# US 11,897,631 B2 · Automated docking of unmanned aerial vehicle

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- Number: US 11,897,631 B2
- Document ID: US11897631B2
- Status: Granted
- Kind: B2
- Application number: 17/218,483
- Filed: 2021-03-31
- Published: 2021-09-09
- Granted: 2024-02-13
- Earliest claimed: 2019-10-15
- Assignees: Skydio, Inc.
- Applicants: Skydio, Inc.
- Inventors: Yevgeniy Kozlenko; Jack Zhu; Gareth Cross; Teodor Tomic; Adam Bry; Abraham Galton Bachrach
- Web page: https://patentgrep.com/patent/US11897631B2

## CPC

- B64F 1/222: for storing aircraft, e.g. in hangars
- B64U 70/30: for capturing UAVs in flight by ground or sea-based arresting gear, e.g. by a cable or a net
- B64D 45/08: optical
- B64F 1/18: Visual or acoustic landing aids
- B64U 70/95: Means for guiding the landing UAV towards the platform, e.g. lighting means
- B64U 70/97: Means for guiding the UAV to a specific location on the platform, e.g. platform structures preventing landing off-centre
- B64U 80/25: for recharging batteries; for refuelling
- G05D 1/244: using passive navigation aids external to the vehicle, e.g. markers, reflectors or magnetic means
- G05D 1/654: Landing (docking at a base station G05D1/661)
- B64C 39/024: {of the remote controlled vehicle type, i.e. RPV}
- B64U 10/13: Flying platforms
- B64U 50/19: using electrically powered motors
- B64U 80/70: in containers (B64U80/60 takes precedence)
- B64U 2201/10: autonomous, i.e. by navigating independently from ground or air stations, e.g. by using inertial navigation systems [INS]
- G05D 2109/254: {Flying platforms, e.g. multicopters}
- G05D 2111/10: Optical signals
- 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
- B64U: UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64D: EQUIPMENT FOR FITTING IN OR TO AIRCRAFT; FLIGHT SUITS; PARACHUTES; ARRANGEMENT OR MOUNTING OF POWER PLANTS OR PROPULSION TRANSMISSIONS IN AIRCRAFT
- G05D: SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- B64C: AEROPLANES; HELICOPTERS

## 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.

## Claims

### Claim 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.

### Claim 2 (depends on 1)

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.

### Claim 3 (depends on 2)

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.

### Claim 4 (depends on 2)

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

### Claim 5 (depends on 1)

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.

### Claim 6 (depends on 1)

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.

### Claim 7 (depends on 6)

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.

### Claim 8 (depends on 1)

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.

### Claim 9 (depends on 1)

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.

### Claim 10 (depends on 1)

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.

### Claim 11 (depends on 1)

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

### Claim 12 (depends on 1)

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.

### Claim 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.

### Claim 14 (depends on 13)

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.

### Claim 15 (depends on 14)

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.

### Claim 16 (depends on 13)

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.

### Claim 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.

### Claim 18 (depends on 17)

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.

### Claim 19 (depends on 17)

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.

### Claim 20 (depends on 19)

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.