Autonomously landing an unmanned aerial vehicle
원문보기
IPC분류정보
국가/구분
United States(US) Patent
등록
국제특허분류(IPC7판)
G05D-001/12
G01S-019/01
G05D-001/06
G05D-001/00
출원번호
US-0835510
(2015-08-25)
등록번호
US-9429953
(2016-08-30)
발명자
/ 주소
Miller, Samuel Giles
Sanz, Christian
Sirang, Behrooze
Noorani, Jonathan Shyaun
출원인 / 주소
SKYCATCH, INC.
대리인 / 주소
Keller Jolley Preece
인용정보
피인용 횟수 :
9인용 특허 :
2
초록▼
The present disclosure is directed toward systems and methods for enabling autonomous landing of an unmanned aerial vehicle. For example, systems and methods described herein enable autonomous landing of the unmanned aerial vehicle by providing an unmanned aerial vehicle ground station with various
The present disclosure is directed toward systems and methods for enabling autonomous landing of an unmanned aerial vehicle. For example, systems and methods described herein enable autonomous landing of the unmanned aerial vehicle by providing an unmanned aerial vehicle ground station with various guidance systems for guiding the autonomous landing. In some embodiments, the guidance systems enable autonomous landing by providing one or more LEDs. In other embodiments, the guidance systems enable autonomous landing by providing various types of transmitted energy waves. In at least one embodiment, the guidance systems enable autonomous landing by providing a two-stage landing system that includes two or more types of transmitted energy.
대표청구항▼
1. A method of autonomously landing an unmanned aerial vehicle (UAV), comprising: guiding an unmanned aerial vehicle (UAV) toward an energy field transmitted from a ground station, wherein guiding the UAV toward the energy field comprises using a global positioning system (GPS) to control the UAV, a
1. A method of autonomously landing an unmanned aerial vehicle (UAV), comprising: guiding an unmanned aerial vehicle (UAV) toward an energy field transmitted from a ground station, wherein guiding the UAV toward the energy field comprises using a global positioning system (GPS) to control the UAV, and wherein the energy field comprises light energy waves transmitted from at least two light emitting sources located on the ground station;detecting, by a computing device, the UAV entered the energy field transmitted from the ground station;transitioning from using the GPS to control the UAV to using the energy field to control the UAV;determining, by the computing device on the UAV, one or more characteristics of the energy field; andbased on the one or more characteristics of the energy field, guiding the UAV to a landing site of the ground station. 2. The method of claim 1, wherein the energy field further comprises energy waves from one of the following energy wave types: radio frequency or electromagnetic. 3. The method of claim 2, wherein detecting the UAV entered the energy field comprises using a camera located on the UAV to detect at least one of the light energy waves from the at least two light emitting sources located on the ground station. 4. The method of claim 3, further comprising: generating, using the camera, a digital image that depicts two light spots corresponding to the at least two light emitting sources located on the ground station from the perspective of the UAV;measuring a distance between the two light spots depicted within the digital image to determine the one or more characteristics of the energy field; andcalculating an altitude of the UAV based on the measured distance between the two light spots depicted within the digital image. 5. The method of claim 4, wherein guiding the UAV to the landing site of the ground station comprises using the calculated altitude to determine a rate of decent of the UAV toward the landing site of the ground station. 6. The method of claim 1, wherein the energy field comprises a first energy field and a second energy field, and wherein guiding the UAV to the landing site of the ground station further comprises: using the first energy field to guide the UAV to the landing site of the ground station during a first phase of a landing sequence, wherein the first energy field comprises a first type of energy wave;detecting the second energy field that at least partially overlaps with the first energy field, wherein the second energy field comprises a second type of energy wave; andusing the second energy field to guide the UAV to the landing site of the ground station during a second phase of the landing sequence. 7. The method of claim 6, wherein the first type of energy wave is a radio frequency energy wave. 8. The method of claim 1, wherein transitioning from using the GPS to control the UAV to using the energy field to control the UAV comprises: determining a first position of the UAV based on the GPS;determining a second position of the UAV based on the energy field;comparing the first position to the second position to determine an offset representing the difference between the first position and the second position;applying the offset to a determined current position of the UAV based on using the energy field; anddecreasing the offset to zero over a defined period of time. 9. The method of claim 1, further comprising identifying a valid state, wherein the valid state indicates that the UAV is positioned along a decent path within the energy field. 10. The method of claim 9, wherein identifying the valid state comprises determining that each of a plurality of sensors located on the UAV detect the same intensity of the energy field. 11. An unmanned aerial vehicle (UAV) comprising: a main body;a plurality of rotors positioned about the main body to power the movement of the UAV while in flight;one or more sensors capable of detecting an energy field; anda computing device communicatively coupled to the one or more sensors and the plurality of rotors, wherein the computing device:receives input from the one or more sensors representative of a detected energy field emitted from a ground station, wherein the energy field comprises light energy waves transmitted from at least two light emitting sources located on the ground station;determines one or more characteristics of the detected energy field; andbased on the one or more characteristics of the detected energy field, provides a control output to one or more of the plurality of rotors to guide the movement of the UAV onto a landing site of the ground station. 12. The UAV as recited in claim 11, wherein the energy field further comprises energy waves from one of the following energy wave types: radio frequency or electromagnetic. 13. The UAV as recited in claim 11, wherein the one or more sensors comprise one or more of a camera or an energy sensor. 14. The UAV as recited in claim 11, wherein the computing device further: determines a first intensity of the detected energy field corresponding to a first sensor of the one or more sensors;determines a second intensity of the detected energy field corresponding to a second sensor of the one or more sensors; andwherein providing the control output to one or more of the plurality of rotors to guide the movement of the UAV onto a landing site of the ground station comprises comparing the first intensity to the second intensity to determine the control output. 15. The UAV as recited in claim 14, wherein the computing device further determines the control output to move the UAV to a position within the energy field such that the first intensity corresponding to the first sensor matches the second intensity corresponding to the second sensor. 16. A system for landing an aerial vehicle, comprising: a ground unit, comprising:a landing site having a recess; andone or more energy transmitters that produce an energy field extending upward from the landing site, wherein the energy field comprises light energy waves transmitted from at least two light emitting sources located on the ground unit;an unmanned aerial vehicle (UAV), comprising:a landing base that geometrically corresponds to the recess of the landing site;one or more sensors capable of detecting the energy field produced from the one or more energy transmitters of the ground unit; anda computing device communicatively coupled to the one or more sensors, wherein the computing device:receives input from the one or more sensors related to the energy field;determines one or more characteristics of the energy field based on the received input; andbased on the one or more characteristics of the detected energy field, provides a control output to guide the movement of the UAV into the recess of the landing site. 17. The system as recited in claim 16, wherein the recess of the landing site comprises a conical shape. 18. The system as recited in claim 16, wherein the computing device further comprises determining, based on the one or more characteristics of the detected energy field, the landing base is at least partially within the recess of the landing site. 19. The system as recited in claim 18, wherein the computing device further cuts power to a plurality of rotors on the UAV upon determining the landing base is at least partially within the recess of the landing site. 20. The system as recited in claim 19, wherein cutting the power to the plurality of rotors causes the landing base to interact with the recess of the landing site and secure the UAV at the landing site of the ground unit.
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이 특허에 인용된 특허 (2)
Saneyoshi Keiji,JPX ; Tsuchiya Hideaki,JPX, Altitude detection by use of planar approximation of a region of ground surface.
Sullivan, Richard M.; Williams, Paxton S.; Prokhorov, Danil V., Systems for transporting, deploying, and docking unmanned aerial vehicles mountable on a ground vehicle.
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