# US 11,981,453 B1 · System for aerial vehicle landing and method for controlling system for aerial vehicle landing > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 11,981,453 B1 - Document ID: US11981453B1 - Status: Granted - Kind: B1 - Application number: 18/472,960 - Filed: 2023-09-22 - Granted: 2024-05-14 - Earliest claimed: 2023-03-01 - Assignees: FairTech Corporation - Applicants: Fairtech Corporation - Inventors: Jui-Pao Pan - Web page: https://patentgrep.com/patent/US11981453B1 ## CPC - B64F 1/007: {Helicopter portable landing pads} - B64F 1/029: {using a cable or tether} - B64C 39/022: {Tethered aircraft} - B64U 70/93: for use on a land or nautical vehicle - B64U 2201/202: using tethers for connecting to ground station - B64F: GROUND OR AIRCRAFT-CARRIER-DECK INSTALLATIONS SPECIALLY ADAPTED FOR USE IN CONNECTION WITH AIRCRAFT; DESIGNING, MANUFACTURING, ASSEMBLING, CLEANING, MAINTAINING OR REPAIRING AIRCRAFT, NOT OTHERWISE PROVIDED FOR; HANDLING, TRANSPORTING, TESTING OR INSPECTING AIRCRAFT COMPONENTS, NOT OTHERWISE PROVIDED FOR - B64C: AEROPLANES; HELICOPTERS - B64U: UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR ## Abstract A system for aerial vehicle landing is provided. The system includes a displacement compensation unit and a traction control module. The displacement compensation unit includes a top portion, a bottom portion, and at least one actuators connected to the top portion and the bottom portion, configured to provide a displacement compensated top portion to engage with an aerial vehicle. The traction control module includes a traction generator connected to a tether. Through the tether the aerial vehicle is tractioning toward the top portion of the displacement compensation unit. A method for controlling a system for aerial vehicle landing is also provided. ## Claims ### Claim 1 A system for aerial vehicle landing, comprising: a displacement compensation unit, having a top portion and a bottom portion, wherein the displacement compensation unit comprises at least one actuators connected to the top portion and the bottom portion, configured to provide a displacement compensated top portion to engage with an aerial vehicle; and a traction control module disposed between the top portion and the bottom portion of the displacement compensation unit, the traction control module having a traction generator connected to a tether, through the tether the aerial vehicle being tractioning toward the top portion of the displacement compensation unit. ### Claim 2 (depends on 1) The system of claim 1, wherein the displacement compensation unit further comprises: a communication module configured to transmit a first signal of the displacement compensation unit to the aerial vehicle. ### Claim 3 (depends on 2) The system of claim 2, wherein the displacement compensation unit further comprises: two or more global satellite positioning system providing a portion of the first signal to the communication module. ### Claim 4 (depends on 1) The system of claim 1, wherein the displacement compensation unit further comprises: an attitude and heading reference system (AHRS) connected to a processor unit, the processor unit outputting a third signal to the at least one actuators based on a second signal from the AHRS so as to provide the displacement compensated top portion of the displacement compensation unit. ### Claim 5 (depends on 4) The system of claim 4, wherein the displacement compensation unit further comprises: a range finder configured to probe a distance between the top portion of the displacement compensation unit and a bottom of the aerial vehicle, and transmit a fourth signal to the processor unit when the distance is equal to or smaller than a predetermined value. ### Claim 6 (depends on 5) The system of claim 5, wherein the traction control module further comprises: a tension meter unit; and a lockdown unit configured to receive a fifth signal from the processor unit to lock down the tether. ### Claim 7 (depends on 1) The system of claim 1, further comprising a remote controller wirelessly connected to the traction control module. ### Claim 8 (depends on 1) The system of claim 1, wherein the tether comprises a first portion extending from the aerial vehicle and a second portion extending from the traction control module. ### Claim 9 (depends on 1) The system of claim 1, further comprising a vibration reduction unit substantially at the level of the top portion of the displacement compensation unit, a vertical projection of the vibration reduction unit having an area greater than the bottom portion of the displacement compensation unit. ### Claim 10 (depends on 1) The system of claim 1, further comprising a fixating device at the bottom portion of the displacement compensation unit, the fixating device being configured to fixate the system on a platform of a watercraft. ### Claim 11 A method for controlling a system for aerial vehicle landing, the method comprising: outputting a positioning information of a displacement compensation unit to an aerial vehicle, wherein the displacement compensation unit comprises at least one actuators connected to a top portion and a bottom portion of the displacement compensation unit and is configured to provide a displacement compensated top portion; engaging the displacement compensation unit with the aerial vehicle through a tether; and tractioning, through the tether, the aerial vehicle toward the top portion of the displacement compensation unit. ### Claim 12 (depends on 11) The method of claim 11, wherein outputting the positioning information comprises: outputting, by a communication module of the displacement compensation unit, the positioning information gathered from two or more global satellite positioning systems on the displacement compensation unit to the aerial vehicle. ### Claim 13 (depends on 12) The method of claim 12, wherein engaging the displacement compensation unit to the aerial vehicle, further comprising: the aerial vehicle entering an altitude-hold and follow mode; a first portion of the tether being released from the aerial vehicle; and connecting the first portion of the tether to a joint device of the traction control module or a second portion of the tether extending from the traction control module. ### Claim 14 (depends on 13) The method of claim 13, further comprising establishing a predetermined tension on the tether by a traction control module connected to the tether, wherein establishing the predetermined tension comprises retrieving the tether by a traction generator of the traction control module. ### Claim 15 (depends on 14) The method of claim 14, wherein tractioning the aerial vehicle comprises: the aerial vehicle stop propelling when a first range finder on the aerial vehicle finds the top portion of the displacement compensation unit within a predetermined first distance; and sending a stop signal to the processor unit when a second range finder on the displacement compensation unit finds the aerial vehicle within a predetermined second distance. ### Claim 16 (depends on 15) The method of claim 15, further comprising sending a tension information to the processor unit based on a measured value of a tension meter during the tractioning operation. ### Claim 17 (depends on 16) The method of claim 16, further comprising: the tether being automatically released when the value of the tension meter is greater than a predetermined value. ### Claim 18 (depends on 16) The method of claim 16, wherein the processor unit further sends a lockdown signal to a lockdown unit of the traction control module subsequent to receiving the stop signal and the tension information. ### Claim 19 (depends on 11) The method of claim 11, wherein tractioning the aerial vehicle comprises operating a remote controller of the traction control module to retrieve the tether. ### Claim 20 (depends on 11) The method of claim 11, further comprising: controlling, by a processor unit, the at least one actuators based on an information from an attitude and heading reference system (AHRS) of the displacement compensation unit so as to provide the displacement compensated top portion.