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Autonomous landing and control

  • US 10,061,328 B2
  • Filed: 09/16/2015
  • Issued: 08/28/2018
  • Est. Priority Date: 08/12/2015
  • Status: Active Grant
First Claim
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1. A method performed by a processor of an unmanned aerial vehicle (UAV) for controlling landing in a landing zone including a plurality of landing bays while flying among a plurality of other UAVs, comprising:

  • receiving continuous real-time sensor data;

    detecting a target landing bay within the plurality of landing bays within the landing zone that is available for landing based on the continuous real-time sensor data;

    calculating an orientation and position coordinates for landing in the target landing bay based on the continuous real-time sensor data;

    obtaining information regarding positions and flight vectors of the plurality of other UAVs, wherein obtaining the information comprises;

    receiving position and flight vector reports from the plurality of other UAVs via a transceiver on board the UAV,wherein the UAV and the plurality of other UAVs are each independently executing a separate flight mission;

    generating a flight plan for landing in the target landing bay based on the orientation and the position coordinates, the positions and flight vector reports of the plurality of other UAVs, and a current orientation and position of the UAV;

    performing the flight plan for landing in the target landing bay;

    determining whether an exception condition is identified based on the continuous real-time sensor data and the flight plan for landing in the target landing bay; and

    in response to determining that an exception condition is identified;

    halting performance of the flight plan for landing in the target landing bay; and

    performing exception-handling operations based on the identified exception condition, wherein performing the exception-handling operations includes detecting an alternative target landing bay from the plurality of landing bays within the landing zone that is available for landing based on the continuous real-time sensor data by;

    performing operations to adjust a perspective of the UAV independent of any landing routine, the operations comprising one or more of;

    causing the UAV to ascend to a higher altitude above the landing zone, changing a pitch setting of the UAV, changing a roll setting of the UAV, or changing a yaw setting of the UAV; and

    obtaining the continuous real-time sensor data in the adjusted perspective.

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