Automated docking of unmanned aerial vehicle

Patent metadata

Field	Value
Publication number	US-11897632-B2
Application number	US-202117218807-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 an unmanned aerial vehicle including a propulsion mechanism, a battery, and a processing apparatus; and a dock including a landing surface with a funnel geometry shaped to fit a bottom surface of the unmanned aerial vehicle at a base of the funnel, wherein tapered sides of the funnel form corners at the base of the funnel, and a battery charger configured to charge the battery of the unmanned aerial vehicle while the unmanned aerial vehicle is on the landing surface, wherein conducting contacts of the battery charger are on the landing surface, positioned at the bottom of the funnel.

First claim

What is claimed is:

1. A dock comprising:
a landing surface with a funnel geometry shaped to fit a bottom surface of an unmanned aerial vehicle, wherein the landing surface includes a plurality of tapered sides defining corners at a base of the landing surface, wherein the landing surface is movable along a generally horizontal axis of movement and is configured to receive the unmanned aerial vehicle in a generally vertical landing direction; and
a battery charger configured to charge a battery of the unmanned aerial vehicle while the unmanned aerial vehicle is on the landing surface.

2. The dock of claim 1 , wherein the base of the landing surface is rectangular.

3. The dock of claim 1 , comprising:
a fiducial that is located on the base of the landing surface.

4. The dock of claim 1 , comprising:
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, and 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.

5. The dock of claim 4 , 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.

6. The dock of claim 4 , 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.

7. The dock of claim 4 , 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.

8. The dock of claim 4 , wherein the door is movable about an axis extending in generally perpendicular relation to the generally horizontal axis of movement of the landing surface.

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

10. A method comprising:
controlling a propulsion mechanism of an unmanned aerial vehicle to cause the unmanned aerial vehicle to fly to a location in a vicinity of a dock that includes a landing surface with a funnel geometry shaped to fit a bottom surface of an unmanned aerial vehicle, wherein the landing surface includes a plurality of tapered sides forming corners at a base of the landing surface;
controlling the propulsion mechanism to cause the unmanned aerial vehicle to perform a final approach to touch down on the landing surface;
while the final approach is being performed, monitoring inertial measurements of the unmanned aerial vehicle to check whether the landing surface has been properly engaged;
responsive to proper engagement of the landing surface, applying a torque to the unmanned aerial vehicle using the propulsion mechanism; and
checking if rotation of the unmanned aerial vehicle responsive to the torque is prevented.

11. The method of claim 10 , comprising:
responsive to the rotation being prevented, completing successful landing procedures.

12. The method of claim 10 , comprising:
responsive to the rotation not being prevented, aborting the final approach.

13. The method of claim 10 , comprising:
controlling the propulsion mechanism to cause the unmanned aerial vehicle to fly to a location above the landing surface;
controlling the propulsion mechanism to cause the unmanned aerial vehicle to descend toward the landing surface;
responsive to reaching a predetermined height above the landing surface, controlling the propulsion mechanism to cause the unmanned aerial vehicle to hover at the predetermined height above the landing surface until error estimates for a pose and velocity of the unmanned aerial vehicle meet stability conditions; and
responsive to the stability conditions being met, controlling the propulsion mechanism to cause the unmanned aerial vehicle to perform the final approach.

14. The method of claim 10 , 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.

15. The method of claim 10 , wherein the landing surface includes a fixed configuration.

16. A system comprising:
an unmanned aerial vehicle including a propulsion mechanism, a battery, and a processing apparatus; and
a dock including a landing surface with a funnel geometry shaped to fit a bottom surface of the unmanned aerial vehicle and a battery charger configured to charge the battery of the unmanned aerial vehicle while the unmanned aerial vehicle is on the landing surface, wherein the landing surface is movable along a generally horizontal axis of movement and is configured to receive the unmanned aerial vehicle in a generally vertical landing direction, the landing surface including a plurality of tapered sides forming corners at a base of 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.

17. The system of claim 16 , wherein the processing apparatus is configured to:
control the propulsion mechanism to cause the unmanned aerial vehicle to perform a final approach to touch down on the landing surface;
while the final approach is being performed, monitor inertial measurements of the unmanned aerial vehicle to check whether the landing surface has been properly engaged; and
responsive to proper engagement of the landing surface, apply a torque to the unmanned aerial vehicle using the propulsion mechanism; and
check if rotation of the unmanned aerial vehicle responsive to the torque is prevented.

18. The system of claim 16 , wherein the base of the landing surface is rectangular.

19. The system of claim 16 , wherein the landing surface includes a fixed configuration.

20. The system of claim 16 , wherein the dock includes a door configured for movement about an axis extending in generally perpendicular relation to the generally horizontal axis of movement of the landing surface.

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