Adjustable landing gear assembly for unmanned aerial vehicles

Patent metadata

Field	Value
Publication number	US-9592908-B2
Application number	US-201514661955-A
Country	US
Kind code	B2
Filing date	Mar 18, 2015
Priority date	Mar 18, 2015
Publication date	Mar 14, 2017
Grant date	Mar 14, 2017

Abstract

This disclosure describes a configuration of an unmanned aerial vehicle (UAV) landing gear assembly that includes adjustable landing gear extension that may be extended or contracted so that the body of the UAV is contained in a horizontal plane when the UAV is landed, even on sloping surfaces. For example, when a UAV is landing, the slope of the surface may be determined and the landing gear extensions adjusted based on the slope so that the body of the UAV remains approximately horizontal when the UAV lands and is supported by the landing gear extensions.

First claim

What is claimed is:

1. An unmanned aerial vehicle (“UAV”), comprising:
a body;
a plurality of motors coupled to the body;
a support coupling configured to couple or decouple a landing gear assembly and the body of the UAV; and
the landing gear assembly, including:
a first landing gear extension that contacts a surface and supports at least a portion of the UAV, wherein the first landing gear extension is adjustable by a landing gear controller between a first contracted position and a first extended position;
a second landing gear extension that contacts the surface and supports at least a portion of the UAV, wherein the second landing gear extension is adjustable by the landing gear controller between a second contracted position and a second extended position; and
a third landing gear extension that contacts the surface and supports at least a portion of the UAV, wherein the third landing gear extension is adjustable by the landing gear controller between a third contracted position and a third extended position;

the landing gear controller configured to at least:
monitor an angle of at least a portion of the body of the UAV with respect to a plane that is approximately perpendicular to a gradient of a gravity field of earth at a position of the UAV; and
adjust at least one of the first landing gear extension, the second landing gear extension, or the third landing gear extension until the at least a portion of the body of the UAV is approximately contained in the plane.

2. The UAV of claim 1 , wherein the first landing gear extension includes at least one of a hydraulic arm, a pneumatic arm, a threaded extension, magnetically adjustable arm, a linear gear extension, or a telescoping arm.

3. The UAV of claim 1 , wherein the support coupling is further configured to enable rotation of the body of the UAV about an axis.

4. The UAV of claim 1 , further comprising:
a navigation component configured to control a flight of the UAV; and
wherein the navigation component is calibrated in response to a communication from the landing gear controller that the at least a portion of the UAV is contained within the plane.

5. A landing gear assembly for an unmanned aerial vehicle (UAV), comprising:
a first landing gear extension coupled to and extending from UAV, the first landing gear extension adjustable by a landing gear controller between a first contracted position and a first extended position;
a second landing gear extension coupled to and extending from the UAV, the second landing gear extension adjustable by the landing gear controller between a second contracted position and a second extended position;
a third landing gear extension coupled to and extending from the UAV, the third landing gear extension adjustable by the landing gear controller between a third contracted position and a third extended position;
a main support base configured to couple to a body of the UAV, the first, second and third landing gear extensions being coupled to and extending from the main support base; and
a support coupling configured to selectively couple and decouple the main support base and the body of the UAV; and
wherein the landing gear controller adjusts at least one of the first landing gear extension, the second landing gear extension, or the third landing gear extension so that the body of the UAV is approximately horizontal when landed on a surface.

6. The landing gear assembly of claim 5 , wherein the support coupling includes a gimbal that enables rotation of the body of the UAV about an axis.

7. The landing gear assembly of claim 5 , further comprising:
a contact sensor coupled to the first landing gear extension configured to detect a contact between the first landing gear extension and the surface.

8. The landing gear assembly of claim 5 , further comprising:
a distance determining element configured to measure a distance between the distance determining element and the surface.

9. The landing gear assembly of claim 8 , wherein:
the measured distance is provided to the landing gear controller; and
the landing gear controller is configured to determine an amount to adjust at least one of the first landing gear extension, the second landing gear extension, or the third landing gear extension based at least in part on the measured distance and a desired angle of the body of the UAV when the UAV is landed on the surface.

10. The landing gear assembly of claim 9 , wherein the desired angle of the body of the UAV is approximately horizontal.

11. The landing gear assembly of claim 5 , further comprising:
a first distance determining element coupled to the first landing gear extension and configured to measure a first distance between the first landing gear extension and the surface;
a second distance determining element coupled to the second landing gear extension and configured to measure a second distance between the second landing gear extension and the surface; and
a third distance determining element coupled to the third landing gear extension and configured to measure a third distance between the third landing gear extension and the surface.

12. A method to land an unmanned aerial vehicle (“UAV”), the method comprising:
measuring, with at least one distance determining element, a slope of a surface;
extending a first landing gear extension from a first contracted position, in which the first landing gear extension has a first contracted length, to a first extended position, in which the first landing gear extension has a first extended length, wherein the first extended length is greater than the first contracted length;
maintaining a second landing gear extension at a second contracted position, in which the second landing gear extension has a second contracted length; and
wherein:
the first and second landing gear extensions comprise at least a portion of a landing gear assembly, the landing gear assembly configured to selectively couple to and decouple from a body of the UAV via a support coupling;
the second contracted length is less than the first extended length; and
a difference between the second contracted length and the first extended length is based at least in part on the slope of the surface.

13. The method of claim 12 , further comprising:
detecting a contact between the second landing gear extension and the surface; and
wherein:
the first landing gear extension is extended in response to the detected contact; and
the first extended position is determined in response to the first landing gear extension contacting the surface.

14. The method of claim 12 , further comprising:
detecting a contact between the second landing gear extension and the surface; and
wherein:
the first landing gear extension is extended in response to the detected contact; and
the first extended position is determined so that at least a portion of the UAV is contained in a horizontal plane.

15. The method of claim 12 , further comprising:
extending a third landing gear extension until the third landing gear extension contacts the surface.

16. The method of claim 12 , further comprising:
determining a desired heading of the UAV; and
rotating the body of the UAV, via the support coupling and without rotating the landing gear assembly, about an axis to orient the body of the UAV in the desired heading.

17. The method of claim 12 , further comprising:
determining that the UAV has landed on the surface;
contracting at least one of the first landing gear extension or the second landing gear extension;
determining that a payload of

Assignees

• Amazon Tech Inc

Inventors

• Gentry Nicholas Kristofer

Classifications

• B64U70/60

  Take-off or landing of UAVs from a runway using their own power · CPC title

• B64C2201/027

  Operations & Transport · mapped topic

• B64C2201/18

  Operations & Transport · mapped topic

• B64C25/24

  electric · CPC title

• B64C25/10

  retractable, foldable, or the like · CPC title