Docking systems and methods for aerial vehicles
AssigneeAmazon Technologies, Inc.
InventorHsiao-Chieh Yen
Life of this patent
Estimating the term…
Abstract
Docking systems and methods may comprise an aerial vehicle and a docking station. The aerial vehicle may implement a control strategy during a docking evolution to remain within a safety envelope associated with the docking station, and also to maintain visibility of a landing pad on an upper surface of the docking station. In addition, the control strategy may prioritize descent speed over horizontal positioning as long as the aerial vehicle remains within the safety envelope with visibility of the landing pad. Further, the landing pad may comprise multiple sets of retroreflectors and markers to facilitate performance of the docking evolution.
Claims20
A system, comprising:
- an aerial vehicle comprising a light source and an imaging sensor;
- a docking station comprising a landing pad on an upper surface thereof, wherein a safety envelope defining a three-dimensional volume is configured to facilitate a docking evolution of the aerial vehicle with the docking station;
- and
- a control system configured to at least:
- instruct the aerial vehicle to initiate the docking evolution with the docking station;
- instruct actuation of the light source to illuminate the landing pad;
- instruct capture, using the imaging sensor, of imaging data of the landing pad;
- determine a pose of the aerial vehicle relative to the docking station based on the imaging data;
- determine a safety margin between the aerial vehicle and at least one boundary of the safety envelope based on the pose;
- and
- instruct descent of the aerial vehicle during the docking evolution at a speed based on the safety margin.
A method, comprising:
- determining, by a control system associated with an aerial vehicle, a pose of the aerial vehicle relative to a docking station, wherein a safety envelope defining a volume is configured to facilitate docking of the aerial vehicle with the docking station;
- determining, by the control system, a safety margin between the aerial vehicle and at least one boundary of the safety envelope;
- and
- instructing, by the control system, descent of the aerial vehicle toward the docking station based at least in part on the safety margin.
A system, comprising:
- a processor;
- and
- a memory having executable instructions stored thereon, which when executed by the processor, cause the processor to at least:
- determine a pose of an aerial vehicle relative to a docking station, wherein a safety envelope defining a volume is configured to facilitate docking of the aerial vehicle with the docking station;
- determine a safety margin between the aerial vehicle and at least one boundary of the safety envelope;
- and
- instruct descent of the aerial vehicle toward the docking station based at least in part on the safety margin.
Dependencies are inferred from the claim text.