Electronic landing marker

• US 10,395,544 B1
• Filed: 08/29/2016
• Issued: 08/27/2019
• Est. Priority Date: 08/29/2016
• Status: Active Grant

• Current Assignee: Amazon Technologies, Inc. (Amazon.com, Inc.)
• Original Assignee: Amazon Technologies, Inc. (Amazon.com, Inc.)
• Inventors: Harris, Scott Raymond, Peacock, Jason Leonard, Raghavan, Varsha, Viola, Paul
• Primary Examiner(s): Trivedi, Atul
• Application Number:
  US15/249,947
• Time in Patent Office: 1,093 Days
• Field of Search: 701 2
• CPC Class Codes: B64D 1/02 Dropping, ejecting, or releasing articles jettisonable fuel reservoirs B64D37/12
• CPC Class Codes: B64D 45/04 Landing aids; Safety measures to prevent collision with earth's surface
• CPC Class Codes: B64F 1/007 Helicopter portable landing pads
• CPC Class Codes: B64F 1/20 Arrangement of optical beacons
• CPC Class Codes: B64U 10/16 with five or more distinct rotor axes, e.g. octocopters
• CPC Class Codes: B64U 2101/30 for imaging, photography or videography
• CPC Class Codes: B64U 2101/60 for transporting passengers; for transporting goods other than weapons
• CPC Class Codes: B64U 2101/64 for parcel delivery or retrieval
• CPC Class Codes: B64U 2201/104 using satellite radio beacon positioning systems, e.g. GPS
• CPC Class Codes: B64U 2201/20 Remote controls
• CPC Class Codes: B64U 70/00 Launching, take-off or landing arrangements
• CPC Class Codes: B64U 70/95 Means for guiding the landing UAV towards the platform, e.g. lighting means
• CPC Class Codes: G05D 1/0676 specially adapted for landing
• CPC Class Codes: G06Q 10/083 Shipping
• CPC Class Codes: G08G 5/0069 specially adapted for an unmanned aircraft
• CPC Class Codes: G08G 5/02 Automatic approach or landing aids, i.e. systems in which flight data of incoming planes are processed to provide landing data landing aids fitted in or to aircraft B64D45/04; visual or acoustic landing aids B64F1/18

Abstract

An electronic marker may provide an approach notification to enable people to understand and interpret actions by a UAV, such as an intention to land or deposit a package at a particular location. The marker may communicate a specific intention of the UAV and/or communicate a request to a person. The marker may monitor the person or data signals for a response from the person, such as movement of the person that indicates a response. The marker may be equipped with hardware and/or software configured to provide notifications and/or exchange information with a person or the UAV at or near a destination. The marker may include a display, lights, a speaker, and one or more sensors to enable the UAV to provide information, barcodes, and text. The marker can provide final landing authority and can “wave-off” the UAV if an obstacle or person exists in the landing zone.

Claims

1. A method to guide an unmanned aerial vehicle (UAV) delivering a package to a delivery location, the method comprising:

receiving a signal from a central control at an electronic marker that a package has been scheduled for delivery at a delivery time at a delivery location associated with the electronic marker;

displaying a message to a user, at a notification time which is prior to the delivery time, on a screen of the electronic marker to place the electronic marker in a first location proximate a landing zone;

identifying one or more conditions in the landing zone with one or more sensors on the electronic marker;

providing a message to the user with the electronic marker to place the electronic marker in a second location proximate to the landing zone to remedy at least one adverse condition of the one or more conditions in the landing zone;

displaying one or more symbols on the screen of the electronic marker to provide information related to the one or more conditions in the landing zone to the UAV, wherein the UAV is configured to detect the one or more symbols and approach the landing zone based at least in part on the one or more symbols; and

determining, with the one or more sensors, that at least one of the UAV and the package has landed on or near the electronic marker.

2. The method of claim 1, wherein displaying the one or more symbols on the screen of the electronic marker to provide information to the UAV further comprises at least:

displaying a long-distance symbol prior to the UAV crossing a threshold distance from the landing zone; and

displaying a short-distance symbol after the UAV crosses the threshold distance.

3. The method of claim 2, wherein displaying a short-distance symbol after the UAV crosses the threshold distance from the landing zone comprises displaying a short-distance symbol that includes encoded information regarding at least one of the landing zone or conditions in the landing zone.

4. The method of claim 1, wherein identifying the one or more conditions in the landing zone with the one or more sensors on the electronic marker comprises identifying a sloped landing zone in the first location with a tilt sensor in the electronic marker.

5. The method of claim 1, wherein identifying the one or more conditions in the landing zone with the one or more sensors on the electronic marker comprises identifying one or more obstructions in the landing zone with a camera or proximity sensor on the electronic marker.

6. An electronic marker comprising:

a display to display messages to a user, an unmanned aerial vehicle (UAV), or both;

one or more sensors to detect conditions proximate to the electronic marker;

one or more processors in communication with at least the display and the one or more sensors; and

memory storing computer-executable instructions that, when executed, cause the one or more processors to perform acts to;

determine that an obstacle is located at a delivery location or adjacent to the delivery location based on sensor data provided by the one or more sensors;

select an indicator on the electronic marker to communicate to the user to move the electronic marker or the obstacle;

determine that the UAV is within a threshold distance from a delivery location based on the sensor data from the one or more sensors, data from the UAV, or both; and

cause the display to display one or more symbols to enable the UAV to deliver a package at the delivery location, wherein the UAV is configured to detect the one or more symbols and approach the delivery location based at least in part on the one or more symbols.

7. The electronic marker of claim 6, further comprising:

a transceiver to enable the electronic marker to communicate with a central control, the UAV, or both;

wherein determining that the UAV is within a threshold distance from the delivery location comprises receiving a signal from the central control or the UAV.

8. The electronic marker of claim 7, wherein the one or more processors further perform acts to:

determine that the obstacle is still located at a delivery location or adjacent to the delivery location based on sensor data provided by the one or more sensors; and

cause the transceiver to send a signal to the UAV to abort a delivery at the delivery location.

9. The electronic marker of claim 7, wherein the one or more processors further perform acts to:

cause the display to display one or more long-distance symbols to enable the UAV to identify the delivery location prior to receiving the signal; and

cause the display to display one or more short-distance symbols including information related to at least one of (1) landing zone conditions or (2) authentication after receiving the signal.

10. The electronic marker of claim 9, wherein the one or more short-distance symbols include information to enable the electronic marker to authenticate the UAV, the UAV to authenticate the electronic marker, or both.

11. The electronic marker of claim 9, wherein the one or more processors further perform acts to:

cause the display to display an intermediate symbol to enable the UAV to authenticate the electronic marker, the electronic marker to authenticate the UAV, or both.

12. The electronic marker of claim 11, wherein the information associated with the delivery location comprises data associated with one or more atmospheric or meteorological conditions at the delivery location.

13. The electronic marker of claim 9, wherein the one or more short-distance symbols comprise coded information.

14. A method comprising:

receiving a signal from a central control at a marker that a package has been scheduled for delivery at a delivery time by an unmanned aerial vehicle (UAV) at a delivery location associated with the marker;

providing a message at a notification time, which is prior to the delivery time to a user with the marker to place the marker in a first location proximate to a landing zone for the UAV;

determining with one or more sensors on the marker that the marker has been placed in the landing zone;

sending a signal from the marker to the central control that the marker has been placed in the landing zone; and

displaying one or more symbols on the marker to provide information to the UAV, wherein the UAV is configured to detect the one or more symbols and approach the delivery location based at least in part on the one or more symbols.

15. The method of claim 14, wherein displaying one or more symbols on the marker to provide information to the UAV further comprises:

displaying a long-distance symbol on the marker to enable the UAV to identify the delivery location;

receiving a signal from the UAV, the central control, or both that the UAV has crossed a threshold distance relative to the delivery location;

displaying an intermediate symbol on the marker;

receiving a signal from the UAV, the central control, or both that the UAV is prepared to land in the landing zone; and

displaying a short-distance symbol on the marker to provide the UAV with information related to at least one of (1) landing zone conditions or (2) authentication.

16. The method of claim 15, further comprising:

determining, with the one or more sensors on the marker, the UAV, or both, that the UAV has taken off from a location proximate to the marker;

receiving a signal from the UAV, the central control, or both, that the UAV has re-crossed the threshold distance relative to the delivery location; and

providing a message to the user with the marker to retrieve the package.

17. The method of claim 14, wherein displaying one or more symbols on the marker to provide information to the UAV further comprises:

displaying a short-distance symbol on the marker to provide the UAV with information related to at least one of (1) landing zone conditions or (2) authentication; and

providing a message to the user to stay clear of the landing zone.

18. The method of claim 14, wherein displaying one or more symbols on the marker to provide information to the UAV further comprises:

displaying a short-distance symbol on the marker to provide the UAV with information related to at least one of (1) landing zone conditions or (2) authentication;

providing a warning message to inform the user to stay clear of the landing zone; and

providing an estimated time of arrival (ETA) for the UAV with the marker.

19. The method of claim 18, further comprising:

receiving a message from the UAV indicating that the UAV has identified an obstacle in a first location in the landing zone; and

providing a message to the user to place the marker in a second location proximate to the landing zone to avoid the obstacle.

20. The method of claim 14, further comprising:

identifying, with the one or more sensors on the marker, the UAV, or both, an obstacle in a first location in the landing zone; and

displaying a message to the user, on a screen of the marker, to place the marker in a second location proximate to the landing zone to avoid the obstacle.