Method for automatically picking up packages by drone

Abstract

A payload retrieval device (950) comprises: a structure having an outwardly facing portion (952); a payload support member (970) adapted to place a payload (510) thereon; one or more magnets (930) or metal located on or within the outwardly facing portion (952) of the structure, adapted to magnetically engage one or more magnets (830) or metal located on a payload retriever (800) attached to a tether (900) suspended from a UAV (100), wherein when a payload (510) is placed on the payload support member (970), the payload support member is movable to position a handle (511) of the payload adjacent to the one or more magnets (930) or metal located on or within the outwardly facing portion (952) of the structure.

Description

[0001] CROSS-REFERENCE TO RELATED APPLICATIONS

[0002] This application claims priority to U.S. Patent Application No. 15 / 986,616, filed on May 22, 2018, which is hereby incorporated by reference in its entirety. Technical Field

[0003] Various aspects of the present disclosure relate to the field of unmanned vehicles, and more particularly, to apparatus, systems, and methods for automatically retrieving a payload at a payload retrieval location. Background Art

[0004] An unmanned vehicle (which may also be referred to as an autonomous vehicle) is a vehicle that is capable of traveling without the physical presence of a human operator. An unmanned vehicle may operate in a remote control mode, in an autonomous mode, or in a partially autonomous mode.

[0005] When an unmanned vehicle is operated in remote control mode, a pilot or driver at a remote location can control the unmanned vehicle by sending commands to the unmanned vehicle via a wireless link. When an unmanned vehicle is operated in autonomous mode, the unmanned vehicle is usually moved based on pre-programmed navigation waypoints, dynamic automation systems, or a combination of these. In addition, some unmanned vehicles can operate in both remote control mode and autonomous mode, and in some cases can operate in both modes simultaneously. For example, as an example, a remote pilot or driver may wish to hand over navigation to an autonomous system while manually performing another task (such as operating a mechanical system for picking up an object).

[0006] Various types of unmanned vehicles exist for various environments. For example, unmanned vehicles exist for operations in the air, on the ground, underwater, and in space. Examples include quad-copters and tail-seat UAVs, among others. Unmanned vehicles also exist for hybrid operations in which multiple environmental operations may be performed. Examples of hybrid unmanned vehicles include amphibious craft that can operate on land and on water, or seaplanes that can land on water and on land. Other examples are also possible.

[0007] UAV can be used to deliver a carrier to an individual or enterprise or to retrieve a carrier from an individual or enterprise. In some operations, once the UAV arrives at the retrieval site, the UAV can land or remain in a hovering position. At this time, the person at the retrieval site can fix the carrier to the UAV at one end of the tether attached to the winch mechanism positioned together with the UAV, or fix the carrier to the UAV itself. For example, the carrier can have a handle that can be fixed to the device at one end of the winch, or can have a handle that can be fixed in the UAV. However, this situation has many disadvantages. Specifically, if the UAV arrives at the retrieval site late, the personnel designated to fix the carrier to be retrieved by the UAV may have to wait for a period of time before the UAV arrives, causing undesirable waiting time. Similarly, if the UAV arrives and the individual designated to secure the payload to be retrieved is late or does not show up, the UAV may have to wait in a hover mode or on the ground until the designated individual arrives to secure the payload to the UAV, resulting in undesirable delays and undesirable energy consumption by the UAV while the UAV waits for the designated individual to arrive, and also resulting in undesirable delays in the subsequent delivery of the payload at the delivery location.

[0008] As a result, it would be desirable to provide automated pickup of a payload by a UAV, wherein the UAV can automatically pick up the payload without requiring a designated person to secure the payload to the UAV at the retrieval location. Such automated pickup of a payload by a UAV would advantageously eliminate the need for a designated person to secure the payload to the UAV, and eliminate potential delays associated with the UAV or designated person arriving late at the retrieval location. Summary of the invention

[0009] The proposed embodiments advantageously provide devices, systems and methods for automatically retrieving a payload at a payload retrieval location. The proposed embodiments are directed to a payload retrieval device comprising a structure having an outwardly facing portion having one or more magnets located thereon, the magnets being adapted to magnetically engage with a payload retriever attached to a tether suspended from a UAV. The payload retriever is lowered until one or more magnets or metals on the payload retriever become magnetically engaged with magnets located on the outwardly facing portion of the structure, and the payload retriever comprises a slot and a hook or lip located below the slot. A payload support member is provided on which a payload can be placed. The payload support member and the payload thereon move toward the payload retriever until the handle of the payload moves into the slot of the payload retriever and the hook or lip of the payload retriever extends through a hole in the handle of the payload. Once the payload's handle is secured to the payload retriever, the UAV can winch the payload retriever upward toward the UAV, thereby breaking the magnetic engagement with the outwardly facing portion of the structure, with the payload retriever and payload suspended below the UAV. The payload can then be winched upward to engage the UAV, which can then fly away to deliver the payload at the payload delivery location.

[0010] Upon reaching the payload delivery location, the payload retriever and attached payload can be lowered to the ground by a winch within the UAV, and once the payload touches the ground, the payload retriever can be further lowered by the winch and automatically disengaged from the payload's handle. Once the payload retriever is disengaged from the payload, the payload retriever can be winched back up to the UAV, and the UAV can fly to the payload retrieval location to retrieve another payload.

[0011] In one aspect, a payload retrieval device is provided, comprising: a structure having an outward-facing portion; a payload support member adapted to have a payload placed thereon; one or more magnets or metal on or within the outward-facing portion of the structure adapted to magnetically engage one or more magnets or metal on a payload retriever attached to a tether suspended from a UAV, wherein when a payload is placed on the payload support member, the payload support member is movable to position a handle of the payload adjacent to the one or more magnets or metal on or within the outward-facing portion of the structure.

[0012] In another aspect, a payload retrieval system is provided, the payload retrieval system comprising: a payload retrieval device having a structure with an outwardly facing portion, a payload support member suitable for placing a payload thereon, one or more magnets or metals located on or in the outwardly facing portion of the structure, the magnets or metals magnetically engaging with one or more magnets or metals located on a payload retriever, the payload retriever being attached to a tether suspended from a UAV, the payload retriever having a slot located above a hook or flange of the payload retriever, wherein when a payload is placed on the payload support member, the payload support member is movable to position a handle of the payload into the slot of the payload retriever, and the hook or flange of the payload retriever extends through a hole in the handle of the payload.

[0013] In another aspect, a method of retrieving a payload is provided, the method comprising the steps of: (i) providing a payload retrieval device having a structure with an outwardly facing portion, a payload support member, and one or more magnets or metals located on or in the outwardly facing portion of the structure; (ii) positioning a payload having a handle having a hole therein on the payload support member; (iii) lowering the payload retriever attached to a tether suspended from a UAV, the payload retriever having a tether adapted to engage the outwardly facing portion of the structure; (iv) magnetically engaging a payload retriever with an outwardly facing portion of the structure; (v) moving the payload support member to position a handle of the payload in the slot on the payload retriever and a hook or flange of the payload retriever extending through the hole in the handle of the payload; (vi) moving the payload retriever out of magnetic engagement with the outwardly facing portion of the structure; and (vii) moving the payload retriever toward the UAV with the payload suspended from the payload retriever.

[0014] The proposed embodiments also provide a system for retrieving a payload by a UAV, the system comprising means for securing a payload retriever to the payload during the payload retrieval process.

[0015] By reading the following detailed description with reference to the accompanying drawings where appropriate, these and other aspects, advantages and alternatives will become apparent to those of ordinary skill in the art. In addition, it should be understood that the description provided in the Summary of the Invention section and elsewhere in this document is intended to illustrate the claimed subject matter by way of example rather than by way of limitation. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1 is an isometric view of an example UAV 100 according to an example implementation.

[0017] Figure 2 is a simplified block diagram showing components of an unmanned aerial vehicle according to an example implementation.

[0018] Figure 3 is a simplified block diagram showing a UAV system according to an example.

[0019] Figure 4A A perspective view of a payload retrieval and delivery apparatus 500 including a payload 510 is shown according to an example embodiment.

[0020] Figure 4B yes Figure 4A A side view of a payload retrieval and delivery apparatus 500 and payload 510 is shown.

[0021] Figure 5A is a perspective view of a payload retriever 800 according to an example embodiment.

[0022] Figure 5B yes Figure 5A A side view of a payload retriever 800 is shown.

[0023] Figure 5C yes Figure 5A and Figure 5B A front view of a payload retriever 800 is shown.

[0024] Figure 6 Prior to insertion into the payload retriever container located in the fuselage of the UAV Figure 5A-5C A perspective view of a payload retriever 800 is shown.

[0025] Figure 7 Prior to insertion into the payload retriever container located in the fuselage of the UAV Figure 5A-5C Another perspective view of a payload retriever 800 is shown.

[0026] Figure 8 is a perspective view of a recessed restraining slot and payload retriever container located in the fuselage of the UAV.

[0027] Fig. 9 is a side view of a handle 511 of a payload 510 having openings 524 and 526 adapted to receive pins for securing the payload within a UAV according to an example embodiment.

[0028] Fig. 10A is a perspective view of a payload retriever 800 shown suspended from a UAV by a tether 900 according to an example embodiment.

[0029] Fig. 10Bis a perspective view of a vehicle retriever 800 being lowered by a UAV 100 toward a vehicle retrieval apparatus 950 according to an example embodiment.

[0030] Fig. 10C is a perspective view of a payload retriever 800 magnetically engaged with a payload retrieval device 950 and a payload 510 moving toward the payload retriever 800 according to an example embodiment.

[0031] Fig. 10D is a perspective view of the handle 511 of the payload 510 after the hook or flange 806 of the payload retriever 800 has been moved through the hole in the handle 511 to secure the payload 510 to the payload retriever 800 according to an example embodiment.

[0032] Fig. 10E is a perspective view of a payload retriever 800 and a secured payload 510 being moved upwardly to the UAV 100 according to an example embodiment.

[0033] Fig.10F is a perspective view of a payload retriever 800 and payload 510 moving upward toward a payload retriever receptacle 516 in a UAV according to an example embodiment.

[0034] Figure 10G is a perspective view of a payload 510 secured within a recessed restraining slot 540 of a UAV according to an example embodiment.

[0035] Fig. 10H is a perspective view of a payload retriever 800 and a payload 510 being lowered onto a payload support member 970 according to an example embodiment.

[0036] Fig.10I is a perspective view of a payload 510 landed on a payload support member 970 but still secured to a payload retriever 800 .

[0037] Fig.10J is a perspective view of a payload 510 positioned on a payload support member 970 after the payload retriever 800 has been lowered and moved out of engagement with the handle 511 of the payload 510 .

[0038] Fig.11 is a side view of magnet 930 in outward facing portion 952 and magnet 830 in payload retriever 800 according to an example embodiment.

[0039] Fig.12 is an open side view of a payload retriever 800 with a magnet 830 located therein, according to an example embodiment. DETAILED DESCRIPTION

[0040] Exemplary methods and systems are described herein. It should be understood that the word "exemplary" is used herein to mean "serving as an example, instance, or illustration." Any embodiment or feature described herein as "exemplary" or "illustrative" is not necessarily to be construed as being preferred or advantageous over other embodiments or features. In the accompanying drawings, similar symbols generally identify similar components unless the context otherwise indicates. The exemplary embodiments described herein are not meant to be limiting. It will be readily understood that the various aspects of the present disclosure, as generally described herein and shown in the accompanying drawings, may be arranged, substituted, combined, separated, and designed in a variety of different configurations, all of which are contemplated herein.

[0041] I. Overview

[0042] The proposed embodiments advantageously provide devices, systems and methods for automatically retrieving a payload at a payload retrieval location. The proposed embodiments are directed to a payload retrieval device, which comprises a structure having an outward-facing portion, the outward-facing portion having one or more magnets or metals located thereon, the one or more magnets or metals being suitable for magnetically engaging with a payload retriever attached to a tether suspended from a UAV. The payload retriever is lowered until one or more magnets or metals on the payload retriever become magnetically engaged with magnets located on the outward-facing portion of the structure. The magnetic engagement can be achieved by magnetically engaging one or more magnets on the outward-facing portion with one or more magnets or metals on the payload retriever. Alternatively, a metal can be located on the outward-facing portion of the structure, which is magnetically engaged with one or more magnets located on the payload retriever.

[0043] The load carrier retriever comprises a slot and a hook or flange below the slot. A load carrier support member is provided on which a load carrier can be placed. The load carrier support member and the load carrier thereon move toward the load carrier retriever that is magnetically engaged with the outward facing portion until the handle of the load carrier moves into the slot of the load carrier retriever and the hook or flange of the load carrier retriever extends through the hole in the handle of the load carrier. The handle can be made of a flexible material that is bent to allow the handle to move into the slot and allow the hook or flange of the load carrier retriever to extend through the hole in the handle of the load carrier. Once the handle of the load carrier is fixed to the load carrier retriever, the UAV can twist the load carrier retriever upwards toward the UAV, thereby disconnecting the magnetic engagement with the outward facing portion of the structure and the load carrier retriever and the load carrier are suspended below the UAV. The load carrier can then be twisted upwards to engage with the UAV. Once the payload is secured in the payload container, the UAV may fly together with the payload to a payload delivery location for subsequent delivery of the payload to the payload delivery location.

[0044] In this manner, no personnel are required to load the payload onto the payload retriever or UAV, thereby eliminating any delays that may be caused to the designated loading personnel due to the late arrival of the UAV and any delays associated with the designated loading personnel's late arrival at the payload retrieval location.

[0045] The carrier retriever can be attached to one end of a tether, which is fixed to the winch in the UAV. When arriving at the carrier delivery location, the carrier retriever and the attached carrier can be lowered to the ground by the winch in the UAV, and once the carrier contacts the ground, the carrier retriever can be further lowered by the winch and automatically disengaged from the handle of the carrier. Once the carrier retriever is disengaged from the carrier, the carrier retriever can be upwardly winched back toward the UAV, and the UAV can fly to the carrier retrieval location to retrieve another carrier. Therefore, by utilizing the carrier retriever to automatically pick up and deliver the carrier, it is not necessary for personnel to fix the carrier to the carrier retriever or the UAV at the carrier retrieval location, and it is not necessary for personnel to remove the carrier from the carrier retriever or the UAV at the carrier delivery location. Therefore, the carrier retrieval system described herein advantageously provides to automatically retrieve and deliver the carrier without the need for manual intervention.

[0046] II. Illustrative Unmanned Vehicles

[0047] As used herein, the terms "unmanned aerial vehicle" and "UAV" refer to any autonomous or semi-autonomous vehicle capable of performing some function without the physical presence of a human pilot.

[0048] UAVs may take various forms. For example, a UAV may take the form of a fixed-wing aircraft, a glider, a tail-seat aircraft, a jet aircraft, a ducted fan aircraft, a lighter-than-air airship (such as a blimp or a steerable balloon), a rotorcraft (such as a helicopter or a multirotor aircraft), and / or an ornithopter, among other possibilities. In addition, the terms "unmanned aircraft," "unmanned aircraft system" (UAVS), or "unmanned aerial system" (UAS) may also be used to refer to a UAV.

[0049] Figure 11 is an isometric view of an example UAV 100. The UAV 100 includes wings 102, a boom 104, and a fuselage 106. The wings 102 can be fixed and can generate lift based on the wing shape and the forward airspeed of the UAV. For example, the two wings 102 can have an airfoil-shaped profile to generate aerodynamic forces on the UAV 100. In some embodiments, the wings 102 can carry horizontal propulsion units 108 and the boom 104 can carry vertical propulsion units 110. In operation, power for the propulsion units can be provided from a battery bay 112 of the fuselage 106. In some embodiments, the fuselage 106 also includes an avionics bay 114, an additional battery bay (not shown), and / or a delivery unit for manipulating a payload (not shown, such as a winch system). In some embodiments, the fuselage 106 is modular, and two or more bays (e.g., a battery bay 112, an avionics bay 114, other cargo and delivery bays) are detachable from one another and fixable to one another (e.g., mechanically, magnetically, or otherwise) to continuously form at least a portion of the fuselage 106.

[0050] In some embodiments, the boom 104 terminates in a rudder 116 to improve yaw control of the UAV 100. Additionally, the wings 102 may terminate in wing tips 117 to improve control of the lift of the UAV.

[0051] In the illustrated configuration, the UAV 100 includes a structural frame. The structural frame may be referred to as a "structural H-frame" or "H-frame" (not shown) of the UAV. The H-frame may include a wing spar (not shown) within the wing 102 and a boom bracket (not shown) within the boom 104. In some embodiments, the wing spar and boom bracket may be made of carbon fiber, hard plastic, aluminum, light metal alloy, or other material. The wing spar and boom bracket may be connected with a clamp. The wing spar may include pre-drilled holes for the horizontal propulsion unit 108, and the boom bracket may include pre-drilled holes for the vertical propulsion unit 110.

[0052] In some embodiments, the fuselage 106 can be removably attached to the H-frame (e.g., attached to the wing spar by a clamp, etc., which is configured with grooves, protrusions or other features to cooperate with corresponding H-frame features). In other embodiments, similarly, the fuselage 106 can be removably attached to the wing 102. The removable attachment of the fuselage 106 can improve the quality and / or modularity of the UAV 100. For example, the electrical / mechanical components and / or subsystems of the fuselage 106 can be tested separately from the H-frame before being attached to the H-frame. Similarly, the printed circuit board (PCB) 118 can be tested separately from the boom bracket before being attached to the boom bracket, so that defective parts / subassemblies are removed before the UAV is completed. For example, before the fuselage 106 is installed on the H-frame, the components of the fuselage 106 (e.g., avionics, battery units, delivery units, additional battery compartments, etc.) can be electrically tested. In addition, the motors and electronic devices of the PCB 118 can also be electrically tested before final assembly. Typically, identifying defective parts and subassemblies early in the assembly process reduces the overall cost and delivery time of the UAV. In addition, different types / models of fuselages 106 can be attached to the H-frame, thus improving the modularity of the design. Such modularity allows these various parts of the UAV 100 to be upgraded without requiring a complete change in the manufacturing process.

[0053] In some embodiments, the wing shells and boom shells can be attached to the H-frame by adhesive elements (e.g., tape, double-sided tape, glue, etc.). Thus, multiple shells can be attached to the H-frame instead of having a monolithic body sprayed onto the H-frame. In some embodiments, the presence of the multiple shells reduces stress caused by the coefficient of thermal expansion of the structural frame of the UAV. As a result, the UAV can have better dimensional accuracy and / or improved reliability.

[0054] Furthermore, in at least some embodiments, the same H-frame can be used with wing shells and / or boom shells of different sizes and / or designs, thereby increasing the modularity and versatility of the UAV design. The wing shells and / or boom shells can be made of a relatively light polymer (e.g., closed-cell foam) covered by a harder but relatively thin plastic skin.

[0055] Power and / or control signals from the fuselage 106 can be routed to the PCB 118 via cables passing through the fuselage 106, the wings 102, and the boom 104. In the illustrated embodiment, the UAV 100 has four PCBs, but other numbers of PCBs are possible. For example, the UAV 100 may include two PCBs, one for each boom. The PCBs carry electronic components 119, which include, for example, power converters, controllers, memory, passive components, etc. In operation, the propulsion units 108 and 110 of the UAV 100 are electrically connected to the PCBs.

[0056] Many variations on the UAV shown are possible. For example, a fixed-wing UAV may include more or fewer rotor units (vertical or horizontal), and / or may utilize a ducted fan or multiple ducted fans for propulsion. In addition, UAVs with more wings (e.g., an "x-wing" configuration with four wings) are also possible. Although Figure 1 Two wings 102, two booms 104, two horizontal propulsion units 108, and six vertical propulsion units 110 per boom 104 are shown, but it should be understood that other variations of the UAV 100 may be implemented with more or fewer of these components. For example, the UAV 100 may include four wings 102, four booms 104, and more or fewer propulsion units (horizontal or vertical).

[0057] Many variations on the fixed-wing UAV shown are possible. For example, the fixed-wing UAV may include more or fewer propellers, and / or may utilize a ducted fan or multiple ducted fans for propulsion. In addition, UAVs with more wings (e.g., an "x-wing" configuration with four wings), with fewer wings, or even without wings are also possible.

[0058] It should be understood that references to "unmanned" aerial vehicles or UAVs herein can be equally applied to autonomous and semi-autonomous aerial vehicles. In autonomous embodiments, all functions of the aerial vehicle are automated; for example, pre-programmed or controlled by real-time computer functions that respond to inputs from various sensors and / or predetermined information. In semi-autonomous embodiments, some functions of the aerial vehicle may be controlled by a human operator, while other functions are automatically performed. In addition, in some embodiments, the UAV may be configured to allow a remote operator to take over functions that would otherwise be autonomously controlled by the UAV. In addition, a given type of function may be remotely controlled at one level of abstraction and autonomously performed at another level of abstraction. For example, a remote operator may control high-level navigation decisions of the UAV, such as by specifying that the UAV should travel from one location to another (e.g., from a warehouse in the suburbs to a delivery address in a nearby city), while the UAV's navigation system autonomously controls more sophisticated navigation decisions, such as a specific route taken between two locations, specific flight controls for achieving the route and avoiding obstacles while navigating the route, and the like.

[0059] More generally, it should be appreciated that the example UAVs described herein are not intended to be limiting. Example implementations may relate to, be implemented in, or take the form of any type of unmanned aerial vehicle.

[0060] III. Illustrative UAV Components

[0061] Figure 2 is a simplified block diagram showing components of UAV 200 according to an example embodiment. UAV 200 may be configured as Figure 1 The UAV 200 may be in the form of, or similar in form to, the UAV 100 described herein. However, the UAV 200 may also take other forms.

[0062] UAV 200 may include various types of sensors and may include a computing system configured to provide the functionality described herein. In the illustrated embodiment, the sensors of UAV 200 include an inertial measurement unit (IMU) 202, an ultrasonic sensor(s) 204, and a GPS 206, among other possible sensors and sensing systems.

[0063] In the illustrated embodiment, the UAV 200 also includes one or more processors 208. The processor 208 may be a general purpose processor or a special purpose processor (e.g., a digital signal processor, an application specific integrated circuit, etc.). The one or more processors 208 may be configured to execute computer readable program instructions 212 that are stored in the data memory 210 and executable to provide the functionality of the UAV described herein.

[0064] The data store 210 may include or take the form of one or more computer-readable storage media that can be read or accessed by the at least one processor 208. The one or more computer-readable storage media may include volatile and / or non-volatile storage components, such as optical, magnetic, organic or other memory or disk storage, which may be fully or partially integrated with at least one of the one or more processors 208. In some embodiments, the data store 210 may be implemented using a single physical device (e.g., one optical, magnetic, organic or other memory or disk storage unit), while in other embodiments, the data store 210 may be implemented using two or more physical devices.

[0065] As noted, the data storage 210 may include computer-readable program instructions 212 and possibly additional data, such as diagnostic data of the UAV 200. Thus, the data storage 210 may include program instructions 212 to perform or facilitate some or all of the UAV functions described herein. For example, in the illustrated embodiment, the program instructions 212 include a navigation module 214 and a tether control module 216.

[0066] A. Sensor

[0067] In an illustrative embodiment, the IMU 202 may include both an accelerometer and a gyroscope, which may be used together to determine the orientation of the UAV 200. Specifically, the accelerometer may measure the orientation of the vehicle relative to the earth, while the gyroscope measures the rate of rotation about an axis. The IMU is a low-cost, low-power package that can be purchased. For example, the IMU 202 may take the form of, or include, a miniaturized micro-electromechanical system (MEMS) or nano-electromechanical system (NEMS). Other types of IMUs may also be used.

[0068] In addition to accelerometers and gyroscopes, the IMU 202 may also include other sensors that can help better determine the position and / or help increase the autonomy of the UAV 200. Two examples of such sensors are magnetometers and pressure sensors. In some embodiments, the UAV may include a low-power digital 3-axis magnetometer that can be used to implement an orientation-independent electronic compass to obtain accurate heading information. However, other types of magnetometers may also be used. Other examples are also possible. In addition, note that the UAV may include some or all of the inertial sensors described above as components separate from the IMU.

[0069] UAV 200 may also include a pressure sensor or barometer, which may be used to determine the altitude of UAV 200. Optionally, other sensors (such as a sonic altimeter or a radar altimeter) may be used to provide an indication of altitude, which may help improve the accuracy of the IMU and / or prevent drift of the IMU.

[0070] On the other hand, UAV 200 may include one or more sensors that allow the UAV to sense objects in the environment. For example, in the illustrated embodiment, UAV 200 includes ultrasonic sensor(s) 204. Ultrasonic sensor(s) 204 can determine the distance to an object by generating sound waves and determining the time interval between the emission of the wave and the corresponding echo received from the object. Typical applications of ultrasonic sensors or IMUs for unmanned vehicles are low altitude control and obstacle avoidance. Ultrasonic sensors can also be used for vehicles that need to hover at a specific altitude or need to be able to detect obstacles. Other systems can be used to determine, sense the presence of nearby objects and / or determine the distance to nearby objects, such as light detection and ranging (LIDAR) systems, laser detection and ranging (LADAR) systems and / or infrared or forward-looking infrared (FLIR) systems, among other possibilities.

[0071] In some embodiments, the UAV 200 may also include one or more imaging systems. For example, the UAV 200 may utilize one or more static and / or video cameras to capture image data from the UAV's environment. As a specific example, a charge coupled device (CCD) camera or a complementary metal oxide semiconductor (CMOS) camera may be used with an unmanned vehicle. Such imaging sensor(s) have many possible applications, such as obstacle avoidance, positioning techniques, ground tracking for more accurate navigation (e.g., by applying optical flow techniques to images), video feedback, and / or image recognition and processing, among other possibilities.

[0072] The UAV 200 may also include a GPS receiver 206. The GPS receiver 206 may be configured to provide typical data of the well-known GPS system, such as the GPS coordinates of the UAV 200. The UAV 200 may utilize such GPS data for various functions. Thus, the UAV may use its GPS receiver 206 to help navigate to the location of the caller (as indicated at least in part by the GPS coordinates provided by the caller's mobile device). Other examples are also possible.

[0073] B. Navigation and Position Determination

[0074] The navigation module 214 may provide functionality that allows the UAV 200 to move within its environment and reach a desired location, for example. To this end, the navigation module 214 may control the altitude and / or direction of flight by controlling the mechanical features of the UAV that affect flight, such as its rudder(s), elevator(s), aileron(s), and / or the speed of its propeller(s).

[0075] In order to navigate the UAV 200 to the target location, the navigation module 214 can implement various navigation techniques, for example, such as map-based navigation and positioning-based navigation. For map-based navigation, the UAV 200 can be provided with a map of its environment, which can then be used to navigate to a specific location on the map. For positioning-based navigation, the UAV 200 can be able to navigate in an unknown environment using positioning. Navigation based on positioning can involve the UAV 200 building its own environmental map and calculating its position in the map and / or the position of objects in the environment. For example, when the UAV 200 moves throughout its environment, the UAV 200 can continuously use positioning to update its environmental map. The process of this continuous map construction can be referred to as real-time positioning and mapping (SLAM). Other navigation techniques can also be used.

[0076] In some embodiments, the navigation module 214 can use a technique that relies on waypoints to navigate. Specifically, a waypoint is a set of coordinates that identifies a point in physical space. For example, an air navigation waypoint can be defined by a specific latitude, longitude, and altitude. Therefore, the navigation module 214 can move the UAV 200 from one waypoint to another so as to finally travel to a final destination (e.g., the final waypoint in a series of waypoints).

[0077] In another aspect, the navigation module 214 and / or other components and systems of the UAV 200 may be configured to perform a "positioning" to more precisely navigate to a scenario of a target location. More specifically, in some cases it may be desirable for the UAV to be within a threshold distance of a target location to which the payload 228 is to be delivered by the UAV (e.g., within a few feet of the target destination). To this end, the UAV may use a two-tiered approach in which it uses a more general position determination technique to navigate to a general area associated with the target location, and then uses a more precise position determination technique to identify and / or navigate to the target location within the general area.

[0078] For example, the UAV 200 can use waypoints and / or map-based navigation to navigate to the approximate area of ​​the target destination where the payload 228 is delivered. The UAV can then switch to a mode that uses a process for positioning and travel to a more specific location. For example, if the UAV 200 is to deliver the payload to the user's residence, the UAV 200 will need to be substantially close to the target location to avoid delivering the payload to an undesirable area (e.g., onto a rooftop, into a swimming pool, onto a neighbor's property, etc.). However, a GPS signal may only allow the UAV 200 to this range (e.g., within a block of the user's residence). A more precise location determination technique can then be used to find the specific target location.

[0079] Once the UAV 200 has navigated to the approximate area of ​​the target delivery location, various types of position determination techniques may be used to complete the location of the target delivery location. For example, the UAV 200 may be equipped with one or more sensor systems, such as, for example, ultrasonic sensors 204, infrared sensors (not shown), and / or other sensors that may provide input used by the navigation module 214 to autonomously or semi-autonomously navigate to a particular target location.

[0080] As another example, once the UAV 200 reaches the approximate area of ​​a target delivery location (or a mobile object such as a person or their mobile device), the UAV 200 may switch to a "fly-by-wire" mode in which it is at least partially controlled by a remote operator who may navigate the UAV 200 to the specific target location. To this end, sensory data from the UAV 200 may be sent to the remote operator to assist them in navigating the UAV 200 to the specific location.

[0081] As another example, the UAV 200 may include a module capable of signaling passersby to assist in reaching a particular target delivery location; for example, the UAV 200 may display a visual message in a graphical display requesting such assistance, play an audio message or tone through a speaker to indicate that such assistance is needed, among other possibilities. Such a visual or audio message may indicate that assistance is needed in delivering the UAV 200 to a particular person or a particular location, and may provide information to assist passersby in delivering the UAV 200 to the person or location (e.g., a description or picture of the person or location, and / or the name of the person or location), among other possibilities. Such a feature may be useful in situations where the UAV is unable to use sensing capabilities or other location determination techniques to reach a particular target location. However, such a feature is not limited to such scenarios.

[0082] In some embodiments, once UAV 200 arrives at the approximate area of ​​the target delivery location, UAV 200 can use a radio signal from a user's remote device (e.g., a user's mobile phone) to locate the person. Such radio signals can take various forms. As an example, consider a scenario in which a remote device (e.g., a mobile phone of a person requesting UAV delivery) is able to send a directional signal (e.g., via an RF signal, an optical signal, and / or an audio signal). In this scenario, UAV 200 can be configured to navigate by "tracing back" such a directional signal—in other words, by determining where the signal is strongest and navigating accordingly. As another example, a mobile device can transmit a frequency within or outside the human range, and UAV 200 can listen to the frequency and navigate accordingly. As a related example, if UAV 200 is listening for a verbal command, UAV 200 can use a verbal statement such as "I'm here!" to trace back to the specific location of the person requesting delivery of the payload.

[0083] In an optional arrangement, a navigation module may be implemented at a remote computing device that is in wireless communication with the UAV 200. The remote computing device may receive data indicating the operational status of the UAV 200, sensor data from the UAV 200, which allows the remote computing device to assess the environmental conditions to which the UAV 200 is being subjected and / or the location information of the UAV 200. Provided with such information, the remote computing device may determine the altitude and / or directional adjustments that the UAV 200 should make, and / or may determine how the UAV 200 should adjust its mechanical characteristics (e.g., the speed of its rudder(s), elevator(s), aileron(s), and / or its propeller(s)) in order to achieve such movement. The remote computing system may then communicate such adjustments to the UAV 200 so that the UAV 200 is able to move in a determined manner.

[0084] C. Communication system

[0085] In another aspect, the UAV 200 includes one or more communication systems 218. The communication system 218 may include one or more wireless interfaces and / or one or more wired interfaces that allow the UAV 200 to communicate via one or more networks. Such wireless interfaces may provide for communication under one or more wireless communication protocols such as Bluetooth, WiFi (e.g., IEEE 802.11 protocol), Long Term Evolution (LTE), WiMAX (e.g., IEEE 802.16 standard), Radio Frequency ID (RFID) protocol, Near Field Communication (NFC), and / or other wireless communication protocols. Such wired interfaces may include Ethernet interfaces, Universal Serial Bus (USB) interfaces, or similar interfaces to communicate with a wired network via wires, twisted pairs, coaxial cables, optical links, fiber optic links, or other physical connections.

[0086] In some embodiments, UAV 200 may include a communication system 218 that allows for both short-range and long-range communications. For example, UAV 200 may be configured for short-range communications using Bluetooth and for long-range communications under a CDMA protocol. In such embodiments, UAV 200 may be configured to act as a "hotspot," or in other words, as a gateway or proxy between a remote support device and one or more data networks, such as a cellular network and / or the Internet. So configured, UAV 200 may facilitate data communications that the remote support device would otherwise not be able to perform on its own.

[0087] For example, UAV 200 can provide a WiFi connection to a remote device and act as a proxy or gateway to a cellular service provider's data network, to which the UAV can connect under, for example, LTE or 3G protocols. UAV 200 can also act as a proxy or gateway to high altitude balloon networks, satellite networks, or a combination of these networks, etc., which the remote device may not otherwise have access to.

[0088] D. Power system

[0089] In another aspect, the UAV 200 may include a power system(s) 220. The power system 220 may include one or more batteries for providing power to the UAV 200. In one example, the one or more batteries may be rechargeable, and each battery may be recharged via a wired connection between the battery and a power source and / or via a wireless charging system (such as an inductive charging system that applies an external time-varying magnetic field to an internal battery).

[0090] E. Delivery of cargo

[0091] The UAV 200 may employ various systems and configurations for transporting and delivering a payload 228. In some embodiments, the payload 228 of a given UAV 200 may include or take the form of a "package" designed to transport various goods to a target delivery location. For example, the UAV 200 may include a cabin in which an item or items may be transported. Such a package may be one or more foods, purchased goods, medical items, or any other object(s) of a size and weight suitable for transport between two locations by a UAV. In other embodiments, the payload 228 may be only one or more items being delivered (e.g., without any packages containing items).

[0092] In some embodiments, payload 228 may be attached to and substantially external to the UAV during some or all of the UAV's flight. For example, a package may be tethered or otherwise releasably attached beneath the UAV during flight to a target location. In embodiments where a package carries cargo beneath the UAV, the package may include various features that protect its contents from the environment, reduce aerodynamic drag on the system, and prevent the contents of the package from moving during flight of the UAV.

[0093] For example, when the payload 228 takes the form of a package for transporting items, the package may include a shell made of waterproof cardboard, plastic, or any other lightweight and waterproof material. In addition, in order to reduce drag, the package may be characterized by a smooth surface having a tapered front portion that reduces the front cross-sectional area. In addition, the sides of the package may be gradually narrowed from a wide bottom to a narrow top, which allows the package to be used as a narrow pylon that reduces the interference effect on the wing(s) of the UAV. This can keep some of the front area and volume of the package away from the wing(s) of the UAV, thereby preventing the reduction of lift on the wing(s) caused by the package. In addition, in some embodiments, the shell of the package may be made of a single piece of material to reduce air gaps or additional materials, both of which increase the drag on the system. Additionally or optionally, the package may include a stabilizer to suppress the vibration of the package. This reduction in vibration can allow the package to have a less rigid connection with the UAV and can make the contents of the package move less during flight.

[0094] To deliver the payload, the UAV may include a winch system 221 controlled by the tether control module 216 to lower the payload 228 to the ground while the UAV is hovering above. Figure 2 As shown, winch system 221 may include tether 224, which may be coupled to a vehicle 228 via a vehicle coupling device 226. Tether 224 may be wound around a reel of a motor 222 coupled to the UAV. Motor 222 may take the form of a DC motor (e.g., a servo motor) that may be actively controlled by a speed controller. Tether control module 216 may control the speed controller to rotate the reel so that tether 224 is unwound or retracted and the vehicle coupling device 226 is lowered or raised. In practice, the speed controller may output a desired operating rate (e.g., desired RPM) for the reel, which may correspond to the speed at which tether 224 and vehicle 228 should be lowered toward the ground. Then, motor 222 may rotate the reel so that it maintains a desired operating rate.

[0095] In order to control the motor 222 via the speed controller, the tether control module 216 can receive data from a speed sensor (e.g., an encoder) that is configured to convert a mechanical position into a representative analog or digital signal. Specifically, the speed sensor can include a rotary encoder that can provide information related to the rotational position (and / or rotational motion) of the shaft of the motor or the reel that is connected to the motor, among other possibilities. In addition, the speed sensor can take the form of an absolute encoder and / or an incremental encoder, among other things. So in an example embodiment, when the motor 222 causes the rotation of the reel, the rotary encoder can be used to measure this rotation. When doing so, the rotary encoder can be used to convert the rotational position into an analog or digital electronic signal used by the tether control module 216 to determine the rotation amount of the reel from a fixed reference angle and / or convert the rotational position into an analog or digital electronic signal representing a new rotational position, among other options. Other examples are also possible.

[0096] Based on the data from the speed sensor, the tether control module 216 can determine the rotational speed of the motor 222 and / or the reel, and responsively control the motor 222 (e.g., by increasing or decreasing the current supplied to the motor 222) to match the rotational speed of the motor 222 with the desired speed. When adjusting the motor current, the magnitude of the current adjustment can be calculated based on a proportional-integral-derivative (PID) using the determined speed and the desired speed of the motor 222. For example, the magnitude of the current adjustment can be based on the current difference, past differences (based on accumulated errors over time), and future differences (based on the current rate of change) between the determined speed and the desired speed of the reel.

[0097] In some embodiments, the tether control module 216 can change the rate at which the tether 224 and the payload 228 are lowered to the ground. For example, the speed controller can change the desired operating rate according to a variable deployment rate profile and / or in response to other factors to change the rate at which the payload 228 descends toward the ground. To this end, the tether control module 216 can adjust the amount of braking or friction applied to the tether 224. For example, in order to change the deployment rate of the tether, the UAV 200 may include a friction pad that can apply a variable amount of pressure to the tether 224. As another example, the UAV 200 may include an electric braking system that changes the rate at which the reel releases the tether 224. Such a braking system can take the form of an electromechanical system in which the motor 222 operates to slow down the speed of the reel releasing the tether 224. In addition, the motor 222 can change the amount of its speed (e.g., RPM) of the regulating reel, and therefore the deployment rate of the tether 224 can be changed. Other examples are also possible.

[0098] In some embodiments, the tether control module 216 can be configured to limit the motor current supplied to the motor 222 to a maximum value. With such a limit placed on the motor current, there may be situations where the motor 222 cannot operate at the desired operation specified by the speed controller. For example, as discussed in more detail below, there may be situations where the speed controller specifies a desired operating rate at which the motor 222 should retract the tether 224 toward the UAV 200, but the motor current may be limited such that a sufficiently large downward force on the tether 224 will counteract the retraction force of the motor 222 and instead unwind the tether 224. As discussed further below, the limit on the motor current may be applied and / or modified depending on the operating state of the UAV 200.

[0099] In some embodiments, the tether control module 216 can be configured to determine the state of the tether 224 and / or the payload 228 based on the amount of current supplied to the motor 222. For example, if a downward force is applied to the tether 224 (e.g., if the payload 228 is attached to the tether 224, or if the tether 224 is hooked on an object when being retrieved toward the UAV 200), the tether control module 216 may need to increase the motor current in order to match the determined rotational speed of the motor 222 and / or the reel with the desired speed. Similarly, when the downward force is removed from the tether 224 (e.g., when the payload 228 is delivered or the tether is unhooked), the tether control module 216 may need to reduce the motor current in order to match the determined rotational speed of the motor 222 and / or the reel with the desired speed. In this way, the tether control module 216 can be configured to monitor the current supplied to the motor 222. For example, the tether control module 215 can determine the motor current based on sensor data received from a current sensor of the motor or a current sensor of the power system 220. In any case, based on the current supplied to the motor 222, it is determined whether the vehicle 228 is attached to the tether 224, whether someone or something is pulling on the tether 224, and / or whether the vehicle coupling device 226 is against the UAV 200 after the tether 224 is retracted. Other examples are also possible.

[0100] During the delivery of the payload 228, the payload coupling device 226 can be configured to secure the payload 228 while being lowered from the UAV via the tether 224, and can also be configured to release the payload 228 when reaching ground level. The payload coupling device 226 can then be retrieved to the UAV by reeling in the tether 224 using the motor 222.

[0101] In some embodiments, once the carrier 228 is lowered to the ground, it can be released passively. For example, the passive release mechanism can include one or more swing arms, which are suitable for retracting into the housing and extending from the housing. The extended swing arm can form a hook on which the carrier 228 can be attached. When the release mechanism and the carrier 228 are lowered to the ground via the tether, gravity and the downward inertial force of the release mechanism can cause the carrier 228 to be disengaged from the hook, which allows the release mechanism to rise upward toward the UAV. The release mechanism can also include a spring mechanism, which biases the swing arm to retract into the housing when there is no other external force on the swing arm. For example, a spring can apply a force that pushes the swing arm toward the housing or pulls the swing arm toward the housing, so that once the weight of the carrier 228 no longer forces the swing arm to extend from the housing, the swing arm retracts into the housing. Retracting the swing arm into the housing can reduce the possibility of the release mechanism hooking the carrier 228 or other nearby objects when the release mechanism is raised toward the UAV when the carrier 228 is delivered.

[0102] Active payload release mechanisms are also possible. For example, sensors such as altimeters and / or accelerometers based on atmospheric pressure can help detect the position of the release mechanism (and payload) relative to the ground. Data from the sensors can be transmitted back to the UAV and / or control system via a wireless link and used to help determine when the release mechanism reaches the ground (e.g., by detecting measurements with an accelerometer characterized by ground impact). In other examples, the UAV can determine that the payload has reached the ground based on a weight sensor detecting a low-threshold downward force on the tether and / or based on a low-threshold measurement of the power drawn by the winch when lowering the payload.

[0103] In addition to or in lieu of a tethered delivery system, other systems and techniques for delivering a payload are possible. For example, the UAV 200 may include an airbag drop system or a parachute drop system. Alternatively, the UAV 200 carrying the payload may simply land on the ground at the delivery location. Other examples are possible.

[0104] IV. Illustrative UAV Deployment System

[0105] UAV systems may be implemented to provide a variety of UAV-related services. Specifically, UAVs may be provided at many different launch sites that may communicate with a regional control system and / or a central control system. Such a distributed UAV system may allow UAVs to be rapidly deployed to provide services across a large geographic area (e.g., much larger than the flight range of any single UAV). For example, UAVs capable of carrying payloads may be distributed across a large geographic area (possibly even throughout a country, or even the world) at many launch sites to provide on-demand transportation of various items to locations within the entire geographic area. Figure 3is a simplified block diagram illustrating a distributed UAV system 300 according to an example implementation.

[0106] In the illustrative UAV system 300, the access system 302 may allow for interaction with, control of, and / or use of the network of UAV 304. In some implementations, the access system 302 may be a computing system that allows for human-controlled dispatch of the UAV 304. As such, the control system may include or otherwise provide a user interface through which a user may access and / or control the UAV 304.

[0107] In some embodiments, the dispatching of UAVs 304 may additionally or alternatively be accomplished via one or more automated processes. For example, the access system 302 may dispatch one of the UAVs 304 to transport a payload to a target location, and the UAV may autonomously navigate to the target location using various onboard sensors (such as a GPS receiver and / or other various navigation sensors).

[0108] In addition, the access system 302 can provide remote operation of the UAV. For example, the access system 302 can allow an operator to control the flight of the UAV via its user interface. As a specific example, the operator can use the access system 302 to dispatch the UAV 304 to a target location. Then, the UAV 304 can autonomously navigate to the approximate area of ​​the target location. At this time, the operator can use the access system 302 to control the UAV 304 and navigate the UAV to the target location (e.g., to a specific person to whom a payload is being transported). Other examples of remote operation of the UAV are also possible.

[0109] In one illustrative embodiment, UAVs 304 may take various forms. For example, each UAV 304 may be a Figure 1 304. However, without departing from the scope of the present invention, UAV system 300 may also use other types of UAVs. In some implementations, all of UAVs 304 may be configured the same or similarly. However, in other embodiments, UAV 304 may include many different types of UAVs. For example, UAV 304 may include many types of UAVs, each type of UAV being configured for a different type or multiple different types of payload delivery capabilities.

[0110] The UAV system 300 may also include a remote device 306, which may take various forms. In general, the remote device 306 may be any device through which a direct or indirect request to dispatch a UAV may be issued. (Note that an indirect request may involve any communication that can be responded to by dispatching a UAV, such as requesting a package to be delivered). In an example embodiment, the remote device 306 may be a mobile phone, a tablet computer, a laptop computer, a personal computer, or any network-connected computing device. In addition, in some cases, the remote device 306 may not be a computing device. As an example, a standard telephone that allows communication via plain old telephone service (POTS) may be used as the remote device 306. Other types of remote devices are also possible.

[0111] Additionally, the remote device 306 may be configured to communicate with the access system 302 via one or more types of communication networks 308. For example, the remote device 306 may communicate with the access system 302 (or a human operator of the access system 302) by communicating over a POTS network, a cellular network, and / or a data network such as the Internet. Other types of networks may also be used.

[0112] In some embodiments, the remote device 306 can be configured to allow a user to request that one or more items be delivered to a desired location. For example, a user can request that UVA deliver a package to their residence via their mobile phone, tablet, or laptop. As another example, a user can request dynamic delivery to their location at the time of delivery. In order to provide such dynamic delivery, the UAV system 300 can receive location information (e.g., GPS coordinates, etc.) from the user's mobile phone or any other device on the user's person so that the UAV can navigate to the user's location (as indicated by their mobile phone).

[0113] In one illustrative arrangement, the central dispatch system 310 can be a server or group of servers that is configured to receive dispatch message requests and / or dispatch instructions from the access system 302. Such dispatch messages can request or instruct the central dispatch system 310 to coordinate the deployment of UAVs to various target locations. The central dispatch system 310 can also be configured to send such requests or instructions to one or more local dispatch systems 312. To provide such functionality, the central dispatch system 310 can communicate with the access system 302 via a data network (such as the Internet or a dedicated network established for communication between the access system and the automatic dispatch system).

[0114] In the illustrated configuration, the central dispatch system 310 may be configured to coordinate the dispatch of UAVs 304 from a number of different local dispatch systems 312. In this way, the central dispatch system 310 may track which UAVs 304 are located at which local dispatch systems 312, which UAVs 304 are currently available for deployment, and / or which services or operations each UAV 304 is configured for (in the case where the UAV fleet includes multiple types of UAVs configured for different services and / or operations). Additionally or alternatively, each local dispatch system 312 may be configured to track which of its associated UAVs 304 are currently available for deployment and / or are currently in the process of transporting items.

[0115] In some cases, when the central dispatch system 310 receives a request for a UAV-related service (e.g., transportation of an item) from the access system 302, the central dispatch system 310 may select a specific UAV 304 to dispatch. The central dispatch system 310 may accordingly instruct the local dispatch system 312 associated with the selected UAV to dispatch the selected UAV. The local dispatch system 312 may then operate its associated deployment system 314 to launch the selected UAV. In other cases, the central dispatch system 310 may forward the request for a UAV-related service to a local dispatch system 312 near the location requesting support, and leave the selection of a specific UAV 304 to the local dispatch system 312.

[0116] In an example configuration, the local dispatch system 312 may be implemented as a computing system at the same location as the deployed system(s) 314 that it controls. For example, the local dispatch system 312 may be implemented by a computing system installed at a building, such as a warehouse, where the deployed system(s) 314 and UAV(s) 304 associated with a particular local dispatch system 312 are also located. In other embodiments, the local dispatch system 312 may be implemented at a location remote from its associated deployed system(s) 314 and UAV(s) 304.

[0117] A number of variations and alternatives to the illustrated configuration of the UAV system 300 are possible. For example, in some embodiments, a user of the remote device 306 can request delivery of a package directly from the central dispatch system 310. To this end, an application can be implemented on the remote device 306 that allows the user to provide information about the requested delivery and generates and sends a data message to request the UAV system 300 to provide the delivery. In such embodiments, the central dispatch system 310 may include automated functionality to process requests generated by such an application, evaluate such requests, and coordinate with the appropriate local dispatch system 312 to deploy the UAV if appropriate.

[0118] In addition, some or all of the functionality attributed herein to the central dispatch system 310, the local dispatch system(s) 312, the access system 302 and / or the deployment system(s) 314 may be combined in a single system implemented as a more complex system and / or reallocated among the central dispatch system 310, the local dispatch system(s) 312, the access system 302 and / or the deployment system(s) 314 in various ways.

[0119] Furthermore, although each local dispatch system 312 is shown as having two associated deployment systems 314, a given local dispatch system 312 may alternatively have more or fewer associated deployment systems 314. Similarly, although the central dispatch system 310 is shown as communicating with two local dispatch systems 312, the central dispatch system 310 may alternatively communicate with more or fewer local dispatch systems 312.

[0120] In another aspect, the deployment system 314 can take a variety of forms. In general, the deployment system 314 can take the form of, or include, a system for physically launching one or more of the UAVs 304. Such a launch system can include features that provide for automated UAV launches and / or features that allow for human-assisted UAV launches. Furthermore, the deployment systems 314 can each be configured to launch a specific UAV 304, or to launch multiple UAVs 304.

[0121] The deployment system 314 can also be configured to provide additional functionality, including, for example, diagnostic-related functionality (such as verifying the functionality of the UAV's systems, verifying the functionality of a device contained within the UAV (e.g., a payload delivery device)) and / or maintaining a device or other item contained within the UAV (e.g., by monitoring the status of the payload, such as its temperature, weight, etc.).

[0122] In some embodiments, the deployment systems 314 and their corresponding UAVs 304 (and possibly associated local dispatch systems 312) can be strategically distributed throughout an area (such as a city). For example, the deployment systems 314 can be strategically distributed so that each deployment system 314 is close to one or more transport pickup locations (e.g., near a restaurant, store, or warehouse). However, depending on the specific implementation, the deployment systems 314 (and possibly the local dispatch systems 312) can be distributed in other ways. As another example, kiosks that allow users to transport packages via UAVs can be installed at various locations. Such kiosks can include UAV launch systems and can allow users to provide their packages to be loaded onto the UAV and pay for the UAV delivery service, among other possibilities. Other examples are also possible.

[0123] On the other hand, the UAV system 300 may include or have access to a user account database 316. The user account database 316 may include data for many user accounts, and each user account is associated with one or more individuals. For a given user account, the user account database 316 may include data related to or useful in providing services related to the UAV. Typically, the user data associated with each user account is optionally provided by the associated user and / or collected with the permission of the associated user.

[0124] Furthermore, in some embodiments, if a person wishes to provide UAV-related services via a UAV 304 from the UAV system 300, they may be required to register a user account with the UAV system 300. As such, the user account database 316 may include authorization information (e.g., a username and password) for a given user account and / or other information that may be used to authorize access to a user account.

[0125] In some embodiments, people can associate one or more of their devices with their user accounts so that they can access the services of the UAV system 300. For example, when a person uses an associated mobile phone (e.g., to call an operator of the access system 302 or to send a message to a dispatch system requesting services related to the UAV), the phone can be identified via a unique device identification number, and the call or message can then be attributed to the associated user account. Other examples are also possible.

[0126] V. Example Systems and Apparatus for Cargo Retrieval and Delivery

[0127] The UAV may include various types of payload delivery systems for lowering the payload to a target delivery location. In some cases, the payload may be coupled to a payload retriever attached to one end of a tether, and the UAV may lower the payload to the ground by lowering the tether. After the payload reaches the ground, the payload retriever may automatically disengage from the payload's handle, and the tether and payload retriever may be retracted into the UAV and flown to another payload retrieval location.

[0128] In addition, a payload retriever can be advantageously used during automatic retrieval of a payload. Specifically, in the proposed embodiment, the UAV can position itself above a payload retrieval device, which comprises a structure having an outwardly facing portion, the outwardly facing portion having one or more magnets located thereon, the magnets being adapted to magnetically engage with a payload retriever attached to a tether suspended from the UAV. The payload retriever is lowered until one or more magnets or metals on the payload retriever become magnetically engaged with magnets located on or within the outwardly facing portion of the structure, the payload retriever comprising a slot and a hook or flange located below the slot. A payload support member is provided, on which a payload can be placed. The payload support member and the payload thereon move toward the payload retriever until the handle of the payload moves into the slot of the payload retriever and the hook or flange of the payload retriever extends through the hole in the handle of the payload. Once the payload's handle is secured to the payload retriever, the UAV can winch the payload retriever upward toward the UAV, thereby breaking the magnetic engagement with the outwardly facing portion of the structure, and the payload retriever and payload are suspended below the UAV. The payload can then be winched upward to engage the UAV, and the UAV can then fly away to deliver the payload at the payload delivery location.

[0129] Figure 4A A perspective view of a payload retrieval and delivery device 500 including a payload 510 is shown according to an example embodiment. The payload retrieval and delivery device 500 is located within the fuselage of a UAV (not shown) and includes a winch 514 powered by a motor 512 and a tether 502 wound around the winch 514. The tether 502 is attached to a payload retriever 800 located within a payload retriever container 516, which is located within the fuselage of the UAV (not shown). The payload 510 is secured to the payload retriever 800. In this embodiment, the top 517 of the payload 510 is secured within the fuselage of the UAV. A locking pin 570 is shown extending through a handle 511 attached to the payload 510 to securely secure the payload under the UAV during high-speed flight.

[0130] Figure 4B yes Figure 4A A side cutaway view of a payload retrieval and delivery apparatus 500 and payload 510 is shown. In this view, the payload retriever 800 is shown positioned closely with the payload retriever container 516. The tether 502 extends from the winch 514 and is attached to the top of the payload retriever 800. The top 517 of the payload 510 is shown positioned within the fuselage of the UAV (not shown) along with the handle 511.

[0131] Figure 5A800 according to an example embodiment. The payload retriever 800 includes a tether mounting point 802 and a slot 808 for positioning a handle of a payload therein. A lower flange or hook 806 is located below the slot 808. Also included is an external protrusion 804 having helical cam surfaces 804a and 804b adapted to mate with corresponding cam mating surfaces within a payload retriever receptacle positioned within the fuselage of the UAV.

[0132] Figure 5B yes Figure 5A 806. As shown, the lower flange or hook 806 has an outer surface 806a that is undercut so that it does not extend outward as far as the outer surface 805 above the slot 808, so that the lower flange or hook 806 will not re-engage with the handle of the payload after the payload has been disengaged, or will not engage with power lines or tree branches during retrieval to the UAV. In this embodiment, the payload retriever 800 includes a plurality of magnets 830 on its rear surface, which are suitable for engaging one or more magnets or metals located on the payload retrieval device (described below). Alternatively or in addition, the payload retriever 800 may include a metal strip that is suitable for magnetically engaging one or more magnets located on the payload retrieval device.

[0133] Figure 5C yes Figure 5A and Figure 5B A front view of a payload retriever 800 is shown. A lower flange or hook 806 is shown positioned below a slot 808 adapted to secure a handle to a payload.

[0134] Figure 6 Prior to insertion into the payload retriever container 516 located in the fuselage 550 of the UAV Figure 5A-5C800 is shown in a perspective view. As previously described, the payload retriever 800 includes a slot 808 located above the lower flange or hook 806, which is adapted to receive a handle of a payload. The body 550 of the payload retrieval and delivery device 500 includes a payload retriever container 516 located within the body 550 of the UAV. The payload retriever 800 includes an external protrusion 810 having helical cam surfaces 810a and 810b that intersect at a rounded vertex. The helical cam surfaces 810a and 810b are adapted to cooperate with the surfaces 530a and 530b of the inward protrusion 530, which is located within the payload retriever container 516 within the body 550 of the UAV. Also included is a longitudinal recessed restraining slot 540 located within the fuselage 550 of the UAV, which is adapted to receive and restrain the top of a payload (not shown). When the payload retriever 800 is pulled into the payload retriever receptacle 516, the cam surfaces 810a and 810b of the external protrusion 810 engage with the cam surfaces 530a and 530b within the payload retriever 516, and the payload retriever 800 is rotated into the desired alignment within the fuselage 550 of the UAV.

[0135] Figure 7 Prior to insertion into the payload retriever container 516 located in the fuselage 550 of the UAV Figure 5A-5C Another perspective view of the opposite side of the payload retriever 800 is shown. As shown, the payload retriever 800 includes a lower flange or hook 806. An external protrusion 804 is shown extending outwardly from the payload retriever having helical cam surfaces 804a and 804b adapted to engage and cooperate with cam surfaces 530a and 530b of an internal protrusion 530 located within the payload retriever receptacle 516 within the body 550 of the payload retrieval and delivery device 500. It should be noted that the cam surfaces 804a and 804b intersect at a sharp apex that meets the apex of the payload retriever 800. Figure 6The rounded or blunted apexes of the cam surfaces 810a and 810b are shown to be asymmetrical. In this manner, the rounded or blunted apexes of the cam surfaces 810a and 810b prevent possible jamming of the payload retriever 800 when the cam surfaces engage the cam surfaces 530a and 530b within the payload retriever receptacle 516 located within the fuselage 550 of the UAV. Specifically, the cam surfaces 804a and 804b are positioned slightly higher than the rounded or blunted apexes of the cam surfaces 810a and 810b. As a result, the more pointed ends of the cam surfaces 804a and 804b engage with the cam surfaces 530a and 530b within the payload retriever receptacle 516 located within the body 550 of the payload retrieval and delivery apparatus 500, thereby initiating rotation of the payload retriever 800 slightly before the rounded or blunted apexes of the cam surfaces 810a and 810b engage with corresponding cam surfaces within the payload retriever receptacle 516. In this manner, a situation is prevented where both apexes (or ends) of the cam surfaces on the payload retriever apparatus end up on the same side of a receiving cam within the payload retriever receptacle. Such a scenario results in preventing the payload retriever from becoming stuck within the receptacle.

[0136] In addition, a plurality of magnets 830 are shown as being located on the rear side of the payload retriever 800, which is opposite to the side where the hook or flange 806 and the slot 808 are located. The plurality of magnets 830 are adapted to magnetically engage the payload retriever 800 to one or more magnets or metals located on a payload retrieval device (described below). As described above, alternatively or additionally, the payload retriever 800 may include a metal strip adapted to magnetically engage with one or more magnets located on the payload retrieval device. When the plurality of magnets 830 located on the rear side of the payload retriever 800 are magnetically engaged with the payload retrieval device, the hook or flange 806 and the slot 808 of the payload retriever 800 face outward and in position to receive the handle of the payload in the slot 808 and the hook or flange 806 extends through the hole in the handle of the payload to achieve retrieval of the payload.

[0137] Figure 8 A perspective view of a recessed restraining slot 540 and a payload retrieval container 516 located in a fuselage 550 of a UAV is shown. Specifically, the payload retrieval and delivery device 500 includes a fuselage 550 having a payload retrieval container 516 therein, the payload retrieval container 516 including an inward protrusion 530 having cam surfaces 530a and 530b adapted to mate with corresponding cam surfaces on a payload retrieval device (not shown). A longitudinally extending recessed restraining slot 540 is also included, and the top of the payload is adapted to be positioned and secured in the recessed restraining slot 540 within the fuselage 550.

[0138] Fig. 9is a side view of a handle 511 of a payload 510. The handle 511 includes an aperture 513 through which a payload retriever 800 (in Figure 5A-Figure 7 A hook or flange 806 (shown in FIG. 1 ) extends through the hole 513 to suspend the payload during delivery or during retrieval. The handle 511 includes a lower portion 515 that is secured to the top of the payload. It also includes holes 524 and 526 that are adapted to receive locking pins located within the fuselage of the UAV, wherein the locking pins can be extended to further secure the handle and payload in a fixed position during high-speed forward flight to the delivery location. The handle 511 can be constructed of a thin, flexible plastic material that is flexible and provides sufficient strength to suspend the payload below the UAV during forward flight to the delivery location and during delivery and / or retrieval of the payload. In practice, the handle can be bent or flexed to secure the handle 511 within the slot 808 of the payload retriever 800. The handle 511 also has sufficient strength to withstand rotation of the payload retriever into the desired orientation within the payload container and rotation of the top of the payload into the recessed restraining slot 540 ( Figure 8 The torque during the position within ).

[0139] Figures 10A-10J A series of steps are shown for automatically retrieving and delivering a payload. Fig. 10A is a perspective view of a payload retriever 800 attached to a tether 900 being lowered from a payload retriever receptacle 516 within a recessed restraining slot 540 of a body 550 of a payload retrieval and delivery apparatus 500 of a UAV. Although not shown, the payload retriever 800 is being lowered toward a payload retrieval apparatus located at a payload retrieval site.

[0140] Fig. 10B is a perspective view of the UAV 100 lowering the payload retriever 800 attached to the tether 900 onto the payload retrieval apparatus 950. The payload retriever 800 includes a plurality of magnets 830 adapted to magnetically engage with a plurality of magnets 930 located on a generally vertical outward facing portion 952 of the payload retrieval apparatus 950. As used herein, the term "generally vertical" means + / - 30 degrees from vertical.

[0141] The payload retrieval device 950 includes a payload support member 970 that is movable toward a cavity 960 within the payload retrieval device 950 using a cylinder 980 having a piston rod 982. Any number of other means may be used to move the payload support member 970, such as a gear, rack and pinion, pulleys, linear actuators, motors, etc.

[0142] The payload support member 970 may be positioned on guide rails 990 to guide the payload support member 970 in proper alignment. A payload 510 is shown positioned on the payload support member 970. The payload 510 includes an upwardly extending handle 511 having an aperture 513.

[0143] In addition, the payload support member 970 may include upwardly angled walls 970a and 970b for properly positioning the payload 510 on the upper surface 970c of the payload support member 970. Specifically, the upwardly angled walls 970a and 970b may be aligned with the angled lower surface 510a (e.g., Fig.10F and Figure 10G The cooperation of the upwardly angled walls 970a and 970b with the angled lower surface 510a of the payload 510 ensures that the bottom of the payload 510 is laterally positioned in a desired position on the upper surface 970c of the payload support member 970. In addition, the upper wall 970d is positioned on the payload support member 970 to ensure that the payload 510 is longitudinally positioned in a desired position on the upper surface 970c of the payload support member 970. Specifically, the payload 510 can abut the upper wall 970d so that the payload 510 is longitudinally positioned on the upper surface 970c and is ready for the handle 511 of the payload 510 to be moved into engagement with the payload retriever 800.

[0144] Fig. 10C is a perspective view of a payload retriever 800 attached to a tether 900 suspended from a UAV 100. Fig. 10C , the payload retriever 800 is shown as having been rotated so that the payload retriever 800 is magnetically engaged with the payload retrieval device 950 and the hook or flange 806 and slot 808 of the payload retriever 800 are facing the handle 511 of the payload 510. Fig. 10C , the piston rod 982 of the cylinder 980 has begun to move the payload support member 970 (on which the payload 510 is placed) towards the cavity 960 of the payload retrieval device 950.

[0145] Fig. 10Dis a perspective view of a payload retriever 800 magnetically engaged with a payload retrieval device 950, wherein a payload support member 970 has been moved toward and partially into a cavity 960 of the payload retrieval device 950, and a payload 510 has also been partially moved into the cavity 960 of the payload retrieval device 950. The handle 511 of the payload 510 has been moved to a position within the payload retriever 800 such that a hook or flange 806 of the payload retriever 800 extends through an aperture 513 of the handle 511 of the payload 510 to secure the payload 510 to the payload retriever 800. As described above, the handle 511 is made of a flexible material so that the handle 511 flexes when it enters the slot 808 of the payload retriever 800 to facilitate positioning of the hook or flange 806 of the payload retriever 800 through the hole 513 of the handle 511 of the payload 510 .

[0146] Fig. 10E is a perspective view of a payload retriever 800 attached to a tether 900 being winched upward toward the UAV 100. Fig. 10E , the upward twisting of the payload retriever 800 (and the payload 510 secured thereto by the handle 511) toward the UAV 100 has caused the magnetic engagement between the payload retriever 800 and the magnets located on the payload retrieval device 950 to break. Fig.10F As shown, the hook or flange 806 of the payload retriever 800 extends through the hole 513 in the handle 511 of the payload 510 to secure the handle 511 within the slot 808 of the payload retriever 800 so that the payload 510 is secured to and suspended from the payload retriever 800. The payload retriever 800 and payload 510 are winched upward toward the payload retriever receptacle 516 and the recessed restraining slot 540 in the UAV.

[0147] Figure 10G 5 is a perspective view of a payload 510 that has been rotated to a position where the top end of the payload 510 is located within a recessed restraining slot of the UAV. With the payload 510 secured within the fuselage 550 of the UAV, the UAV can travel to a delivery location with the payload secured for flight.

[0148] Fig. 10H900 is a perspective view of a payload 510 suspended from a payload retriever 800 and tether 900 being lowered into a payload support member 970. As the payload 510 is lowered into the payload support member 970, the hook or flange 806 of the payload retriever 800 remains extended through the hole 513 in the handle 511 of the payload 510. In addition, the payload support member 970 advantageously includes an inclined chute 975 for guiding the payload 510 to a desired position on the upper surface 970c of the payload support member 970. The inclined chute 975 includes angled walls 975a and 975b adapted to engage the angled lower surface 510a (at Fig.10F and Figure 10G ) to properly position the payload 510 to a desired position on the upper surface 970c of the payload support member 970.

[0149] Fig.10I is a perspective view of a payload 510 dropped onto the chute 975 of the payload support member 970 , with the hook or flange 806 of the payload retriever 800 still extending through the aperture 513 of the handle 511 of the payload 510 . Fig.10J 8 is a perspective view of the payload retriever 800 which has been further lowered after the payload 510 has landed on the payload support member 970 so that the hook or flange 806 or the payload retriever 800 has automatically disengaged from the handle 511 of the payload 510. Once disengaged from the handle 511 of the payload 510, the payload retriever 800 can be winched back to the UAV and undertake the retrieval of another payload.

[0150] Furthermore, once a payload 510 has landed on payload support member 970, payload 510 can be automatically moved to another location for further processing, such that payload support member 970 can be used to position additional payloads for retrieval (which can be performed by an automated payload loader), or such that payload support member 970 can be used to receive delivery of additional payloads.

[0151] Fig.11 9 is an example embodiment showing the positioning of magnets 930 within an outwardly facing wall 952 of a payload retrieval device 950 and the positioning of a payload retriever 800 having a plurality of magnets 830 just prior to magnetically engaging the magnets 930. The magnets 930 may have a diameter of 12 mm and a thickness of 3 mm. Additionally, the magnets 830 are shown as a stack of three magnets in a group, each stack having three magnets, each magnet 830 having a diameter of 6.3 mm and a thickness of 1.5 mm. The magnets may be neodymium magnets, although other types of magnets may also be used. Fig.11One example magnet configuration that can be used for magnet 930 and magnet 830 is shown. However, it will be understood that other configurations and geometries of magnets can also be used. Fig.11 , the magnets 930 are shown as being positioned within the outward facing portion 952 of the payload retrieval device 950. However, it will be understood that the magnets 930 may be located on the front or rear side 952a of the outward facing portion 952, or flush within the outward facing portion 952 such that they are exposed to magnetically engage with the magnets 830 of the payload retriever 800. As the term is used herein, magnets located "on" or "thereon" the outward facing portion 952 shall encompass magnets located on the front or rear side of the outward facing portion 952 as well as magnets located wholly or partially within the outward facing portion 952.

[0152] Fig.12 800 is an example embodiment of a payload retriever 800 having a plurality of magnets 830 positioned therein. In this example, the magnets 830 are located inside the payload retriever 800, however the magnets 830 may also be located outside the payload retriever 800, or flush within a wall of the payload retriever 800.

[0153] VI. Conclusion

[0154] The specific arrangements shown in the accompanying drawings should not be considered as limiting. It should be understood that other embodiments may include more or less of each element shown in a given accompanying drawing. In addition, some of the elements shown may be combined or omitted. In addition, exemplary embodiments may include elements not shown in the accompanying drawings.

[0155] In addition, although various aspects and embodiments have been disclosed herein, other aspects and embodiments will be apparent to those skilled in the art. The various aspects and embodiments disclosed herein are for illustrative purposes and are not intended to be limiting, the true scope and spirit being indicated by the claims. Other embodiments may be used and other changes may be made without departing from the spirit or scope of the subject matter presented herein. It will be readily understood that the various aspects of the disclosure as generally described herein and shown in the accompanying drawings may be arranged, replaced, combined, separated and designed in a variety of different configurations, all of which are contemplated herein.

Claims

1. A transport retrieval device, comprising: A structure having an outwardly facing portion; A load support member, suitable for placing a load thereon; as well as one or more magnets or metal located on or within the outwardly facing portion of the structure, adapted to magnetically engage one or more magnets or metal located on a payload retriever attached to a tether suspended from an unmanned aerial vehicle (UAV), wherein the one or more magnets or the metal on the payload retriever is located on a side of the payload retriever opposite to a side of the payload retriever having the slot above the hook or flange, and wherein when the payload is placed on the payload support member, the payload support member is movable to position a handle of the payload adjacent to the one or more magnets or the metal on or in the outwardly facing portion of the structure and into the slot of the payload retriever, and the hook or flange of the payload retriever extends through the hole in the handle of the payload.

2. A payload retrieval device according to claim 1, wherein the outwardly facing portion of the structure comprises a vertical wall.

3. The payload retrieval device of claim 1, wherein the payload support member is positioned on one or more rails.

4. The payload retrieval device of claim 1, wherein the payload support member further comprises a chute adapted to guide a payload to a position on the payload support member during delivery of the payload.

5. The payload retrieval device of claim 1 , wherein the structure includes an opening, and the payload support member extends at least partially into the opening when the payload support member is moved to position the handle of the payload adjacent the outwardly facing portion of the structure.

6. The payload retrieval device of claim 1, wherein the payload support member includes angled side walls adapted to engage angled surfaces of the payload to align the payload to a desired position on the payload support member.

7. A system for retrieving a payload, comprising: A payload retrieval device comprising: A structure having an outwardly facing portion; a payload support member adapted to place a payload thereon; and one or more magnets or metal on or in the outwardly facing portion of the structure that magnetically engage one or more magnets or metal on a payload retriever attached to a tether suspended from an unmanned aerial vehicle (UAV), the payload retriever having a slot above a hook or flange of the payload retriever, Wherein when the payload is located on the payload support member, the payload support member is movable to position the handle of the payload into the slot of the payload retriever and the hook or flange of the payload retriever extends through the hole in the handle of the payload.

8. The system of claim 7, wherein one or more magnets are located on or in the outwardly facing portion of the structure that magnetically engage metal located on the payload retriever.

9. The system of claim 7, wherein the hook or flange of the payload retriever faces in the same direction as the outwardly facing portion of the payload retrieval device when magnetically engaged therewith.

10. The system of claim 7, wherein a plurality of magnets are located on the outwardly facing portion of the structure and a plurality of magnets are located on the payload retriever.

11. The system of claim 7, wherein the handle of the payload is flexible and adapted to flex when the handle is moved into engagement with the payload retriever.

12. The system of claim 7, wherein the structure includes an opening, and the payload support member extends at least partially into the opening when the payload support member is moved to position the handle of the payload within the slot of the payload retriever.

13. The system of claim 7, wherein the magnetic engagement is adapted to be disengaged when the payload retriever is moved upwardly by the UAV.

14. A method for retrieving a payload using an unmanned aerial vehicle (UAV), comprising the following steps: providing a payload retrieval device comprising a structure having an outwardly facing portion, a payload support member, and one or more magnets or metals located on or in the outwardly facing portion of the structure; placing a payload having a handle having a hole therein on the payload support member; lowering a payload retriever attached to a tether suspended from the UAV, the payload retriever having one or more magnets or metal adapted to magnetically engage the one or more magnets or metal located on or in the outwardly facing portion of the structure and having a slot located above a hook or flange of the payload retriever; magnetically engaging the payload retriever with the outwardly facing portion of the structure; moving the payload support member to position the handle of the payload in the slot on the payload retriever and the hook or flange of the payload retriever extending through the hole in the handle of the payload; moving the payload retriever out of magnetic engagement with the outwardly facing portion of the structure; as well as The vehicle retriever is moved toward the UAV with the vehicle suspended from the vehicle retriever.

15. A method according to claim 14, wherein one or more magnets are located on or in the outwardly facing portion of the structure adapted to magnetically engage with metal located on the payload retriever.

16. The method of claim 14, wherein the hook or flange of the payload retriever faces the handle of the payload when the payload retriever is magnetically engaged to the outwardly facing portion of the structure.

17. The method of claim 14, wherein a plurality of magnets are located on the outwardly facing portion of the structure and a plurality of magnets are located on the payload retriever.

18. The method of claim 14, wherein the payload support member includes angled side walls adapted to engage an angled surface of the payload to align the payload to a desired position on the payload support member.

19. The method of claim 14, wherein the structure includes an opening, and the payload support member extends at least partially into the opening when the payload support member is moved to position the handle of the payload within the slot of the payload retriever.

20. The method of claim 14, wherein the handle of the payload is flexible and the handle flexes as it moves into the slot of the payload retriever.

Images