GB2559580A

GB2559580A - Aircraft

Info

Publication number: GB2559580A
Application number: GB1702133.8A
Authority: GB
Inventors: Phair Donal; Truman Mark; Darlington Dale
Original assignee: Jaguar Land Rover Ltd
Current assignee: Jaguar Land Rover Ltd
Priority date: 2017-02-09
Filing date: 2017-02-09
Publication date: 2018-08-15
Anticipated expiration: 2037-02-09
Also published as: GB2559580B; GB201702133D0; GB2559580A8

Abstract

The landing system includes a drone aircraft 10, with three movable landing gear legs 32,34,36, and a docking station (fig.6;50), having three abutments (fig.6;54,56,60), one for each leg of the aircraft; in a flight condition (fig.8) at least one of the legs is spaced apart from the abutments; in a docking condition each leg abuts a respective abutment to locate the aircraft on the docking station. The landing system may be located in a motor vehicle 4 roof box 6, having a wind deflector 7 at its forward edge and a closure 8 to cover the docking station. Each leg may have a skid 38,40,42 to engage the abutments. The legs may extend radially from the aircraft, circumferentially spaced by 120 degrees. Static legs (fig.4;64,66,68,70) may extend axially from rotor arms (fig.4;22,24,26,28) or from a body 12 of the aircraft. The aircraft body may comprise a magnet (fig.4;12) and the docking station may include a ferro-magnetic metallic plate (fig.7;72), and a light source (fig.7;76,78). The abutments may include steps extending orthogonally to the docking station.

Description

(71) Applicant(s):

Jaguar Land Rover Limited (Incorporated in the United Kingdom)

Abbey Road, Whitley, Coventry, Warwickshire, CV3 4LF, United Kingdom (72) Inventor(s):

Donal Phair Mark Truman Dale Darlington (51) INT CL:

B64C 39/02 (2006.01) (56) Documents Cited:

WO 2017/098172 A1 US 9429953 B1 US 9387928 B1 US 20160039541 A1

US 20110068224 A1 (58) Field of Search:

INT CL B64C

Other: WPI; EPODOC; Patent Fulltext (74) Agent and/or Address for Service:

Jaguar Land Rover

Patents Department W/1/073, Abbey Road, Whitley, COVENTRY, CV3 4LF, United Kingdom (54) Title of the Invention: Aircraft

Abstract Title: A landing system for an unmanned aircraft on a motor vehicle (57) The landing system includes a drone aircraft 10, with three movable landing gear legs 32,34,36, and a docking station (fig,6;50), having three abutments (fig.6;54,56,60), one for each leg of the aircraft; in a flight condition (fig.8) at least one of the legs is spaced apart from the abutments; in a docking condition each leg abuts a respective abutment to locate the aircraft on the docking station. The landing system may be located in a motor vehicle 4 roof box 6, having a wind deflector 7 at its forward edge and a closure 8 to cover the docking station. Each leg may have a skid 38,40,42 to engage the abutments. The legs may extend radially from the aircraft, circumferentially spaced by 120 degrees. Static legs (fig.4;64,66,68,70) may extend axially from rotor arms (fig.4;22,24,26,28) or from a body 12 of the aircraft. The aircraft body may comprise a magnet (fig.4; 12) and the docking station may include a ferro-magnetic metallic plate (fig.7;72), and a light source (fig.7;76,78). The abutments may include steps extending orthogonally to the docking station.

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AIRCRAFT

TECHNICAL FIELD

The present disclosure relates to an aircraft. Particularly, but not exclusively, the disclosure relates to an aircraft suitable for docking on a docking station. Aspects of the invention relate to an aircraft, to a landing system for an aircraft, to a motor vehicle having a landing system for an aircraft and to a method of locating an aircraft upon landing in a predetermined position.

BACKGROUND

There is a desire to integrate an unmanned aircraft with a motor vehicle. In particular there is a desire to automate docking of the unmanned aircraft with the motor vehicle. However a docking station provided on the motor vehicle is limited to the exposed dimensions of the motor vehicle causing a packaging limitation. Furthermore, so as the unmanned aircraft may satisfy certain payload requirements, the unmanned aircraft must be at least a certain size.

A further problem relates to the accuracy achievable during autonomous landing, which is yet further exacerbated by the dynamic landing conditions set by relative motion of the motor vehicle in use, and the unmanned aircraft.

The present invention solves one or more of the above problems.

SUMMARY OF THE INVENTION

Aspects and embodiments of the invention provide an unmanned aircraft, a landing system for an unmanned aircraft, a motor vehicle having a landing system for an unmanned aircraft and a method of centring an unmanned aircraft upon landing as claimed in the appended claims.

According to an aspect of the invention, there is provided an unmanned aircraft suitable for docking on a docking station comprising a first, a second and a third peripheral abutment, the unmanned aircraft comprising: a landing gear arrangement movable between a flight condition and a docking condition, and comprising a first landing gear leg, a second landing gear leg and a third landing gear leg, wherein: in the flight condition at least one of the first, second and third landing gear legs is arranged to be spaced apart from the first, second and third peripheral abutments of the docking station; and in the docking condition the first, second and third landing gear legs are arranged to abut the first, second and third peripheral abutments of the docking station to locate the unmanned aircraft on the docking station.

Optionally in the docking condition the first, second and third landing gear legs are arranged to abut the first, second and third peripheral abutments of the docking station to locate the unmanned aircraft on the docking station in a predetermined position. The predetermined position may be the centre of the docking station.

By accurately centring the unmanned aircraft on the docking station, ancillary features of the docking station, such as a charging point, may be precisely located on the docking station relative to the docked unmanned aircraft. Furthermore, by providing a landing gear arrangement movable between a flight condition and a docking condition, tolerances can be built into the relationship between the docking station and the unmanned aircraft.

The first, second and third landing gear legs may be arranged to extend radially from the body.

By providing the three landing gear legs, the unmanned aircraft may be centred on the docking station, in the two axes of lateral and longitudinal motion.

The first, second and third landing gear legs may be circumferentially spaced by 120 degrees.

The landing gear arrangement may comprise at least three static legs, arranged to extend axially from the unmanned aircraft. The static legs provide depth control, to ensure that the unmanned aircraft is level in the docking condition.

The at least three static legs may extend from the body. Alternatively, the at least three static legs may extend from respective first, second and third propeller arms.

The docking station may comprise a first, second and third peripheral abutment, wherein each of the first, second and third landing gear legs comprises a respective skid each arranged to engage with the first second and third peripheral abutments of the docking station.

The body may comprise a magnet. This provides a magnetic retention mechanism which may be activated to secure the unmanned aircraft to the docking station in the docking condition.

According to another aspect of the invention, there is provided a landing system for an unmanned aircraft, the landing system comprising: an unmanned aircraft comprising a body and a landing gear arrangement, the landing gear arrangement being movable between a flight condition and a docking condition, and comprising a first landing gear leg, a second landing gear leg; and a third landing gear leg; and a docking station comprising a first, second and third peripheral abutments, for the respective first landing gear leg, second landing gear leg, and third landing gear leg, wherein in the flight condition at least one of the first, second and third landing gear legs is arranged to be spaced apart from the first, second and third peripheral abutments of the docking station; and in the docking condition the first, second and third landing gear legs are arranged to abut the first, second and third peripheral abutments of the docking station to locate the unmanned aircraft on the docking station.

Optionally in the docking condition the first, second and third landing gear legs are arranged to abut the first, second and third peripheral abutments of the docking station to locate the unmanned aircraft on the docking station in a predetermined position.

The predetermined position may be the centre of the docking station.

The docking station may be one of a regular polygon, an irregular polygon, a circle, an elipse, a triangle, a trapezium, or a hexagon when viewed in plan.

The docking station may include a ferro-magnetic metallic plate.

Alternatively, or additionally, the docking station may comprise a magnet.

The docking station may include a light source. Additionally, or alternatively, at least one of the first, second or third peripheral abutments may include a light source. The light source may be used to assist with autonomous landing and tracking of the unmanned aircraft.

At least one of the first, second or third peripheral abutments may be provided as a step extending substantially orthogonally to the docking station.

According to yet another aspect of the invention, there is provided a motor vehicle having the landing system as hereinbefore described, wherein the docking station is provided on the motor vehicle.

The motor vehicle may further comprise a vehicle roof box, wherein the docking station is provided within the vehicle roof box.

A wind deflector may be provided at a forward edge of the vehicle roof box.

The vehicle roof box may be provided with a closure to cover the docking station.

According to a further aspect of the invention, there is provided a method of locating a unmanned aircraft upon landing in a predetermined position, the method comprising the steps of: providing an unmanned aircraft comprising a body; and a landing gear arrangement, the landing gear arrangement being movable between a flight condition and a docking condition, and comprising a first landing gear leg, a second landing gear leg; and a third landing gear leg; providing a docking station comprising a first, second and third peripheral abutment, for the respective first landing gear leg, second landing gear leg, and third landing gear leg, wherein in the flight condition at least one of the first, second and third landing gear legs is arranged to be spaced apart from the first, second and third peripheral abutments of the docking station; and in the docking condition the first, second and third landing gear legs are arranged to abut the first, second and third peripheral abutments of the docking station, landing the unmanned aircraft on the docking station, radially extending the first, second and third landing gear legs to the landing condition such that the first landing gear leg, the second landing gear leg, and the third landing gear leg each abut respective first, second and third peripheral abutments and so as to locate the unmanned aircraft within the docking station in a predetermined position.

The first, second and third landing gear legs may be radially extended at the same time.

Within the scope of this application it is expressly intended that the various aspects, embodiments, examples and alternatives set out in the preceding paragraphs, in the claims and/or in the following description and drawings, and in particular the individual features thereof, may be taken independently or in any combination. That is, all embodiments and/or features of any embodiment can be combined in any way and/or combination, unless such features are incompatible. The applicant reserves the right to change any originally filed claim or file any new claim accordingly, including the right to amend any originally filed claim 4 to depend from and/or incorporate any feature of any other claim although not originally claimed in that manner.

BRIEF DESCRIPTION OF THE DRAWINGS

One or more embodiments of the invention will now be described, by way of example only, with reference to the accompanying drawings, in which:

Figure 1 is a side elevation of a motor vehicle;

Figure 2 is an isometric view of a motor vehicle roof showing a roof box in a closed condition;

Figure 3 is the roof box of Figure 2 in an open configuration;

Figure 4 is a side elevation of an unmanned aircraft in a flight condition;

Figure 5 is a side elevation of an unmanned aircraft in a docking condition;

Figure 6 is a schematic plan view of the vehicle roof box of Figure 1;

Figure 7 is a vertical cross-section through the roof box of Figure 6 at line AA;

Figure 8 is a roof box of Figure 6, together with an unmanned aircraft in the flight condition; and

Figure 9 is the roof box of Figure 6 with an unmanned aircraft in the docking condition.

DETAILED DESCRIPTION

A motor vehicle 2 has a roof 4 and a roof box 6 provided thereon. The roof box 6 includes a wind deflector 7 at the forward edge of the roof box 6. The roof box 6 has a closure 8. The closure 8 is slidably mounted to the roof box 6. Referring to Figures 2 and 3, the closure 8 of the roof box 6 may be moved by means of an electric motor, from a closed condition (Figure 2) to an open condition (Figure 3) to reveal an unmanned aircraft 10 housed within the roof box 6.

Unmanned Aircraft

The unmanned aircraft 10 has a body 12. Extending laterally from the body 12 are a first rotor arm 14, a second rotor arm 16, a third rotor arm 18 and fourth rotor arm 20. At the distal end of each of the first, second, third and fourth rotor arms 14,16,18, 20 are provided respective first, second, third and fourth rotors 22, 24, 26, 28. Each rotor arm 14,16,18, 20 is radially separated from the adjacent two rotor arms 14,16,18, 20 by 90 degrees.

The body 12 of the unmanned aircraft 10, further includes a magnet 90. First, second, third and fourth static legs 64, 66, 68, 70 extend from the respective first, second, third and fourth rotor arms 14, 16, 18, 20 in parallel with a vertical axis X of the body 12.

The unmanned aircraft 10 is further provided with a landing gear arrangement 30. The landing gear arrangement 30 includes a first landing gear leg 32, a second landing gear leg 34, and a third landing gear leg 36. Each landing gear leg 32, 34, 36 extends from the body 12 as is radially separated from the adjacent two landing gear leg 32, 34, 36 by 120 degrees.

Each landing gear leg 32,34,36 terminates in a foot at a distal end thereof, so that each landing gear leg 32,34,36 has a respective landing gear foot 38,40,42. Each foot is substantially identical and takes the form of a skid.

The landing gear arrangement 30 is movable between the flight condition (Figure 4) and a docking condition (Figure 5) as will be described in more detail below.

Flight Condition

In the flight condition (Figure 4), the first landing gear leg 32, second landing gear leg 34 and third landing gear leg 36 are arranged to extend substantially axially from the body 12 of the unmanned aircraft 10. The angle a between the respective landing gear legs 32, 34, 36 and the vertical axis of the body 12 is approximately 30 degrees. The angle a may be larger or smaller, dependent upon the stability conditions of the unmanned aircraft 10 when landed.

Docking Condition

In the docking condition (Figure 5), the first landing gear leg 32, second landing gear leg 34, and third landing gear leg 36 are arranged to extend substantially laterally from the body 12 of the unmanned aircraft 10. The angle β between the respective landing gear legs 32, 34, 36 and the vertical axis of the body 12 is approximately 75 degrees. The angle β may be larger or smaller, depending upon the length of the landing gear legs 32, 34, 36.

The landing gear arrangement 30 is movable between the flight condition and the docking condition by means of an electric motor controlling the orientation of each of the first landing gear leg 32, second landing gear leg 34, and third landing gear leg 36 relative to the body 12 of the unmanned aircraft 10. The angle β is always large than the angle a.

Docking Station

The docking station 50 (Figures 6 and 7) comprises a cuboid having recessed portion 52 in an upper surface thereof. The recessed portion 52 is bounded by a stepped periphery 54. The stepped periphery 54 defines a first peripheral abutment 56, a second peripheral abutment 58, and a third peripheral abutment 60. The recessed portion 52 of the docking station 50 is a hexagon when viewed in plan. Equidistant from the first, second and third peripheral abutments 56, 58, 60 is a centre point 62.

One or more of the peripheral abutments 56, 58, 60 may be provided with a light source 76. The recessed portion 52 comprises a metallic plate 72. A light source 78 is arranged below the metallic plate 72 and transmits light through the docking station via apertures 80.

Take Off

In use, the docking station 50 is arranged within the roof box 6, with the unmanned aircraft 10 secured to the docking station 50 by means of the magnet 90. The motor vehicle 2 is driven in a conventional manner, and when it is necessary to deploy the unmanned aircraft 10, the closure 8 of the roof box is slid rearwards to expose the unmanned aircraft 10. The four rotors 22, 24, 26, 28 are activated on the unmanned aircraft 10, the magnet 90 is deactivated, and the unmanned aircraft 10 may take off from the motor vehicle 10. The closure 8 of the roof box 6 is slid forwards to close the roof box and protect the docking station 50 from the environment.

Landing and Docking

The unmanned aircraft 10 may be landed on the motor vehicle 2 when parked (static landing) or whilst the motor vehicle 2 is being driven (dynamic landing). The closure 8 of the roof box is slid rearwards to expose the docking station 50. The unmanned aircraft 10 is landed anywhere within the recessed portion 52 of the docking station 50, in the flight condition (see Figure 8).

Once landed, sensors, telemetry data confirm location of the landing gear feet 38,40,42 of the unmanned aircraft 10 within the stepped periphery 54 of the docking station 50. The first, second, third and fourth rotors 22, 24, 26, 28 may then be deactivated. The landing gear arrangement 30 is moved from the flight condition to the docking condition by means of the electric motor. The electric motor alters the orientation of each of the first landing gear leg 7

32, second landing gear leg 34, and third landing gear leg 36 relative to the body 12, from angle a to angle β. Each landing gear leg 32, 34, 36 extends from the body 12 until the landing gear feet 38,40,42 abut the first peripheral abutment 56, the second peripheral abutment 58, and the third peripheral abutment 60 (Figure 9). This has the effect of centring the unmanned aircraft 10 on the docking station 50. Furthermore, the unmanned aircraft 10 is lowered on the docking station 50, until the unmanned aircraft is supported by the static legs 64, 66, 68, 70. To complete docking, the magnet 90 is activated to secure the unmanned aircraft 10 to the docking station and the closure 8 of the roof box 6 is slid forwards to close the roof box and protect the unmanned aircraft 10 from the environment.

In an alternate arrangement, each landing gear leg 32, 34, 36 is provided with an electric motor to control the orientation relative to the body 12 of the unmanned aircraft 10.

In an alternate arrangement, the first, second, third and fourth static legs 64, 66, 68, 70 extend from the body 12.

In an alternate arrangement, the recessed portion 52 of the docking station 50 is a triangle when viewed in plan. In yet an alternate arrangement, the recessed portion 52 of the docking station 50 is a trapezium when viewed in plan.

In an alternate arrangement, a predetermined position not comprising the centre of the docking station is selected, and the relative arrangement of the landing gear legs 32, 34, 36, their extension from the body 12, and the docking station 50 is selected so as to locate the unmanned aircraft 10 in that predetermined position once landed and docked.

Other aircraft configurations can have 1,2,3, n arms, where n can be any number of arms.

Claims

1. An aircraft suitable for docking on a docking station comprising a first, a second and a third peripheral abutment, the aircraft comprising:

a landing gear arrangement movable between a flight condition and a docking condition, and comprising a first landing gear leg, a second landing gear leg and a third landing gear leg, wherein:

in the flight condition at least one of the first, second and third landing gear legs is arranged to be spaced apart from the first, second and third peripheral abutments of the docking station; and in the docking condition the first, second and third landing gear legs are arranged to abut the first, second and third peripheral abutments of the docking station to locate the aircraft on the docking station.

2. The aircraft of claim 1, comprising a body wherein the first, second and third landing gear legs are arranged to extend radially from the body.

3. The aircraft of claim 2, wherein the first, second and third landing gear legs are circumferentially spaced by 120 degrees.

4. The aircraft of claim 1, wherein the landing gear arrangement comprises at least three static legs, arranged to extend axially from the unmanned aircraft.

5. The aircraft of claim 4, wherein the at least three static legs extend from the body.

6. The aircraft of claim 4, wherein the at least three static legs extend from respective first, second and third rotor arms.

7. The aircraft of any preceding claim, for docking on a docking station comprising a first, second and third peripheral abutment, wherein each of the first, second and third landing gear legs comprises a respective skid each arranged to engage with the first second and third peripheral abutments of the docking station.

8. The aircraft of any preceding claim, wherein the body comprises a magnet.

9. A landing system for an aircraft, the landing system comprising:

an aircraft comprising a body and a landing gear arrangement, the landing gear arrangement being movable between a flight condition and a docking condition, and comprising a first landing gear leg, a second landing gear leg; and a third landing gear leg; and a docking station comprising a first, second and third peripheral abutments, for the respective first landing gear leg, second landing gear leg, and third landing gear leg, wherein in the flight condition at least one of the first, second and third landing gear legs is arranged to be spaced apart from the first, second and third peripheral abutments of the docking station; and in the docking condition the first, second and third landing gear legs are arranged to abut the first, second and third peripheral abutments of the docking station to locate the aircraft on the docking station.

10. A landing system according to claim 9, wherein the docking station is one of a regular polygon, irregular polygon, circle, elipse, triangle, a trapezium, or a hexagon when viewed in plan.

11. A landing system according to claim 9 or claim 10, wherein the docking station includes a ferro-magnetic metallic plate.

12. A landing system according to any of claims 9 to 11, wherein the docking station includes a light source.

13. A landing system according to any of claims 9 to 12, wherein the at least one of the first, second or third peripheral abutments includes a light source.

14. A landing system according to any of claims 9 to 13, wherein at least one of the first, second or third peripheral abutments is provided as a step extending substantially orthogonally to the docking station.

15. A motor vehicle having the landing system of any of claims 9 to 14, wherein the docking station is provided on the motor vehicle.

16. A motor vehicle according to claim 15, further comprising a vehicle roof box, wherein the docking station is provided within the vehicle roof box.

17. A motor vehicle according to claim 16, wherein a wind deflector is provided at a forward edge of the vehicle roof box.

18. A motor vehicle according to claim 16 or claim 17, wherein the vehicle roof box is provided with a closure to cover the docking station.

5

19. A method of locating an aircraft upon landing, the method comprising:

providing an aircraft comprising a body; and a landing gear arrangement, the landing gear arrangement being movable between a flight condition and a docking condition, and comprising a first landing gear leg, a second

10 landing gear leg; and a third landing gear leg;

providing a docking station comprising a first, second and third peripheral abutment,for the respective first landing gear leg, second landing gear leg, and third landing gear leg, wherein in the flight condition at least one of the first, second and third landing gear legs is arranged to be spaced apart from the first, second and third peripheral abutments of the docking

15 station; and in the docking condition the first, second and third landing gear legs are arranged to abut the first, second and third peripheral abutments of the docking station; landing the aircraft on the docking station; and radially extending the first, second and third landing gear legs to the landing condition such that the first landing gear leg, the second landing gear leg, and the third landing gear leg

20. A method according to claim 19, wherein the first, second and third landing gear legs are radially extended at the same time.

Intellectual

Property

Office

Application No: GB1702133.8 Examiner: MrKeirHowe

20 each abut respective first, second and third peripheral abutments and so as to locate the aircraft within the docking station.