# US 11,897,632 B2 · Automated docking of unmanned aerial vehicle

> Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt

- Number: US 11,897,632 B2
- Document ID: US11897632B2
- Status: Granted
- Kind: B2
- Application number: 17/218,807
- 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/US11897632B2

## 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 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.

## Claims

### Claim 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.

### Claim 2 (depends on 1)

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

### Claim 3 (depends on 1)

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

### Claim 4 (depends on 1)

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.

### Claim 5 (depends on 4)

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.

### Claim 6 (depends on 4)

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.

### Claim 7 (depends on 4)

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.

### Claim 8 (depends on 4)

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.

### Claim 9 (depends on 1)

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

### Claim 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.

### Claim 11 (depends on 10)

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

### Claim 12 (depends on 10)

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

### Claim 13 (depends on 10)

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.

### Claim 14 (depends on 10)

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.

### Claim 15 (depends on 10)

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

### Claim 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.

### Claim 17 (depends on 16)

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.

### Claim 18 (depends on 16)

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

### Claim 19 (depends on 16)

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

### Claim 20 (depends on 16)

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.