Positioning hovering objects for docking
The present invention extends to methods, systems, devices, apparatus, and computer program products for aligning a target with and/or over and/or into a specific position and orientation. Embodiments include one or more capture components, such as, engagement lines, spars, or struts, that can be actuated together or independently to position a vehicle in a capture area defined by a ring or other geometry. A vehicle can include a sloped surface feature configured to engage with the capture components. When actuated, the capture components draw the sloped surface feature towards and down into the center of the defined capture area. Variations allow a vehicle to be rotated in place, repositioned in place, or clamped securely in place. Positioning and rotation allows alignment with replenishment devices for resupplying and refueling. In this way, a vehicle is relieved from having to have precision terminal guidance for landing and recharging.
1. A device for capturing a hovering or floating vehicle, the device comprising:
a rotary cuff including:
a fixed component; and
a rotating component;
one or more engagement lines, each of the one or more engagement lines having one end attached to the fix component and another end attached to the rotating component; and
wherein the rotating component is configured to rotate relative to the fixed component to cause the one or more engagement lines to engage a sloping feature of the hovering or floating vehicle to essentially simultaneously: (a) draw the position of the sloping feature towards a defined capture area within the rotary cuff and (b) draw the position of the sloping feature downwards toward the rotary cuff; wherein the sloping feature is widest at a distal end from the vehicle and narrows to an end proximal to the vehicle.
2. The device of claim 1 , wherein the one or more engagement lines comprise a plurality of engagement lines.
3. The device of claim 2 , wherein the plurality of engagement lines comprises a plurality of engagement lines configured to draw the feature of the hovering or floating vehicle toward the capture area for docking as the rotating component is rotated.
4. The device of claim 2 , wherein the plurality of engagement lines comprises a plurality of engagement lines configured to orient or reorient the hovering or floating vehicle within the capture area as the rotating component is rotated.
5. The device of claim 1 , wherein the fixed component comprises a non-rotating ring and the rotating component comprises a rotating ring, wherein the rotating ring is positioned concentrically inside the non-rotating ring.
6. The device of claim 5 , wherein the rotating component being configured to rotate relative to the fixed component comprises the rotating ring being configured to rotate axially about the feature.
7. The device of claim 1 , further comprising at least one of: a clamp, a clip, a magnet, or another latching or securing component for securing the hovering or floating vehicle within the defined capture area.
8. The device of claim 1 , further comprising a replenishment system for recharging, refueling or resupplying the hovering or floating vehicle; and
wherein the device aligns the hovering or floating vehicle for coupling with the replenishment system.
9. The device of claim 1 , further comprising a control system for controlling rotation of the rotating component.
10. The device of claim 1 , further comprising one or more sensors for sensing both:
(a) when the hovering or floating vehicle is appropriately positioned with the defined capture area; and
(b) when the hovering or floating vehicle is captured.
11. A method for use at a capture device, the capture device including a plurality of capture components attached to a ring, the method for capturing a hovering or floating vehicle, the method comprising:
detecting a sloping feature of the hovering or floating vehicle within the ring; and
rotating the ring axially around the sloping feature to cause the plurality capture components to engage with the sloping feature to, as the ring rotates, essentially simultaneously (a) draw the position of the hovering or floating vehicle within the towards a defined capture area within the ring and (b) draw the position of the hovering or floating vehicle downwards toward the ring; wherein the sloping feature is widest at a distal end from the vehicle and narrows to an end proximal to the vehicle.
12. The device of claim 11 , wherein the plurality of capture components comprises a plurality of engagement lines, and wherein rotating the ring comprises rotating the ring to cause the plurality of engagement lines to draw the sloping feature inwards toward the capture area as the ring rotates.
13. The device of claim 11 , wherein rotating the ring comprises rotating ring to orient or reorient the hovering or floating vehicle inside the ring.
14. The device of claim 11 , wherein detecting a sloping feature of the hovering or floating vehicle comprises detecting a sloping feature of a Remotely Piloted Aircraft (RPA).