Processing

Please wait...

Settings

Settings

1. US20190250640 - AERIAL VEHICLE TOUCHDOWN DETECTION

Office United States of America
Application Number 16272132
Application Date 11.02.2019
Publication Number 20190250640
Publication Date 15.08.2019
Publication Kind A1
IPC
G PHYSICS
05
CONTROLLING; REGULATING
D
SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
1
Control of position, course, altitude, or attitude of land, water, air, or space vehicles, e.g. automatic pilot
04
Control of altitude or depth
[IPC code unknown for G06N 20]
B PERFORMING OPERATIONS; TRANSPORTING
64
AIRCRAFT; AVIATION; COSMONAUTICS
C
AEROPLANES; HELICOPTERS
39
Aircraft not otherwise provided for
02
characterised by special use
G05D 1/04
G06N 20/00
B64C 39/02
CPC
G06N 20/00
G05D 1/042
B64C 2201/141
B64C 2201/18
B64C 39/024
Applicants Skydio, Inc.
Inventors Rowland Wilde O'Flaherty
Teodor Tomic
Hayk Martirosyan
Abraham Galton Bachrach
Kristen Marie Holtz
Jack Louis Zhu
Title
(EN) AERIAL VEHICLE TOUCHDOWN DETECTION
Abstract
(EN)

A technique is introduced for touchdown detection during autonomous landing by an aerial vehicle. In some embodiments, the introduced technique includes processing perception inputs with a dynamics model of the aerial vehicle to estimate the external forces and/or torques acting on the aerial vehicle. The estimated external forces and/or torques are continually monitored while the aerial vehicle is landing to determine when the aerial vehicle is sufficiently supported by a landing surface. In some embodiments, semantic information associated with objects in the environment is utilized to configure parameters associated with the touchdown detection process.