# US 12,001,204 B2 · System and method for dynamically arming a failsafe on a delivery drone

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- Number: US 12,001,204 B2
- Document ID: US12001204B2
- Status: Granted
- Kind: B2
- Application number: 18/323,816
- Filed: 2023-05-25
- Published: 2023-09-21
- Granted: 2024-06-04
- Earliest claimed: 2016-04-24
- Assignees: Flytrex Aviation Ltd.
- Applicants: Flytrex Aviation Ltd.
- Inventors: Yariv Bash; Amit Regev
- Web page: https://patentgrep.com/patent/US12001204B2

## CPC

- G05D 1/0027: {involving a plurality of vehicles, e.g. fleet or convoy travelling (fleet control of land vehicles from a control room G05D1/0297; traffic control systems for road vehicles G08G1/00; for marine craft G08G3/00; for aircraft G08G5/00)}
- G05D 1/0055: {with safety arrangements}
- B64C 39/024: {of the remote controlled vehicle type, i.e. RPV}
- G05D 1/0094: {involving pointing a payload, e.g. camera, weapon, sensor, towards a fixed or moving target}
- G05D 1/101: {specially adapted for aircraft}
- G05D 1/46: Control of position or course in three dimensions [3D]
- G05D 1/689: Pointing payloads towards fixed or moving targets (positioning towed, pushed or suspended implements G05D1/672)
- G05D 1/692: involving a plurality of disparate vehicles
- G05D 1/85: Fail-safe operations, e.g. limp home mode
- G08G 5/22: located on the ground
- G08G 5/26: Transmission of traffic-related information between aircraft and ground stations
- G08G 5/32: for flight plan preparation
- G08G 5/55: for a single aircraft
- G08G 5/56: for two or more aircraft
- G08G 5/57: for unmanned aircraft
- G08G 5/727: {from a ground station}
- B64U 10/14: with four distinct rotor axes, e.g. quadcopters
- B64U 60/50: with landing legs
- B64U 70/83: using parachutes, balloons or the like
- B64U 2101/60: for transporting passengers; for transporting goods other than weapons
- B64U 2201/20: Remote controls
- G05D 1/0061: {for transition from automatic pilot to manual pilot and vice versa}
- G05D 1/81: Handing over between on-board automatic and on-board manual control
- G06Q 10/0832: Special goods or special handling procedures, e.g. handling of hazardous or fragile goods
- G05D: SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- B64C: AEROPLANES; HELICOPTERS
- G08G: TRAFFIC CONTROL SYSTEMS (guiding railway traffic, ensuring the safety of railway traffic B61L; arrangement of road signs or traffic signals E01F9/00; radar or analogous systems, sonar systems, lidar systems specially adapted for traffic control G01S13/91, G01S15/88, G01S17/88; {radar or analogous systems, sonar systems, lidar systems specially adapted for anti-collision purposes G01S13/93, G01S15/93, G01S17/93})
- B64U: UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- G06Q: INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES; SYSTEMS OR METHODS SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES, NOT OTHERWISE PROVIDED FOR

## Abstract

A system and method for safely terminating navigation of an unmanned aerial vehicle (UAV). A method includes generating a navigation plan for the UAV, the UAV including a propulsion system, wherein the navigation plan includes at least a start point, an end point, and a virtual three-dimensional (3D) tunnel connecting the start and end points; and configuring the UAV to execute the navigation plan by navigating from the start point to the end point, wherein the UAV is configured such that the UAV executes the navigation plan by navigating from the start point to the end point, wherein the UAV is further configured such that the UAV terminates navigation by terminating power to the propulsion system of the UAV and deploying a failsafe, wherein the UAV is configured to terminate navigation when the UAV is outside of the 3D tunnel.

## Claims

### Claim 1

A method for safely terminating navigation of an unmanned aerial vehicle (UAV), comprising:
generating a navigation plan for a UAV, the navigation plan including a start point, an end point, a waypoint located between the start point and the end point, and a three dimensional geofence connecting the start point and the end point, the three dimensional geofence having a first width at the start point; and a second width at the waypoint;
configuring the UAV to execute the navigation plan by navigating from the start point to the end point; and
configuring the UAV to terminate navigation in response to detecting that the UAV is outside of the three dimensional geofence.

### Claim 2 (depends on 1)

The method of claim 1, further comprising:
configuring the UAV to continuously execute the navigation plan in response to detecting that the UAV is inside of the three dimensional geofence.

### Claim 3 (depends on 1)

The method of claim 1, further comprising:
configuring the UAV to initiate a navigation termination protocol in response to detecting that the UAV is outside of three dimensional geofence, wherein the navigation termination protocol includes configuring the UAV to cut power to a propelling system.

### Claim 4 (depends on 3)

The method of claim 3, wherein the navigation termination protocol includes configuring the UAV to deploy a protection device.

### Claim 5 (depends on 4)

The method of claim 4, wherein the protection device is deployed in response to detecting that the UAV is in a first area, and the protection device is not deployed in response to detecting that the UAV is in a second area.

### Claim 6 (depends on 1)

The method of claim 1, wherein the UAV is configured such that the navigation is terminated at the first time in which the UAV is outside of the three dimensional geofence.

### Claim 7 (depends on 1)

The method of claim 1, wherein the UAV is configured such that the navigation is terminated when a total amount of time during which the UAV is outside of the three dimensional geofence exceeds a threshold.

### Claim 8 (depends on 1)

The method of claim 1, wherein configuring the UAV to execute the navigation plan further comprises:
arming a protective deployment system of the UAV from a disarmed state, wherein the protective deployment system of the UAV is configured to deploy a failsafe upon navigation termination when the protective deployment system is armed.

### Claim 9 (depends on 8)

The method of claim 8, further comprising:
disarming the protective deployment system of the UAV such that the protective deployment system is configured not to deploy the failsafe upon navigation termination when the protective deployment system is disarmed.

### Claim 10 (depends on 1)

The method of claim 1, wherein generating the navigation plan further comprises:
determining a path between the start point and the end point; and
defining a 3D perimeter around the determined path, wherein the three dimensional geofence is the 3D perimeter.

### Claim 11 (depends on 1)

The method of claim 1, further comprising:
receiving a request to deliver a payload from the start point to the end point; and
generating the navigation plan in response to receiving the request.

### Claim 12 (depends on 1)

The method of claim 1, wherein the three dimensional geofence includes a time limit, further comprising:
configuring the UAV to terminate navigation, in response to detecting that the time limit is exceeded.

### Claim 13

A non-transitory computer readable medium having stored thereon instructions for causing a processing circuitry to execute a process, the process comprising:
generating a navigation plan for a UAV, the navigation plan including a start point, an end point, a waypoint located between the start point and the end point, and a three dimensional geofence connecting the start point and the end point, the three dimensional geofence having a first width at the start point; and a second width at the waypoint;
configuring the UAV to execute the navigation plan by navigating from the start point to the end point; and
configuring the UAV to terminate navigation in response to detecting that the UAV is outside of the three dimensional geofence.

### Claim 14

A system for safely terminating navigation of an unmanned aerial vehicle (UAV), comprising:
a processing circuitry; and
a memory, the memory containing instructions that, when executed by the processing circuitry, configure the system to:
generate a navigation plan for a UAV, the navigation plan including a start point, an end point, a waypoint located between the start point and the end point, and a three dimensional geofence connecting the start point and the end point, the three dimensional geofence having a first width at the start point; and a second width at the waypoint;
configure the UAV to execute the navigation plan by navigating from the start point to the end point; and
configure the UAV to terminate navigation in response to detecting that the UAV is outside of the three dimensional geofence.

### Claim 15 (depends on 14)

The system of claim 14, wherein the memory includes further instructions which when executed by the processing circuitry further configure the system to:
configure the UAV to continuously execute the navigation plan in response to detecting that the UAV is inside of the three dimensional geofence.

### Claim 16 (depends on 14)

The system of claim 14, wherein the memory includes further instructions which when executed by the processing circuitry further configure the system to:
configure the UAV to initiate a navigation termination protocol in response to detecting that the UAV is outside of three dimensional geofence, wherein the navigation termination protocol includes configuring the UAV to cut power to a propelling system.

### Claim 17 (depends on 16)

The system of claim 16, wherein the navigation termination protocol includes configuring the UAV to deploy a protection device.

### Claim 18 (depends on 17)

The system of claim 17, wherein the protection device is deployed in response to detecting that the UAV is in a first area, and the protection device is not deployed in response to detecting that the UAV is in a second area.

### Claim 19 (depends on 14)

The system of claim 14, wherein the UAV is configured such that the navigation is terminated at the first time in which the UAV is outside of the three dimensional geofence.

### Claim 20 (depends on 14)

The system of claim 14, wherein the UAV is configured such that the navigation is terminated when a total amount of time during which the UAV is outside of the three dimensional geofence exceeds a threshold.

### Claim 21 (depends on 14)

The system of claim 14, wherein the memory includes further instructions which when executed by the processing circuitry to configure the UAV to execute the navigation plan further configures the system to:
arm a protective deployment system of the UAV from a disarmed state, wherein the protective deployment system of the UAV is configured to deploy a failsafe upon navigation termination when the protective deployment system is armed.

### Claim 22 (depends on 21)

The system of claim 21, wherein the memory includes further instructions which when executed by the processing circuitry further configure the system to:
disarm the protective deployment system of the UAV such that the protective deployment system is configured not to deploy the failsafe upon navigation termination when the protective deployment system is disarmed.

### Claim 23 (depends on 14)

The system of claim 14, wherein the memory includes further instructions which when executed by the processing circuitry to generate the navigation plan further configure the system to:
determine a path between the start point and the end point; and
define a 3D perimeter around the determined path, wherein the three dimensional geofence is the 3D perimeter.

### Claim 24 (depends on 14)

The system of claim 14, wherein the memory includes further instructions which when executed by the processing circuitry further configure the system to:
receive a request to deliver a payload from the start point to the end point; and
generate the navigation plan in response to receiving the request.

### Claim 25 (depends on 14)

The system of claim 14, wherein the memory includes further instructions which when executed by the processing circuitry further configure the system to:
configure the UAV to terminate navigation, in response to detecting that the three dimensional geofence includes a time limit which is exceeded.