OPTICALLY ASSISTED LANDING OF AUTONOMOUS UNMANNED AIRCRAFT

• US 20160122038A1
• Filed: 02/25/2015
• Published: 05/05/2016
• Est. Priority Date: 02/25/2014
• Status: Abandoned Application

• Current Assignee: Matternet, Inc.
• Original Assignee: Singularity University (Singularity Education Group)
• Inventors: Fleischman, Zachary, Sullivan, Chris
• Application Number:
  US14/631,520
• Publication Number:
  US 20160122038A1
• Time in Patent Office: Days
• US Class Current: 1/1
• CPC Class Codes: B64C 39/024 of the remote controlled vehicle type, i.e. RPV
• CPC Class Codes: B64F 1/007 Helicopter portable landing pads
• CPC Class Codes: B64F 1/18 Visual or acoustic landing aids taxiing aids B64F1/002
• CPC Class Codes: B64F 1/20 Arrangement of optical beacons
• CPC Class Codes: B64U 2201/00 UAVs characterised by their flight 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: G06T 2207/10032 Satellite or aerial image; Remote sensing
• CPC Class Codes: G06T 2207/30204 Marker
• CPC Class Codes: G06T 2207/30244 Camera pose
• CPC Class Codes: G06T 7/73 using feature-based methods

Abstract

Systems, methods, apparatuses, and landing platforms are provided for visual and/or ground-based landing of unmanned aerial vehicles. The unmanned aerial vehicles may be capable of autonomously landing. Autonomous landings may be achieved by the unmanned air vehicles with the use of an imager and one or more optical markers on a landing platform. The optical markers may be rectilinear, monochromatic patterns that may be detected by a computing system on the unmanned aerial vehicle. Furthermore, the unmanned aerial vehicle may be able to automatically land by detecting one or more optical markers and calculating a relative location and/or orientation from the landing platform.

Claims

1. A landing system comprising:

a landing platform comprising first and second optical markers, wherein the first optical marker is larger than the second optical marker;

an unmanned aerial vehicle comprising;

an electronic camera; and

a hardware processor configured to execute computer-executable instructions to at least;

access a first image captured by the electronic camera, wherein the first image is of the first optical marker;

determine a first position of the unmanned aerial vehicle relative to the first optical marker based at least in part on the accessed first image;

cause a change in altitude of the unmanned aerial vehicle based at least in part on the determined first position;

access a second image captured by the electronic camera, wherein the second image is of the second optical marker;

determine a second position of the unmanned aerial vehicle relative to the second optical marker based at least in part on the accessed second image; and

cause a further change in altitude of the unmanned aerial vehicle based at least in part on the determined second position.

2. The landing system of claim 1, wherein the first position of the unmanned aerial vehicle is further determined based at least in part on using a 3D pose estimation algorithm, wherein input to the 3D pose estimation algorithm comprises data associated with the first image.

3. The landing system of claim 1, wherein the first optical marker is encoded with information regarding the relative location of the first optical marker with reference to the landing platform.

4. The landing system of claim 1, wherein at least one of the first or second optical markers comprises a rectilinear shape.

5. The landing system of claim 1, wherein the unmanned aerial vehicle further comprises a light emitting device, wherein the light emitting device is capable of illuminating at least one of the first or second optical markers.

6. The landing system of claim 1, wherein the landing platform is foldable.

7. A method for landing an unmanned aerial vehicle comprising:

accessing a first image, wherein the first image is of a first optical marker;

determining a first position of an unmanned aerial vehicle relative to the first optical marker based at least in part on the accessed first image;

providing first instructions to the unmanned aerial vehicle to change from the determined first position to a second position;

accessing a second image, wherein the second image is of a second optical marker, and wherein the second optical marker is a different size than the first optical marker;

determining a third position of the unmanned aerial vehicle relative to the second optical marker based at least in part on the accessed second image; and

providing second instructions to the unmanned aerial vehicle to change from the determined third position to a fourth position.

8. The method of claim 7, wherein the first position of the unmanned aerial vehicle is determined based at least in part on using a 3D pose estimation algorithm.

9. The method of claim 7, further comprising:

determining a relative position of the first optical marker with respect to the landing platform based at least in part on data encoded into the first optical marker.

10. The method of claim 7, wherein at least one of the first or second optical markers comprise a rectilinear shape.

11. The method of claim 7, wherein the unmanned aerial vehicle comprises a light emitting device, wherein the light emitting device is capable of illuminating at least one of the first or second optical markers.

12. A landing platform comprising:

a landing area, wherein the landing area is capable of supporting one or more unmanned aerial vehicles; and

a marking area comprising a first optical marker and a second optical marker, wherein the first optical marker is larger than the second optical marker, and wherein each optical marker of the first and second optical markers are detectable to enable a first unmanned aerial vehicle to determine its position relative to each respective optical marker of the first and second optical markers.

13. The landing platform of claim 12, further comprising a third optical marker, wherein the second optical marker is larger than the third optical marker, and wherein the third optical marker is detectable to enable the first unmanned aerial vehicle to determine its position relative to the third optical marker.

14. The landing platform of claim 12, wherein the marking area further comprises a printed surface.

15. The landing platform of claim 12, wherein the marking area further comprises the display of a user computing device.

16. The landing platform of claim 15, wherein the user computing device comprises a smartphone or a tablet.

17. The landing platform of claim 12, wherein at least one of the first or second optical markers comprises a rectilinear shape.

18. The landing platform of claim 12, wherein at least one of the first or second optical markers comprises a monochromatic color.

19. The landing platform of claim 12, further comprising a light emitting device.

20. The landing platform of claim 12, wherein at least one of the first or second optical markers comprises a one unit first border, a two unit second border, and a five unit by five unit pattern.