiation  122  is projected at a first angle with respect to third axis A 3  such that a portion of first electromagnetic radiation  122  is prevented from contacting first circumferential surface  118  of object  114  by first engagement interface  108  of payload  104  when payload  104  and object  114  are not aligned along at least first axis A 1 . In other words, first electromagnetic radiation  122  is angled such that first engagement interface  108  casts a shadow on at least a portion of object  114  when payload  104  and object  114  are not aligned along first axis A 1 .  FIG. 2B  illustrates the misaligned configuration of  FIG. 2A  from viewing angle V. To aid in remote alignment, first circumferential surface  118  may have a first alignment window  126 . First alignment window  126  can be viewed by a user, e.g., through remote device R, via first image  112  captured by camera  110  at viewing angle V. As can be seen in the misaligned configuration shown in  FIG. 2B , when misaligned, first top edge  128  of first electromagnetic radiation pattern  124  and first electromagnetic radiation  122  do not contact or overlap first alignment window  126 . During operation of positioning system  100 , a user may, via remote device R, drive UAV  102  closer to object  114  along first axis A 1  until payload  104  and object  114  are aligned. When object  114  and payload  104  are aligned along first axis A 1 , as illustrated in  FIGS. 2C-2D , first top edge  128  overlaps the top edge of object  114  and first electromagnetic radiation  122  and first electromagnetic radiation pattern  124  cover the entire first alignment window  126 . This alignment can be viewed through remote device R, via first image  112  captured by camera  110  at viewing angle V. 
     In one example, as illustrated in  FIGS. 3A-3D , first electromagnetic radiation source  120  may be a laser or other electromagnetic radiation source arrangement capable of generating first electromagnetic radiation pattern  124  in the shape of a dot or small cluster of closely spaced dots forming a single image, i.e., first dot  130 . Furthermore, first circumferential surface  118  of object  114  may include a first alignment zone  132  in the shape of a dot or circle. In the example shown in  FIG. 3A , first electromagnetic radiation  122  is projected at a first angle with respect to third axis A 3  such that it contacts first circumferential surface  118  of object  114  outside of first alignment zone  132  when payload  104  and object  114  are not aligned along first axis A 1 .  FIG. 3B  illustrates the misaligned configuration of  FIG. 3A  from viewing angle V. First alignment zone  132  can be viewed by a user or suitable image recognition modules, e.g., through remote device R, via first image  112  captured by camera  110  at viewing angle V. As can be seen in the misaligned configuration shown in  FIG. 3B , when misaligned, first electromagnetic radiation pattern  124  in the form of a dot, i.e., first dot  130 , contacts first circumferential surface  118  below first alignment zone  132 . During operation of positioning system  100 , a user or suitable image recognition modules may, via remote device R, drive UAV  102  closer to object  114  along first axis A 1  until payload  104  and object  114  are aligned. When object  114  and payload  104  are aligned along first axis A 1 , as illustrated in  FIGS. 3C-3D , first dot  130  overlaps first alignment zone  132 . This alignment can be viewed through remote device R, via first image  112  captured by camera  110  at viewing angle V. 
     Positioning system  100  may further include a second electromagnetic radiation source, i.e., second electromagnetic radiation source  134 . Second electromagnetic radiation source  134  is arranged to produce or generate a second electromagnetic radiation  136 . It should be appreciated that second electromagnetic radiation source  134  may be selected from: a single Light-Emitting Diode (LED), a single Organic Light-Emitting Diode (OLED), a plurality of LEDs, a plurality of OLEDs, a laser, or any other electromagnetic radiation source capable of producing a pattern of electromagnetic radiation, e.g., second electromagnetic radiation pattern  138  described below. Second electromagnetic radiation source  134  may also be arranged to generate a second electromagnetic radiation pattern  138  using second electromagnetic radiation  136 . Second electromagnetic radiation pattern  138  can take the form of a dot (shown in  FIGS. 3A-3D and 5A-5D ), a vertical cross pattern (shown in  FIGS. 6A-6B and 9A-10B ), a diagonal cross (shown in  FIGS. 7A-7D ), or any combination thereof. 
     In one example, first electromagnetic radiation source  120  may be a point electromagnetic radiation source, e.g., an LED arranged to produce first electromagnetic radiation  122  and first electromagnetic radiation pattern  124 . As illustrated, in an example, first electromagnetic radiation pattern  124  may be a cone shaped pattern having at least a top edge, e.g., first top edge  128 . Furthermore, second electromagnetic radiation source  134  may also be a point electromagnetic radiation source, e.g., and LED arranged to produce second electromagnetic radiation  136  and second electromagnetic radiation pattern  138 . As illustrated, in this example, second electromagnetic radiation pattern  138  may also be a cone shaped pattern having at least a top edge, e.g., second top edge  140 . In the example shown in  FIG. 4A , first electromagnetic radiation  122  is projected at a first angle with respect to third axis A 3  such that a portion of first electromagnetic radiation  122  is prevented from contacting first circumferential surface  118  of object  114  by first engagement interface  108  of payload  104  when payload  104  and object  114  are not aligned along at least first axis A 1 . In other words, first electromagnetic radiation  122  is angled such that first engagement interface  108  casts a shadow on at least a portion of object  114  when payload  104  and object  114  are not aligned along first axis A 1 . Additionally, second electromagnetic radiation  136  is projected at a second angle with respect to third axis A 3 , e.g., at a greater angle than first electromagnetic radiation  122 , such that a portion of second electromagnetic radiation  136  is prevented from contacting first circumferential surface  118  of object  114  by first engagement interface  108  of payload  104  when payload  104  and object  114  are not aligned along at least first axis A 1 . In other words, second electromagnetic radiation  136  is angled such that first engagement interface  108  casts a shadow on at least a portion of object  114  when payload  104  and object  114  are not aligned along first axis A 1 .  FIG. 4B  illustrates the misaligned configuration of  FIG. 4A  from viewing angle V. To aid in remote alignment, first circumferential surface  118  may have a first alignment window  126 . First alignment window  126  can be viewed by a user, e.g., through remote device R, via first image  112  captured by camera  110  at viewing angle V. As can be seen in the misaligned configuration shown in  FIG. 4B , when misaligned, first top edge  128  of first electromagnetic radiation pattern  124  and first electromagnetic radiation  122  do not contact or overlap first alignment window  126 . Furthermore, when misaligned, although second top edge  140  of second electromagnetic radiation pattern  138  and second electromagnetic radiation  136  may partially overlap first alignment window  126 , they do not fully overlap first alignment window  126 . During operation of positioning system  100 , a user or any suitable image recognition module may, via remote device R, drive UAV  102  closer to object  114  along first axis A 1  until payload  104  and object  114  are aligned. When object  114  and payload  104  are aligned along first axis A 1 , as illustrated in  FIGS. 4C-4D , first top edge  128 , first electromagnetic radiation  122 , second top edge  140  and second electromagnetic radiation  136  cover the entirety of first alignment window  126 . This alignment can be viewed through remote device R, via first image  112  captured by camera  110  at viewing angle V. 
     In one example, as illustrated in  FIGS. 5A-5D , first electromagnetic radiation source  120  may be a laser or other electromagnetic radiation source arrangement capable of generating first electromagnetic radiation pattern  124  in the shape of a dot or small cluster of closely spaced dots forming a single image, i.e., first dot  130 . Additionally, second electromagnetic radiation source  134  may be a laser or other electromagnetic radiation source arrangement capable of generating second electromagnetic radiation pattern  138  in the shape of a dot or small cluster of closely spaced dots forming a single image, i.e., second dot  142 . Furthermore, first circumferential surface  118  of object  114  may include a first alignment zone  132  in the shape of a dot or circle. In the example shown in  FIG. 5A , first electromagnetic radiation  122  is projected at a first angle with respect to third axis A 3  such that it contacts first circumferential surface  118  of object  114  outside of first alignment zone  132  when payload  104  and object  114  are not aligned along first axis A 1 . Additionally, second electromagnetic radiation  136  is projected at a second angle with respect to third axis A 3 , where the second angle is greater than the first angle, such that it also contacts first circumferential surface  118  of object  114  outside of first alignment zone  132  when payload  104  and object  114  are not aligned along first axis A 1 .  FIG. 5B  illustrates the misaligned configuration of  FIG. 5A  from viewing angle V. First alignment zone  132  can be viewed by a user or suitable image recognition module, e.g., through remote device R, via first image  112  captured by camera  110  at viewing angle V. As can be seen in the misaligned configuration shown in  FIG. 5B , when misaligned, first electromagnetic radiation pattern  124  in the form of a dot, i.e., first dot  130 , and second electromagnetic radiation pattern  138 , also in the form of a dot, i.e., second dot  142 , contact first circumferential surface  118  below first alignment zone  132 . During operation of positioning system  100 , a user or any suitable image recognition module may, via remote device R, drive UAV  102  closer to object  114  along first axis A 1  until payload  104  and object  114  are aligned. When object  114  and payload  104  are aligned along first axis A 1 , as illustrated in  FIGS. 5C-5D , first dot  130  and second dot  142  overlap first alignment zone  132 . This alignment can be viewed through remote device R, via first image  112  captured by camera  110  at viewing angle V. 
     In one example, as illustrated in  FIGS. 6A-6D , first electromagnetic radiation source  120  may be a laser or other electromagnetic radiation source arrangement capable of generating first electromagnetic radiation pattern  124  in the shape of a cross or a “+” shape. First electromagnetic radiation pattern  124  may include a first horizontal component  144  and a first vertical component  146 . First horizontal component  144  is arranged to bisect first vertical component  146  at a first intersection point  148 . Additionally, second electromagnetic radiation source  134  may be a laser or other electromagnetic radiation source arrangement capable of generating second electromagnetic radiation pattern  138  in the shape of a cross or a “+” shape. Second electromagnetic radiation pattern  138  may include a second horizontal component  150  and a second vertical component  152 . Second horizontal component  150  is arranged to bisect second vertical component  152  at a second intersection point  154 . In the example shown in  FIG. 6A , first electromagnetic radiation  122  is projected at a first angle with respect to third axis A 3  and second electromagnetic radiation  136  is projected at a second angle with respect to third axis A 3 , where the second angle is greater than the first angle, such that the first horizontal component  144  of first electromagnetic radiation pattern  124  and the second horizontal component  150  of second electromagnetic radiation pattern  138  do not overlap when payload  104  and object  114  are not aligned along first axis A 1 . Additionally, when misaligned, first intersection point  148  and second intersection point  154  do not overlap.  FIG. 6B  illustrates the misaligned configuration of  FIG. 6A  from viewing angle V. The misalignment, i.e., the absence of an overlap between the horizontal components or intersection points can be viewed by a user or any suitable image recognition module, e.g., through remote device R, via first image  112  captured by camera  110  at viewing angle V. As can be seen in the misaligned configuration shown in  FIG. 6B , when misaligned, first electromagnetic radiation pattern  124  in the form of a “+”, and second electromagnetic radiation pattern  138 , also in the form of a “+”, contact first circumferential surface  118  such that they do not overlap. During operation of positioning system  100 , a user or image recognition module may, via remote device R, drive UAV  102  closer to object  114  along first axis A 1  until payload  104  and object  114  are aligned. When object  114  and payload  104  are aligned along first axis A 1 , as illustrated in  FIGS. 6C-6D , the first horizontal component  144  of first electromagnetic radiation pattern  124  and the second horizontal component  150  of second electromagnetic radiation pattern  138  overlap on first circumferential surface  118 . Additionally, first intersection point  148  and second intersection point  154  now overlap as well. This alignment can be viewed through remote device R, via first image  112  captured by camera  110  at viewing angle V. 
     In one example, as illustrated in  FIGS. 7A-7D , first electromagnetic radiation source  120  may be a laser or other electromagnetic radiation source arrangement capable of generating first electromagnetic radiation pattern  124  in the shape of a diagonal cross or an “X” shape. First electromagnetic radiation pattern  124  may include a first diagonal component  156  and a second diagonal component  158 . First diagonal component  156  is arranged to bisect second diagonal component  158  at a third intersection point  160 . Additionally, second electromagnetic radiation source  134  may be a laser or other electromagnetic radiation source arrangement capable of generating second electromagnetic radiation pattern  138  in the shape of a diagonal cross or an “X” shape. Second electromagnetic radiation pattern  138  may include a third diagonal component  162  and a fourth diagonal component  164 . Third diagonal component  162  is arranged to bisect fourth diagonal component  164  at a fourth intersection point  166 . In the example shown in  FIG. 7A , first electromagnetic radiation  122  is projected at a first angle with respect to third axis A 3  and second electromagnetic radiation  136  is projected at a second angle with respect to third axis A 3 , where the second angle is greater than the first angle, such that the first diagonal component  156  of first electromagnetic radiation pattern  124  and the third diagonal component  162  of second electromagnetic radiation pattern  138  do not overlap, and second diagonal component  158  and fourth diagonal component  164  do not overlap, when payload  104  and object  114  are not aligned along first axis A 1 . Additionally, when misaligned, third intersection point  160  and fourth intersection point  166  do not overlap.  FIG. 7B  illustrates the misaligned configuration of  FIG. 7A  from viewing angle V. The misalignment, i.e., the absence of an overlap between the diagonal components or intersection points discussed above can be viewed by a user, e.g., through remote device R, via first image  112  captured by camera  110  at viewing angle V. As can be seen in the misaligned configuration shown in  FIG. 7B , when misaligned, first electromagnetic radiation pattern  124  in the form of a “X”, and second electromagnetic radiation pattern  138 , also in the form of a “X”, contact first circumferential surface  118  such that they do not overlap. During operation of positioning system  100 , a user may, via remote device R, drive UAV  102  closer to object  114  along first axis A 1  until payload  104  and object  114  are aligned. When object  114  and payload  104  are aligned along first axis A 1 , as illustrated in  FIGS. 7C-7D , the first diagonal component  156  of first electromagnetic radiation pattern  124  and the third diagonal component  162  of second electromagnetic radiation pattern  138  overlap, and second diagonal component  158  and fourth diagonal component  164  overlap, on first circumferential surface  118 . Additionally, third intersection point  160  and fourth intersection point  166  now overlap as well. This alignment can be viewed through remote device R, via first image  112  captured by camera  110  at viewing angle V. 
     In one example, as illustrated in  FIG. 8 , first electromagnetic radiation source  120  and second electromagnetic radiation source  134  can be mounted proximate camera  110  such that first electromagnetic radiation  122  having first pattern  124  may be projected onto first engagement interface  108  and second electromagnetic radiation  136  having second electromagnetic radiation pattern  138  may be projected onto first circumferential surface  118  of second engagement interface  116 . As will be described below with respect to  FIGS. 9A-10B , this configuration allows for additional alignment to be determined along second axis A 2  from viewing angle V. 
     In one example, as illustrated in  FIGS. 9A-10B , first horizontal component  144  may further include a first right component  168  and a first left component  170 . First right component  168  is arranged along first axis A 1  in a first direction DR 1  away from first intersection point  148 . First left component  170  is arranged along first axis A 1  and in a second direction DR 2 , where second direction DR 2  is opposite first direction DR 1  and away from first intersection point  148 . First right component  168  has first right component length  172  and first left component  170  has first left component length  174 , where first right component length  172  and first left component length  174  are the respective measurements of the visible portions of first right component  168  and first left component  170 , respectively, that are projected on first engagement interface  108  as viewed from viewing angle V. 
     Additionally, second horizontal component  150  may further include a second right component  176  and a second left component  178 . Second right component  176  is arranged along first axis A 1  in a first direction DR 1  away from second intersection point  154 . Second left component  178  is arranged along first axis A 1  and in a second direction DR 2 , where second direction DR 2  is opposite first direction DR 1  and away from second intersection point  154 . Second right component  176  has second right component length  180  and second left component  178  has second left component length  182 , where second right component length  180  and second left component length  182  are the respective measurements of the visible portions of second right component  176  and second left component  178 , respectively, that are projected on second engagement interface  116  as viewed from viewing angle V. First right component length  172 , first left component length  174 , second right component length  180 , and second left component length  182  can best be seen in  FIGS. 9A-10B . 
     When payload  104  and object  114  are misaligned, i.e., in first position P 1 , along second axis A 2 , illustrated in  FIGS. 9A-9B and 10A , the user or some form of image processing module connected to UAV  102  and or remote device R may visually measure first right component length  172 , first left component length  174 , second right component length  180 , and second left component length  182 . If the ratio of first right component length  172  of first right component  168  to first left component length  174  of first left component  170  is unequal to the ratio of second right component length  180  of second right component  176  to second left component length  182  of second left component  178 , then payload  104  and object  114  are misaligned at least along second axis A 2 . When object  114  and payload  104  are aligned along second axis A 2 , i.e., in second position P 2  as illustrated in  FIGS. 9C-9D and 10B , the ratio of first right component length  172  of first right component  168  to first left component length  174  of first left component  170  is substantially equal to the ratio of second right component length  180  of second right component  176  to second left component length  182  of second left component  178 . This principle is embodied in the following two equations: 
     
       
         
           
             
               
                 
                   
                     Misalignment 
                     ⁢ 
                     
                         
                     
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                       ( 
                       
                         along 
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                         A 
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                         2 
                       
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                   : 
                   
                     
                       
                         First 
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                         right 
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                         ⁢ 
                         component 
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                         ⁢ 
                         length 
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                         172 
                       
                       
                         First 
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                         left 
                         ⁢ 
                         
                             
                         
                         ⁢ 
                         component 
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                         length 
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                         174 
                       
                     
                     ≠ 
                     
                       
                         Second 
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                         right 
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                         component 
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                         length 
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                         180 
                       
                       
                         Second 
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                         left 
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                         component 
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                         length 
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                         182 
                       
                     
                   
                 
               
               
                 EQ1 
               
             
             
               
                 
                   
                     Alignment 
                     ⁢ 
                     
                         
                     
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                         First 
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                         right 
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                         length 
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                         172 
                       
                       
                         First 
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                         174 
                       
                     
                     ≈ 
                     
                       
                         Second 
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                         right 
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                         component 
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                         length 
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                         180 
                       
                       
                         Second 
                         ⁢ 
                         
                             
                         
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                         left 
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                         component 
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                         length 
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                         182 
                       
                     
                   
                 
               
               
                 EQ2 
               
             
           
         
       
     
     Additionally, camera  110  may be arranged to determine the length of at least a portion of vertical component  152  such that the vertical distance, i.e., the distance between the payload and the object along the third axis may be determined. For example, in the examples illustrated in  FIGS. 10A-10B , camera  110  may be arranged to determine the length of vertical component  152  between second intersection point  154  and the top most portion of object  114 . The length of this vertical section of vertical component  152  can be used It should be appreciated that, although not illustrated similar measurements can be taken of the diagonal components illustrated and described above with respect to  FIGS. 7A-7D  such that, in addition to the discussed determination of alignment along the first axis A 1 , the respective lengths of each diagonal component, and the respective ratios of those lengths on either sides of third intersection point  160  and fourth intersection point  166  may be utilized to determine alignment of payload  104  and object  114  along second axis A 2 . 
     In an example, illustrated in  FIGS. 11A-11D , first electromagnetic radiation source  120  may be a laser or other electromagnetic radiation source arrangement capable of generating first electromagnetic radiation pattern  124  in the shape of a horizontal line, i.e., a line arranged substantially along second axis A 2 . Furthermore, first circumferential surface  118  of object  114  may include a first object feature  184 . In an example, first object feature  184  may be a projection, recess, channel, aperture, or other physical artifact that would distort the image of first electromagnetic radiation pattern  124 , i.e., from being a substantially horizontal line, such that it may easily be viewed from viewing angle V. In another example, first object feature could be physical orientation of object  114 , e.g., an edge of a square shaped object. Two examples of these features are illustrated in  FIG. 11B , i.e., a square cross-sectional pattern of object  114  and a substantially circular cross-section of object  114  having a channel or notch removed creating a distinct visual artifact. In the examples shown in  FIG. 11C , first electromagnetic radiation  122  is projected at a first angle with respect to third axis A 3  such that it contacts first circumferential surface  118  of object  114 . When aligned along second axis A 2 , first object feature  184  will be centered about the surface of object  114  as illustrated in  FIGS. 11C-11D . Although not illustrated, similarly to the examples discussed above, an alignment window or acceptable vertical positioning of the object feature and horizontal line created by electromagnetic radiation pattern  124  may also be used to determine alignment along first axis A 1 . Additionally, when approaching an object  114 , e.g., a street lamp, it should be appreciated that the perceived position of the first object feature  184  may indicate the rotational position of the object with respect to payload  104  about axis A 3  such that camera  110  or user remotely controlling UAV  102  can determine a starting position prior to aligning payload  104  with object  114 , for example, along first axis A 1  or second axis A 2 . 
     In an example, illustrated in  FIGS. 12A-12D , first electromagnetic radiation source  120  may be a laser or other electromagnetic radiation source arrangement capable of generating first electromagnetic radiation pattern  124  in the shape of a plurality of vertical lines arranged along third axis A 3  and a plurality of horizontal lines arranged substantially along, e.g., second axis A 2 , i.e., a grid pattern. As illustrated in  FIGS. 12A-12B , i.e., when payload  104  and object  114  are not aligned along at least second axis A 2 , first electromagnetic radiation pattern  124  has a first scale S 1  where the vertical spacing and horizontal spacing between the lines of the grid measure a first distance relative to each other. When aligned, as illustrated in  FIGS. 12C-12D , as payload  104  moves closer to object  114  along first axis A 1 , since first pattern  124  is generated by a small or point electromagnetic radiation source, the scale of pattern  124  as seen from viewing angle V increases to a second scale S 2 , where second scale S 2  is larger than the first scale S 1 . In other words, the vertical and horizontal spacing between the vertical and horizontal lines of first electromagnetic radiation pattern  124  increase. This change in scale from S 1  to S 2  can be viewed by a user and/or a visual processing module arranged to process first image  112  from camera  110 . 
     During operation of any of the foregoing example configurations, when UAV  102  makes an initial approach in the direction of object  114 , UAV  102  and first electromagnetic radiation source  120  and second electromagnetic radiation source  134  may be at too great a distance for any of the foregoing electromagnetic radiation patterns to project onto object  114  with sufficient clarity. In the event of this long-distance approach, additional long-distance guidance may be necessary. Therefore, although not illustrated, it should be appreciated that first electromagnetic radiation source  120  or second electromagnetic radiation source  134  may initially project an array of unique identification symbols along a plurality of angles with respect to third axis A 3 . In other words, first electromagnetic radiation source  120  and second electromagnetic radiation source  134  may project a unique symbol at every 5 degrees about third axis A 3  such that at least one unique symbol of the array of unique identification symbols contacts outer circumferential surface  118  of second engagement interface  116 . In one example, these unique identification symbols may be selected from: Quick Response (QR) codes, direction arrows (e.g., an upward facing arrow, a downward facing arrow, a left facing arrow, etc.), positing and negative distance measurements (e.g., −10 m, +10 m, etc.), or any other unique set of symbols that would help visually aid the rough and/or long-distance positioning and alignment of UAV  102  with object  114 . Once the long distance guidance is complete, i.e., the UAV  102  and/or payload  104  are within a predetermined distance, e.g., +/−1 m, any of the foregoing alignment configurations, or any combination of any of the foregoing alignment configurations may be used for fine positioning and alignment along first axis A 1  and/or second axis A 2 . Once in position for fine alignment adjustments, i.e., in a first position P 1 , any of the foregoing configurations may be utilized to guide payload  104  along first axis A 1  and/or second axis A 2  so that it is aligned along first axis A 1  and/or second axis A 2 , i.e., second position P 2 . 
       FIG. 13  illustrates a flow chart of method  200  according to the present disclosure. Method  200  may include, for example: generating, via a first electromagnetic radiation source  120  connected to vehicle  101 , for example, an unmanned aerial vehicle (UAV)  102  or the payload  104 , a first electromagnetic radiation  122 , the first electromagnetic radiation  122  arranged to project a first electromagnetic radiation pattern  124  on an object  114  while the UAV  102  is in a first position with respect to the object  114  (step  202 ); capturing, via a camera  110  connected to the UAV  102 , a first image  112 , the first image  112  including the first electromagnetic radiation pattern  124  projected on the object  114  while the UAV  102  is in the first position (step  204 ); directing the UAV  102  to move along a first axis A 1  or a second axis A 2 , where the second axis is orthogonal to the first axis, to a second position based at least in part on the first image  112 , wherein the second position is aligned with the object along the first axis and/or the second axis (step  206 ). 
       FIG. 14  illustrates a flow chart of method  300  according to the present disclosure. Method  300  may include, for example: generating, via a first electromagnetic radiation source  120  connected to vehicle  101 , for example, an unmanned aerial vehicle (UAV)  102  or the payload  104 , a first electromagnetic radiation  122 , the first electromagnetic radiation  122  arranged to project a first electromagnetic radiation pattern  124  on an object  114  while the UAV  102  is in a first position with respect to the object  114  (step  302 ); generating, via a second electromagnetic radiation source  134  connected to the UAV  102  or the payload  104 , a second electromagnetic radiation  136 , the second electromagnetic radiation  136  arranged to project a second electromagnetic radiation pattern  138  on the object  114 , wherein the first electromagnetic radiation pattern  124  is arranged to overlap the second electromagnetic radiation pattern  138  when the payload  104  and the object  114  are aligned along the second axis A 1  and/or the second axis A 2  (step  304 ); capturing, via a camera  110  connected to the UAV  102 , a first image  112 , the first image  112  including the first electromagnetic radiation pattern  124  and the second electromagnetic radiation pattern  138  projected on the object  114  while the UAV  102  is in the first position (step  306 ); directing the UAV  102  to move along a first axis or a second axis, where the second axis is orthogonal to the first axis, to a second position based at least in part on the first image  112 , wherein the second position is aligned with the object  114  along the first axis and/or the second axis (step  310 ). Optionally, between step  306  and  310 , method  300  may further include: generating, via a second electromagnetic radiation source  136  connected to the UAV  102  or the payload  104 , a second electromagnetic radiation  136 , the second electromagnetic radiation  136  arranged to project a second electromagnetic radiation pattern  138  on the object  114  while the UAV  102  is in the first position with respect to the object  114 , wherein the first electromagnetic radiation pattern  124  and the second electromagnetic radiation pattern  138  are arranged to project onto an alignment window  126  of the object  114  when the payload  104  is aligned with the object  114  along the first axis and/or the second axis (step  308 ). 
     All definitions, as defined and used herein, should be understood to control over dictionary definitions, definitions in documents incorporated by reference, and/or ordinary meanings of the defined terms. 
     The indefinite articles “a” and “an,” as used herein in the specification and in the claims, unless clearly indicated to the contrary, should be understood to mean “at least one.” 
     The phrase “and/or,” as used herein in the specification and in the claims, should be understood to mean “either or both” of the elements so conjoined, i.e., elements that are conjunctively present in some cases and disjunctively present in other cases. Multiple elements listed with “and/or” should be construed in the same fashion, i.e., “one or more” of the elements so conjoined. Other elements may optionally be present other than the elements specifically identified by the “and/or” clause, whether related or unrelated to those elements specifically identified. 
     As used herein in the specification and in the claims, “or” should be understood to have the same meaning as “and/or” as defined above. For example, when separating items in a list, “or” or “and/or” shall be interpreted as being inclusive, i.e., the inclusion of at least one, but also including more than one, of a number or list of elements, and, optionally, additional unlisted items. Only terms clearly indicated to the contrary, such as “only one of” or “exactly one of,” or, when used in the claims, “consisting of,” will refer to the inclusion of exactly one element of a number or list of elements. In general, the term “or” as used herein shall only be interpreted as indicating exclusive alternatives (i.e. “one or the other but not both”) when preceded by terms of exclusivity, such as “either,” “one of,” “only one of,” or “exactly one of.” 
     As used herein in the specification and in the claims, the phrase “at least one,” in reference to a list of one or more elements, should be understood to mean at least one element selected from any one or more of the elements in the list of elements, but not necessarily including at least one of each and every element specifically listed within the list of elements and not excluding any combinations of elements in the list of elements. This definition also allows that elements may optionally be present other than the elements specifically identified within the list of elements to which the phrase “at least one” refers, whether related or unrelated to those elements specifically identified. 
     It should also be understood that, unless clearly indicated to the contrary, in any methods claimed herein that include more than one step or act, the order of the steps or acts of the method is not necessarily limited to the order in which the steps or acts of the method are recited. 
     In the claims, as well as in the specification above, all transitional phrases such as “comprising,” “including,” “carrying,” “having,” “containing,” “involving,” “holding,” “composed of,” and the like are to be understood to be open-ended, i.e., to mean including but not limited to. Only the transitional phrases “consisting of” and “consisting essentially of” shall be closed or semi-closed transitional phrases, respectively. 
     While several inventive embodiments have been described and illustrated herein, those of ordinary skill in the art will readily envision a variety of other means and/or structures for performing the function and/or obtaining the results and/or one or more of the advantages described herein, and each of such variations and/or modifications is deemed to be within the scope of the inventive embodiments described herein. More generally, those skilled in the art will readily appreciate that all parameters, dimensions, materials, and configurations described herein are meant to be exemplary and that the actual parameters, dimensions, materials, and/or configurations will depend upon the specific application or applications for which the inventive teachings is/are used. Those skilled in the art will recognize, or be able to ascertain using no more than routine experimentation, many equivalents to the specific inventive embodiments described herein. It is, therefore, to be understood that the foregoing embodiments are presented by way of example only and that, within the scope of the appended claims and equivalents thereto, inventive embodiments may be practiced otherwise than as specifically described and claimed. Inventive embodiments of the present disclosure are directed to each individual feature, system, article, material, kit, and/or method described herein. In addition, any combination of two or more such features, systems, articles, materials, kits, and/or methods, if such features, systems, articles, materials, kits, and/or methods are not mutually inconsistent, is included within the inventive scope of the present disclosure.