Automated docking of unmanned aerial vehicle

Patent metadata

Field	Value
Publication number	US-11897631-B2
Application number	US-202117218483-A
Country	US
Kind code	B2
Filing date	Mar 31, 2021
Priority date	Oct 15, 2019
Publication date	Feb 13, 2024
Grant date	Feb 13, 2024

Abstract

Described herein are systems for automated docking of an unmanned aerial vehicle. For example, some systems include a landing surface configured to hold an unmanned aerial vehicle; a box configured to enclose the landing surface in a first arrangement of the dock and expose the landing surface in a second arrangement of the dock; and a retractable arm, wherein the landing surface is positioned at an end of the retractable arm and the retractable arm is configured to extend to move the landing surface outside of the box and contract to pull the landing surface inside of the box.

First claim

What is claimed is:

1. A dock comprising:
a landing surface configured to hold an unmanned aerial vehicle;
a box configured to enclose the landing surface in a first arrangement of the dock and expose the landing surface in a second arrangement of the dock, wherein the box defines:
a height extending between a top surface and a bottom surface thereof;
a width extending between side surfaces thereof; and
a length extending between forward and rear surfaces thereof; and

a retractable arm, wherein the landing surface is positioned at an end of the retractable arm and the retractable arm is configured to extend to move the landing surface outside of the box and contract to pull the landing surface inside of the box, the retractable arm being movable along the length of the box.

2. The dock of claim 1 , wherein the dock is configured to transition from the first arrangement to the second arrangement automatically by performing steps including opening a door of the box and extending the retractable arm to move the landing surface from inside of the box to outside of the box.

3. The dock of claim 2 , wherein the door of the box is a side of the box that folds out when the door is opened, and the retractable arm extends laterally.

4. The dock of claim 2 , wherein the door is movable about an axis extending in generally parallel relation to the width of the box.

5. The dock of claim 1 , wherein the dock includes a soft roller attached to a top interior surface of the box that is positioned to engage with a body of the unmanned aerial vehicle as the unmanned aerial vehicle is pulled into a resting position inside the box by the retractable arm while the unmanned aerial vehicle is on the landing surface.

6. The dock of claim 1 , wherein the landing surface includes a plurality of tapered sides to fit a bottom surface of the unmanned aerial vehicle at a base of the landing surface.

7. The dock of claim 6 , wherein the dock includes conducting contacts of a battery charger on the landing surface, positioned at the base of the landing surface.

8. The dock of claim 1 , wherein the unmanned aerial vehicle includes a battery and the dock includes a charger configured to charge the battery while the unmanned aerial vehicle is on the landing surface.

9. The dock of claim 1 , wherein the unmanned aerial vehicle includes propellers, and sides of the box are positioned to press against the propellers to automatically fold the propellers while the retractable arm is being retracted to pull the unmanned aerial vehicle on the landing surface into the box.

10. The dock of claim 1 , comprising a first fiducial that is located on the landing surface and a second fiducial that is located on an outer surface of the box.

11. The dock of claim 1 , wherein the landing surface includes a fixed configuration.

12. The dock of claim 1 , wherein the landing surface includes tapered sides to mechanically guide the unmanned aerial vehicle into a centered position at a base of the landing surface.

13. A method comprising:
opening a door of a dock that includes a landing surface configured to hold an unmanned aerial vehicle, a box configured to enclose the landing surface in a first arrangement of the dock and expose the landing surface in a second arrangement of the dock, and a retractable arm, wherein the landing surface is positioned at an end of the retractable arm;
extending the retractable arm to move the landing surface from inside of the box to outside of the box to facilitate landing of the unmanned aerial vehicle in a generally vertical landing direction;
after the unmanned aerial vehicle has landed on the landing surface, contracting the retractable arm to pull the unmanned aerial vehicle with the landing surface inside of the box, wherein the retractable arm is movable along a generally horizontal axis of movement; and
closing the door to enclose the unmanned aerial vehicle in the box.

14. The method of claim 13 , comprising:
receiving an open request signal from the unmanned aerial vehicle, wherein the door is opened and the retractable arm is extended responsive to the open request signal; and
receiving a close request signal from the unmanned aerial vehicle, wherein the door is closed and the retractable arm is contracted responsive to the close request signal.

15. The method of claim 14 , comprising:
automatically charging a battery of the unmanned aerial vehicle using a charger included in the dock while the unmanned aerial vehicle is on the landing surface.

16. The method of claim 13 , wherein a propulsion mechanism of the unmanned aerial vehicle includes propellers, and the method comprises:
automatically folding the propellers by turning the propellers while the retractable arm is being contracted to pull the unmanned aerial vehicle on the landing surface into the box.

17. A system comprising:
an unmanned aerial vehicle including a propulsion mechanism and a processing apparatus; and
a dock including a landing surface configured to hold the unmanned aerial vehicle, a box configured to enclose the landing surface in a first arrangement of the dock and expose the landing surface in a second arrangement of the dock, and a retractable arm, wherein the landing surface is positioned at an end of the retractable arm and the retractable arm is configured to extend to move the landing surface outside of the box and contract to pull the landing surface inside of the box, the retractable arm configured for movement along an axis oriented in generally parallel relation to the landing surface, wherein the processing apparatus is configured to:
control the propulsion mechanism to cause the unmanned aerial vehicle to land on the landing surface while the dock is in the second arrangement with the retractable arm extended.

18. The system of claim 17 , wherein the propulsion mechanism includes propellers, and the processing apparatus is configured to:
automatically folding the propellers by turning the propellers while the retractable arm is being retracted to pull the unmanned aerial vehicle on the landing surface into the box.

19. The system of claim 17 , wherein the dock is configured to transition from the first arrangement to the second arrangement automatically by performing steps including opening a door of the box and extending the retractable arm to move the landing surface from inside of the box to outside of the box.

20. The system of claim 19 , wherein the door of the box is a side of the box that folds out when the door is opened, and the retractable arm extends laterally.

Assignees

• Skydio Inc

Inventors

• Kozlenko Yevgeniy
• Zhu Jack
• Cross Gareth
• Tomic Teodor
• Bry Adam
• Bachrach Abraham Galton

Classifications

• G05D1/244

  using passive navigation aids external to the vehicle, e.g. markers, reflectors or magnetic means · CPC title

• G05D2111/10

  Optical signals · CPC title

• G05D1/654

  Landing (docking at a base station G05D1/661) · CPC title

• G05D2109/254

  Flying platforms, e.g. multicopters · CPC title

• B64C39/024

  of the remote controlled vehicle type, i.e. RPV · CPC title