Method of landing an unmanned aerial vehicle on a freestanding dock including a reconfigurable landing surface

Patent metadata

Field	Value
Publication number	US-12378002-B2
Application number	US-202318397343-A
Country	US
Kind code	B2
Filing date	Dec 27, 2023
Priority date	Oct 15, 2019
Publication date	Aug 5, 2025
Grant date	Aug 5, 2025

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 method of landing an unmanned aerial vehicle (UAV), the method comprising:
causing the UAV to approach a dock defining an enclosure configured to receive the UAV; and
causing the UAV to touch down on a landing surface of the dock, wherein the landing surface is physically reconfigurable between an initial configuration prior to landing of the UAV and a subsequent configuration to facilitate reception of the UAV by the landing surface.

2. The method of claim 1 , further comprising:
repositioning the landing surface from a retracted position, in which the landing surface is located within an enclosure of the dock, to an extended position, in which the landing surface is located externally of the enclosure.

3. The method of claim 1 , wherein causing the UAV to touch down on the landing surface includes guiding the UAV using tapered sides of the landing surface forming corners at a base thereof.

4. The method of claim 1 , further comprising:
applying torque to the UAV using a propulsion mechanism thereof in response to confirming proper engagement with the landing surface.

5. The method of claim 4 , further comprising:
checking rotation of the UAV in relation to the landing surface.

6. The method of claim 5 , further comprising:
storing and shutting down the UAV in response to confirming that rotation of the UAV in relation to the landing surface is prevented.

7. The method of claim 5 , further comprising:
commencing automated maintenance services of the UAV in response to confirming that rotation of the UAV in relation to the landing surface is prevented.

8. The method of claim 5 , further comprising:
aborting a final approach in response to failed confirmation that rotation of the UAV in relation to the landing surface is prevented.

9. The method of claim 1 , wherein causing the UAV to approach the dock includes:
hovering the UAV at a predetermined height above the landing surface until stability conditions are met; and
causing the UAV to perform a final approach to touch down on the landing surface in response to meeting the stability conditions.

10. The method of claim 1 , further comprising:
monitoring inertial measurements of the UAV to confirm proper engagement with the landing surface.

11. A method of landing an unmanned aerial vehicle (UAV), the method comprising:
causing the UAV to approach a freestanding dock defining an enclosure configured to receive the UAV;
deploying a landing surface along a generally horizontal axis of movement; and
causing the UAV to touch down on the landing surface.

12. The method of claim 11 , further comprising:
causing electrical contact between the UAV and the landing surface to thereby charge the UAV.

13. The method of claim 11 , wherein deploying the landing surface includes:
automatically opening a door of the freestanding dock; and
extending a retractable arm supporting the landing surface.

14. The method of claim 11 , further comprising:
retracting the landing surface such that propellers on the UAV are automatically folded via contact with the freestanding dock.

15. The method of claim 11 , wherein causing the UAV to approach the freestanding dock includes detecting a fiducial on the landing surface.

16. A method of landing an unmanned aerial vehicle (UAV), the method comprising:
causing the UAV to approach a freestanding dock defining an enclosure configured to receive the UAV;
deploying a landing surface via movement along a first axis; and
landing the UAV on the landing surface via movement along a second axis oriented in generally orthogonal relation to the first axis.

17. The method of claim 16 , wherein causing the UAV to approach the freestanding dock includes detecting a first fiducial located on an outer surface of the freestanding dock.

18. The method of claim 17 , wherein landing the UAV includes detecting a second fiducial located on the landing surface.

19. The method of claim 16 , wherein landing the UAV includes guiding the UAV into position using tapered sides of the landing surface.

20. The method of claim 16 , further comprising:
opening a door of the freestanding dock via movement about a third axis oriented in generally orthogonal relation to the first axis and the second axis.

Assignees

• Skydio Inc

Inventors

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

Classifications

• B64C39/024

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

• B64U10/13

  Flying platforms · CPC title

• B64U80/25

  for recharging batteries; for refuelling · CPC title

• B64U2201/10

  autonomous, i.e. by navigating independently from ground or air stations, e.g. by using inertial navigation systems [INS] · CPC title

• B64U80/70

  in containers (B64U80/60 takes precedence) · CPC title