Stowage structure with tether guide for unmanned aerial vehicle

Abstract

A payload loading system is disclosed. The payload loading system includes a UAV and a loading structure. A retractable tether is coupled to a payload coupling device at a distal end and to the UAV at a proximal end. The payload is loaded onto the UAV by coupling the payload to the payload coupling device. The loading structure of the payload loading system includes a landing platform and a tether guide. The tether guide is coupled to the landing platform and guides the tether when the UAV approaches and travels through at least a portion of the landing platform so that the payload coupling device reaches a target location. When the payload coupling device is within the target location, the payload is loaded onto the payload coupling device.

Description

[0001] CROSS-REFERENCE TO RELATED APPLICATIONS

[0002] This application claims priority to U.S. Patent Application No. 16 / 005,288, filed June 11, 2018, which is hereby incorporated by reference in its entirety. Background Art

[0003] Unmanned vehicles (which may also be referred to as autonomous vehicles) include vehicles that are capable of traveling without the physical presence of a human operator. Unmanned vehicles can operate in a remote control mode, in an autonomous mode, or in a partially autonomous mode.

[0004] 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 typically moves based on pre-programmed navigation waypoints, a dynamic automation system, or a combination of these. In addition, some unmanned vehicles are capable of operating 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).

[0005] Various types of unmanned vehicles exist for a variety of different environments. For example, unmanned vehicles exist for operations in the air, on land, underwater, and in space. Examples include quadcopters and tail-seat unmanned aerial vehicles, among others. Unmanned vehicles also exist for hybrid operations where multiple environments are possible. 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.

[0006] Unmanned aerial vehicles (UAVs) can be used to deliver or collect deliveries to or from individuals or businesses. Other systems at the delivery or pickup location can assist users, workers, businesses, and others in using and interacting with the UAVs. Disclosed herein are loading systems and structures that facilitate the safe and efficient delivery and / or pickup of deliveries. Summary of the Invention

[0007] The present application discloses an unmanned aerial vehicle (UAV) payload loading system, structure, and related methods. UAVs are increasingly used for a wide range of delivery services, and therefore, a dedicated structure is needed to increase the ease of use, efficiency, and safety of such delivery services. For example, a payload loading system designed to interact with a UAV approaching or leaving a delivery service can facilitate better access to loading a payload onto or unloading a payload from a UAV. In addition, additional components can be included as part of the payload loading system to further support UAV delivery services.

[0008] The example delivery loading systems described herein can be mounted on a self-supporting support structure, can be mounted on or within an existing structure (such as a building wall, roof, truck, lamppost, cellular tower, warehouse, etc.), or can be installed by modifying an existing structure using the aspects described herein. Advantageously, the delivery loading systems described herein can be installed in a variety of locations without interfering with the daily lives of merchants, customers, or others, while increasing the efficiency of using UAV delivery services for the same merchants, customers, or others.

[0009] In one embodiment, a payload loading system is described. The payload loading system includes a UAV and a loading structure, as well as other possible components. The UAV includes a retractable tether. A payload coupling device is coupled to the distal end of the tether, and the UAV is coupled to the proximal end of the tether. The tether can be extended or retracted using the UAV's winch system, allowing the payload coupling device to be lowered away from the UAV or raised toward the UAV. By coupling a payload to the payload coupling device, a payload can be loaded onto the UAV, unloaded from the UAV, or unloaded from the UAV and then loaded onto the UAV. The loading structure of the payload loading system includes a landing platform and a tether guide. The tether guide is coupled to the landing platform and guides the tether as the UAV approaches and travels across at least a portion of the landing platform, allowing the payload coupling device to reach a target location. Furthermore, as the UAV travels across at least a portion of the landing platform, the UAV can land on the landing platform, move across the landing platform, or hover above the landing platform. When the vehicle coupling device is within the target location, the vehicle is loaded onto and / or unloaded from the vehicle coupling device. The landing platform may include a channel that also guides the tether so that the vehicle coupling device reaches the target location. In some embodiments, the channel may be attached to or be a component of the tether guide.

[0010] In another embodiment, a payload loading structure is provided. The payload loading structure includes a landing platform for a UAV and a tether guide. The UAV includes a retractable tether. The tether is coupled to a payload coupling. The payload may be attachable to the payload coupling. The tether guide is coupled to the landing platform and guides the tether so that the payload coupling reaches a target location. At the target location, the payload is loaded onto and / or unloaded from the payload coupling.

[0011] In another embodiment, a method is described. The method includes traveling a UAV past at least a portion of a landing platform coupled to a loading structure. The method also includes guiding a tether of the UAV so that a payload coupling device reaches a target location. The tether is coupled to the UAV at a proximal end of the tether, and the payload coupling device is coupled to a distal end of the tether. The tether is guided by a tether guide coupled to the loading structure. The method further includes, when the payload coupling device is within the target location, loading the payload onto the UAV by coupling the payload to the payload coupling device. In other embodiments, the method may include other aspects.

[0012] In other embodiments, any type of system or device can be used or configured as a mechanism for performing the functions of any method (or any portion of a method) described herein. For example, a system for loading or unloading a vehicle includes a mechanism for guiding a tether to enable a vehicle coupling device to reach a target location.

[0013] These and other aspects, advantages and alternatives will become apparent to those skilled in the art by reading the following detailed description with reference to the accompanying drawings where appropriate. In addition, it should be understood that the description provided in this summary of the invention and elsewhere in this document is intended to illustrate the claimed subject matter by way of example and not by way of limitation. BRIEF DESCRIPTION OF THE DRAWINGS

[0014] Figure 1A is a simplified illustration of an unmanned aerial vehicle (UAV) according to an example embodiment.

[0015] Figure 1B is a simplified illustration of a UAV according to an example embodiment.

[0016] Figure 1C is a simplified illustration of a UAV according to an example embodiment.

[0017] Figure 1D is a simplified illustration of a UAV according to an example embodiment.

[0018] Figure 1E is a simplified illustration of a UAV according to an example embodiment.

[0019] Figure 2 is a simplified block diagram illustrating components of an unmanned aerial vehicle according to an example embodiment.

[0020] Figure 3 is a simplified block diagram illustrating a UAV system according to an example embodiment.

[0021] Figure 4A A vehicle loading system is depicted according to an example embodiment.

[0022] Figure 4B A vehicle loading system is depicted according to an example embodiment.

[0023] Figure 4C A vehicle loading system is depicted according to an example embodiment.

[0024] Figure 5 A vehicle loading system is depicted according to an example embodiment.

[0025] Figure 6A A vehicle loading system is depicted according to an example embodiment.

[0026] Figure 6B A vehicle loading system is depicted according to an example embodiment.

[0027] Figure 6C A vehicle loading system is depicted according to an example embodiment.

[0028] Figure 6D A vehicle loading system is depicted according to an example embodiment.

[0029] Figure 7 A vehicle loading system is depicted according to an example embodiment.

[0030] Figure 8A A vehicle loading system is depicted according to an example embodiment.

[0031] Figure 8B A vehicle loading system is depicted according to an example embodiment.

[0032] Figure 8C A vehicle loading system is depicted according to an example embodiment.

[0033] Figure 9A Further aspects of a vehicle loading system are depicted according to an example embodiment.

[0034] Figure 9B Further aspects of a vehicle loading system are depicted according to an example embodiment.

[0035] Figure 10A vehicle loading system is depicted according to an example embodiment.

[0036] Figure 11 A vehicle loading system is depicted according to an example embodiment.

[0037] Figure 12 is a simplified block diagram illustrating a method associated with a vehicle loading system according to an example embodiment. DETAILED DESCRIPTION

[0038] Example methods, systems, and devices are described herein. Any example embodiment or feature described herein is not necessarily to be construed as preferred or advantageous over other embodiments or features. The example embodiments described herein are not meant to be restrictive. It will be readily understood that certain aspects of the disclosed systems and methods may be arranged and combined in a variety of different configurations, all of which are contemplated herein.

[0039] In addition, the specific arrangements shown in the accompanying drawings should not be considered restrictive. It should be understood that other embodiments may include more or less of each element shown in a given figure. In addition, some of the elements shown may be combined or omitted. In addition, example embodiments may include elements not shown in the accompanying drawings.

[0040] I. Overview

[0041] Embodiments described herein relate to a payload stowage structure for an unmanned aerial vehicle (UAV). Aspects described in terms of "stowage," such as a payload stowage structure, should be understood as not being limited to "stowage" functionality or scenarios. For example, unloading, maintenance, charging, and other interactions between a user, the UAV, the payload stowage structure, or related components can occur at the payload stowage structure or aspects thereof.

[0042] Exemplary embodiments may include an aircraft or a system related thereto, be implemented as part of an aircraft or a system related thereto, or take the form of an aircraft or a system related thereto. In an example embodiment, the UAV may include a rotor unit that is operable to provide thrust or lift to the UAV for the transportation and delivery of a payload. As used herein, the terms "unmanned aerial vehicle" and "UAV" refer to any autonomous or semi-autonomous vehicle capable of performing certain functions without a physically present human pilot. The UAV may take a variety of forms. For example, the UAV may take the form of a fixed-wing aircraft, a glider, a tail-seat aircraft, a jet aircraft, a ducted aircraft, a lighter-than-air craft (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 "drone," "unmanned aerial vehicle system" (UAVS), or "unmanned aerial system" (UAS) may also be used to refer to a UAV.

[0043] UAVs are increasingly being used to pick up, transport, and deliver payloads in a variety of industries. Consequently, infrastructure is needed at pickup and drop-off locations to enable merchants, customers, and other users to utilize UAV delivery services. More specifically, a payload loading system can provide a known, accessible, dedicated, and secure area for individuals or other devices utilizing UAV delivery services to load or unload payloads. The payload loading system can include a loading structure that further includes a landing platform and a tether guide.

[0044] Advantageously, the payload loading system guides the tether so that the payload coupling device reaches a target location, which is the point of interaction with the person or device that loads the payload onto the UAV. The target location includes an ergonomic position so that the payload coupling device is accessible to the user. By developing a payload loading system that focuses on positioning the payload coupling device within the target location, less attention is required to the precise positioning and orientation (or heading) of the UAV. The tether guide provides a means to position the payload coupling device within the target location, regardless of the orientation or heading of the UAV. Therefore, the UAV loading / unloading process does not require the precise accuracy of the UAV control, but rather the loading structure of the payload loading system compensates for many errors or inaccuracies in the control, whether it is user-driven or computer-driven.

[0045] Advances in payload loading systems also provide additional functionality for loading and unloading control schemes. For example, the payload loading system described herein does not require the UAV to land on a landing platform. The UAV can hover and pass over the loading structure, and as long as the tether extending below the UAV is within a predetermined range, the tether guide will guide or steer the tether so that the payload coupling device reaches the target location, rather than the UAV having to land in a precise location with a precise orientation.

[0046] While landing on a platform is not required, it is easier for the payload loading system to position the payload coupling device at the target location if, for example, the UAV does land on a landing platform of the loading structure. While the UAV is landed, the landing platform can provide a means for the UAV to perform a variety of other tasks, such as charging or replacing batteries and uploading or downloading information from a network, among other possibilities.

[0047] Advantageously, as described, a payload loading system can provide a means for more people to utilize UAV delivery services. Additionally, the elevated landing platform and tether guides that are part of the loading structure can reduce the risk of injury to people by increasing the distance between the UAV and the point of interaction (i.e., loading and unloading of payloads at a target location). Furthermore, the inherent features of the payload loading system can allow such a system (or related devices and components thereof) to be installed in a variety of locations without interfering with people's daily lives.

[0048] The drawings described in detail below are for illustration purposes only and may not reflect all components or connections. Furthermore, the drawings may not reflect actual operating conditions and are intended only to illustrate the described embodiments. Furthermore, relative dimensions and angles in the drawings may not be to scale and are intended only to illustrate the described embodiments.

[0049] II. Illustrative Unmanned Vehicles

[0050] Figure 1Ais an isometric view of an example UAV 100. UAV 100 includes wings 102, a boom 104, and a fuselage 106. Wings 102 can be fixed and can generate lift based on the wing shape and the forward airspeed of the UAV. For example, both wings 102 can have an airfoil-shaped cross-section to generate aerodynamic forces on UAV 100. In some embodiments, wings 102 can carry horizontal propulsion units 108 and boom 104 can carry vertical propulsion units 110. In operation, power for the propulsion units can be provided from battery bays 112 of fuselage 106. In some embodiments, fuselage 106 also includes an avionics bay 114, additional battery bays (not shown), and / or a delivery unit for maneuvering a payload (not shown, such as a winch system). In some embodiments, the fuselage 106 is modular, and two or more bays (e.g., battery bay 112, avionics bay 114, other cargo and delivery bays) are detachable from one another and secureable to one another (e.g., mechanically, magnetically, or otherwise) to continuously form at least a portion of the fuselage 106.

[0051] 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.

[0052] In the illustrated configuration, the UAV 100 includes a structural frame. The structural frame may be referred to as the "structural H-frame" or "H-frame" of the UAV (not shown). The H-frame may include wing spars (not shown) within the wings 102 and boom carriers (not shown) within the boom 104. In some embodiments, the wing spars and boom carriers may be made of carbon fiber, hard plastic, aluminum, light metal alloys, or other materials. The wing spars and boom carriers may be connected using a clamp. The wing spars may include pre-drilled holes for the horizontal propulsion units 108, and the boom carriers may include pre-drilled holes for the vertical propulsion units 110.

[0053] In some embodiments, the fuselage 106 can be removably attached to the H-frame (e.g., to the wing spars via a clamp configured with grooves, protrusions, or other features to mate with corresponding H-frame features). In other embodiments, the fuselage 106 can similarly 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, thereby eliminating defective parts / subassemblies before the UAV is completed. For example, components of the fuselage 106 (e.g., avionics, battery cells, delivery units, additional battery pods, etc.) can be electrically tested before the fuselage 106 is mounted to the H-frame. Furthermore, the motors and electronics of the PCB 118 can also be electrically tested before final assembly. Typically, identifying defective parts and subassemblies early in the assembly process can reduce the overall cost and delivery time of the UAV. In addition, different types / models of fuselages 106 can be attached to the H-frame, thereby improving the modularity of the design. Such modularity allows these various parts of the UAV 100 to be upgraded without requiring major changes to the manufacturing process.

[0054] In some embodiments, the wing shells and boom shells can be attached to the H-frame using adhesive elements (e.g., tape, double-sided tape, glue, etc.). Thus, multiple shells can be attached to the H-frame rather than having a monolithic body sprayed onto the H-frame. In some embodiments, the presence of multiple shells reduces stress caused by the coefficient of thermal expansion of the UAV's structural frame. As a result, the UAV can have better dimensional accuracy and / or improved reliability.

[0055] 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 relatively stiff but relatively thin plastic skin.

[0056] Power and / or control signals from the fuselage 106 can be routed to the PCB 118 via cables passing through the fuselage 106, wings 102, and boom 104. In the illustrated embodiment, the UAV 100 has four PCBs, but other numbers of PCBs are possible. For example, the UAV 100 can 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.

[0057] Many variations of the UAV shown are possible. For example, a fixed-wing UAV can include more or fewer rotor units (vertical or horizontal), and / or can 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 FIG. 1 shows two wings 102, two booms 104, two horizontal propulsion units 108, and six vertical propulsion units 110 per boom 104, it will be understood that other variations of the UAV 100 can be implemented with more or fewer of these components. For example, the UAV 100 can include four wings 102, four booms 104, and more or fewer propulsion units (horizontal or vertical).

[0058] Similarly, Figure 1B Another example of a fixed-wing UAV 120 is shown. Fixed-wing UAV 120 includes a fuselage 122; two wings 124 having an airfoil-shaped cross-section to provide lift to UAV 120; vertical stabilizers 126 (or ventral fins) for stabilizing the aircraft in yaw (turning left or right); horizontal stabilizers 128 (also known as elevators or tail fins) for stabilizing pitch (tilting up or down); landing gear 130; and a propulsion unit 132, which may include a motor, shaft, and propeller.

[0059] Figure 1C An example of a UAV 140 is shown with propellers configured for pusher mode. The term "pusher mode" refers to the fact that, as opposed to having the propulsion unit mounted on the front of the UAV, the propulsion unit 142 is mounted on the rear of the UAV and "pushes" the vehicle forward. Figure 1A and Figure 1B Provide a description, Figure 1C A common structure used in pusher aircraft is depicted, including a fuselage 144 , two wings 146 , a vertical stabilizer 148 , and a propulsion unit 142 , which may include a motor, shaft, and propeller.

[0060] Figure 1DAn example of a tailsitter UAV 160 is shown. In the example shown, the tailsitter UAV 160 has fixed wings 162 to provide lift and allow the UAV 160 to glide horizontally (e.g., along the x-axis, in relation to the x-axis). Figure 1D However, the fixed wings 162 also allow the tailseat UAV 160 to take off and land vertically under its own power.

[0061] For example, at a launch site, a tail-sit UAV 160 can be positioned vertically (as shown) with its fins 164 and / or wings 162 resting on the ground and stabilizing the UAV 160 in a vertical position. The tail-sit UAV 160 can then take off by operating its propellers 166 to generate upward thrust (e.g., thrust generally along the y-axis). Once at a suitable altitude, the tail-sit UAV 160 can use its flaps 168 to reorient itself in a horizontal position so that its fuselage 170 is more closely aligned with the x-axis than the y-axis. The horizontally positioned propellers 166 can provide forward thrust, enabling the tail-sit UAV 160 to fly in a manner similar to a typical airplane.

[0062] 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. Furthermore, UAVs with more wings (e.g., an "x-wing" configuration with four wings), fewer wings, or even no wings are also possible.

[0063] As mentioned above, some embodiments may involve other types of UAVs in addition to or in lieu of fixed-wing UAVs. For example, Figure 1E An example of a rotorcraft, often referred to as a multirotor 180, is shown. Multirotor 180 may also be referred to as a quadcopter because it includes four rotors 182. It should be understood that example embodiments may relate to rotorcraft having more or fewer rotors than multirotor 180. For example, a helicopter typically has two rotors. Other examples with three or more rotors are also possible. Herein, the term "multirotor" refers to any rotorcraft having more than two rotors, and the term "helicopter" refers to a rotorcraft having two rotors.

[0064] Referring to multirotor 180 in more detail, four rotors 182 provide propulsion and maneuverability for multirotor 180. More specifically, each rotor 182 includes blades attached to a motor 184. Configured in this manner, rotors 182 can allow multirotor 180 to take off and land vertically, maneuver in any direction, and / or hover. Furthermore, the pitch of the blades can be adjusted in groups and / or individually, allowing multirotor 180 to control its pitch, roll, yaw, and / or altitude.

[0065] It should be understood that references herein to "unmanned" aerial vehicles, or UAVs, apply equally to autonomous and semi-autonomous aerial vehicles. In an autonomous embodiment, all functions of the aerial vehicle are automated; for example, they are pre-programmed or controlled by real-time computer functions that respond to input from various sensors and / or predetermined information. In a semi-autonomous implementation, some functions of the aerial vehicle may be controlled by a human operator, while other functions are performed autonomously. Furthermore, in some embodiments, the UAV may be configured to allow a remote operator to take over functions that would otherwise be controlled autonomously by the UAV. Furthermore, 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 the UAV's high-level navigation decisions, 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 detailed navigation decisions, such as the specific route to be taken between the two locations, the specific flight controls used to achieve that route, and the obstacles to avoid while navigating that route.

[0066] More generally, it should be understood that the example UAVs described herein are not intended to be limiting. Example embodiments may relate to, be implemented in, or take the form of any type of unmanned aerial vehicle.

[0067] III. Illustrative UAV Components

[0068] Figure 2 is a simplified block diagram showing components of a UAV 200 according to an example embodiment. The UAV 200 may take the form of a Figures 1A-1E The UAV 200 may be in the form of, or similar in form to, one of the UAVs 1100a, 120, 140, 160, and 180 depicted. However, the UAV 200 may also take other forms.

[0069] The 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 the UAV 200 include an inertial measurement unit (IMU) 202, ultrasonic sensor(s) 204, and GPS 206, among other possible sensors and sensing systems.

[0070] In the illustrated embodiment, the UAV 200 also includes one or more processors 208. The processor 208 can 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 can be configured to execute computer-readable program instructions 212, which are stored in the data memory 210 and are executable to provide the functionality of the UAV described herein.

[0071] The data store 210 may include or take the form of one or more computer-readable storage media that are readable or accessible 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.

[0072] As noted, the data storage 210 may include computer-readable program instructions 212 and possibly additional data, such as diagnostic data for 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.

[0073] In some implementations, the control system 1120 may take the form of program instructions 212 and the one or more processors 208 .

[0074] A.Sensor

[0075] 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. An IMU is commercially available as a low-cost, low-power package. For example, the IMU 202 may take the form of or include a miniaturized microelectromechanical system (MEMS) or nanoelectromechanical system (NEMS). Other types of IMUs may also be used.

[0076] In addition to accelerometers and gyroscopes, the IMU 202 may also include other sensors that can help better determine 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 electronic compass that is not affected by orientation to obtain accurate heading information. However, other types of magnetometers may also be used. Other examples are also possible. In addition, it is noted that the UAV may include some or all of the inertial sensors described above as components separate from the IMU.

[0077] The UAV 200 may also include a pressure sensor or barometer, which may be used to determine the altitude of the UAV 200. Alternatively, 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.

[0078] In another aspect, the UAV 200 may include one or more sensors that allow the UAV to sense objects in the environment. For example, in the illustrated embodiment, the UAV 200 includes ultrasonic sensor(s) 204. The ultrasonic sensor(s) 204 can determine the distance to an object by generating a sound wave and determining the time interval between the emission of the wave and the reception of a corresponding echo from the object. Typical applications of ultrasonic sensors or IMUs for unmanned vehicles are low-altitude 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.

[0079] In some embodiments, the UAV 200 may also include one or more imaging systems. For example, one or more still and / or video cameras may be used by the UAV 200 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, localization 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.

[0080] The UAV 200 may also include a GPS receiver 206. The GPS receiver 206 may be configured to provide data typical of the well-known GPS system, such as the GPS coordinates of the UAV 200. Such GPS data may be used by the UAV 200 for various functions. Thus, the UAV may use its GPS receiver 206 to help navigate to the caller's location (as indicated, at least in part, by the GPS coordinates provided by the caller's mobile device). Other examples are also possible.

[0081] B. Navigation and Position Determination

[0082] The navigation module 214 may provide functionality that allows the UAV 200 to, for example, move within its environment and reach a desired location. To this end, the navigation module 214 may control the altitude and / or direction of flight by controlling the UAV's mechanical features that affect flight, such as its rudder(s), elevator(s), aileron(s), and / or the speed of its propeller(s).

[0083] In order to navigate the UAV 200 to the target location, the navigation module 214 can implement various navigation technologies, 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. Positioning-based navigation can involve the UAV 200 building its own map of the environment and calculating its position within the map and / or the position of objects in the environment. For example, as the UAV 200 moves throughout its environment, the UAV 200 can continuously use positioning to update its map of the environment. This process of continuous map building can be referred to as simultaneous localization and mapping (SLAM). Other navigation technologies can also be used.

[0084] In some embodiments, the navigation module 214 can use a technique that relies on waypoints for navigation. 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. Thus, the navigation module 214 can cause the UAV 200 to move from one waypoint to another in order to ultimately reach a final destination (e.g., the final waypoint in a series of waypoints).

[0085] On the other hand, the navigation module 214 and / or other components and systems of the UAV 200 can be configured for a scenario where "localization" is used to more precisely navigate to 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 being delivered by the UAV (e.g., within a few feet of the target destination). To this end, the UAV can use a two-tiered approach in which it uses a more general location determination technique to navigate to a general area related to the target location, and then uses a more precise location determination technique to identify and / or navigate to the target location within the general area.

[0086] 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 being delivered. The UAV can then switch to a mode that uses a positioning process for positioning and proceed to a more specific location. For example, if the UAV 200 is to deliver the payload to a 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 reach this area (e.g., within a block of the user's residence). More precise location determination techniques can then be used to find the specific target location.

[0087] Once the UAV 200 has navigated to the general area of ​​the target delivery location, various types of position determination techniques may be used to complete the localization 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, which may provide input used by the navigation module 214 to autonomously or semi-autonomously navigate to a particular target location.

[0088] 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 can switch to a "fly-by-wire" mode, in which it is at least partially controlled by a remote operator who can fly the UAV 200 to the specific target location. To this end, sensory data from the UAV 200 can be sent to the remote operator to assist them in flying the UAV 200 to the specific location.

[0089] As another example, the UAV 200 may include a module capable of signaling to passersby for assistance 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 during the delivery of 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 reach a particular target location using sensing capabilities or other location-determining technology. However, such a feature is not limited to such scenarios.

[0090] In some embodiments, once the UAV 200 arrives at the approximate area of ​​the target delivery location, the UAV 200 can use a radio signal (beacon) from a user's remote device (e.g., the 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., the mobile phone of the person requesting the UAV delivery) is capable of emitting a directional signal (e.g., via an RF signal, a light signal, and / or an audio signal). In this scenario, the 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, the mobile device can transmit a frequency within or outside human range, and the UAV 200 can listen for that frequency and navigate accordingly. As a related example, if the UAV 200 is listening for verbal commands, the UAV 200 can use a verbal statement such as "I'm here!" to trace back to the specific location of the person requesting the delivery of the payload.

[0091] In an alternative arrangement, the navigation module can be implemented at a remote computing device that is in wireless communication with the UAV 200. The remote computing device can receive data indicating the operating 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 can determine the altitude and / or directional adjustments that the UAV 200 should make, and / or can 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 can then communicate such adjustments to the UAV 200 so that the UAV 200 can move in a determined manner.

[0092] C.Communication system

[0093] 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 an Ethernet interface, a Universal Serial Bus (USB) interface, or a similar interface to communicate with a wired network via wires, twisted pairs, coaxial cables, optical links, fiber optic links, or other physical connections.

[0094] In some embodiments, UAV 200 can include a communication system 218 that allows for both short-range and long-range communications. For example, UAV 200 can be configured for short-range communications using Bluetooth and for long-range communications under the CDMA protocol. In such embodiments, UAV 200 can 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 can facilitate data communications that the remote support device would otherwise be unable to conduct on its own.

[0095] For example, the 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, for example, under LTE or 3G protocols. The UAV 200 can also act as a proxy or gateway to a high-altitude balloon network, a satellite network, or a combination of these networks, that the remote device might not otherwise have access to.

[0096] D. Power system

[0097] 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, with each battery being rechargeable 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).

[0098] E. Delivery of cargo

[0099] The UAV 200 can employ various systems and configurations for transporting and delivering payloads 228. In some implementations, the payload 228 of a given UAV 200 can include or take the form of a "package" designed to transport various goods to a target delivery location. For example, the UAV 200 can include a compartment in which an item or items can be transported. Such a package can be one or more food items, purchased goods, medical supplies, or any other object(s) of a size and weight suitable for transport by a UAV between two locations. In other embodiments, the payload 228 can simply be one or more items being delivered (e.g., without any packages containing items).

[0100] 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 package's contents from shifting during flight of the UAV.

[0101] For example, when payload 228 takes the form of a package for transporting items, the package can include an outer shell constructed from waterproof cardboard, plastic, or any other lightweight and waterproof material. Furthermore, to reduce drag, the package can feature a smooth surface with a tapered front that reduces the frontal cross-sectional area. Furthermore, the sides of the package can taper from a wide base to a narrow top, allowing the package to act as a narrow pylon to reduce interference with the UAV's wings. This can keep some of the package's frontal area and volume away from the UAV's wings, thereby preventing the package from reducing lift on the wings. Furthermore, in some embodiments, the outer shell of the package can be constructed from a single piece of material to reduce air gaps or additional material, both of which increase drag on the system. Additionally or alternatively, the package can include stabilizers to suppress flutter. This reduction in flutter can allow the package to have a less rigid connection to the UAV and reduce movement of the package's contents during flight.

[0102] To deliver a payload, the UAV may include a winch system 221 controlled by a 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 a tether 224, which may be coupled to a payload 228 via a payload coupling 226. Tether 224 may be wound around a reel connected to a motor 222 of the UAV. Motor 222 may take the form of a DC motor (e.g., a servo motor) that can 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 payload coupling 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 payload 228 should be lowered toward the ground. Motor 222 may then rotate the reel so that it maintains the desired operating rate.

[0103] 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 about the rotational position (and / or rotational motion) of the shaft of the motor or the reel that is coupled to the motor, among other possibilities. In addition, the speed sensor can take the form of an absolute encoder and / or an incremental encoder, or the like. Therefore, in an example embodiment, when the motor 222 causes the rotation of the reel, a rotary encoder can be used to measure the 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 amount of rotation 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.

[0104] Based on data from the speed sensor, the tether control module 216 can determine the rotational speed of the motor 222 and / or the spool 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 to the desired speed. When adjusting the motor current, the magnitude of the current adjustment can be calculated based on a proportional-integral-derivative (PID) algorithm 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, the past difference (based on the accumulated error over time), and the future difference (based on the current rate of change) between the determined speed and the desired speed of the spool.

[0105] In some embodiments, the tether control module 216 can vary the rate at which the tether 224 and payload 228 are lowered to the ground. For example, a speed controller can vary the desired operating rate based on 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, to vary the tether deployment rate, the UAV 200 can include friction pads capable of applying a variable amount of pressure to the tether 224. As another example, the UAV 200 can include an electric braking system that varies the rate at which the reel pays out the tether 224. Such a braking system can take the form of an electromechanical system in which the motor 222 operates to slow the rate at which the reel pays out the tether 224. Furthermore, the motor 222 can vary the amount by which it regulates the reel's speed (e.g., RPM), thereby varying the deployment rate of the tether 224. Other examples are also possible.

[0106] 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.

[0107] In some embodiments, the tether control module 216 can be configured to determine the state of the tether 224 and / or 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 becomes snagged on an object while being retracted 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 spool with the desired speed. Similarly, when the downward force is removed from the tether 224 (e.g., when the payload 228 is delivered or when the tether is unhooked), the tether control module 216 may need to decrease the motor current in order to match the determined rotational speed of the motor 222 and / or spool with the desired speed. Thus, tether control module 216 can determine whether payload 228 is attached to tether 224, whether someone or something is pulling on tether 224, and / or whether payload coupling device 226 is against UAV 200 after retracting tether 224 based on the current supplied to motor 222. Other examples are possible.

[0108] During delivery of payload 228, payload coupling 226 can be configured to secure payload 228 while being lowered from the UAV via tether 224, and can be further configured to release payload 228 upon reaching ground level. The payload coupling 226 can then be retrieved to the UAV by reeling in tether 224 using motor 222.

[0109] In some implementations, once payload 228 is lowered to the ground, it can be passively released. For example, the passive release mechanism can include one or more swing arms adapted to retract into and extend from a housing. The extended swing arms can form hooks to which payload 228 can be attached. When the release mechanism and payload 228 are lowered to the ground via the tether, gravity and the downward inertial force on the release mechanism can cause payload 228 to disengage from the hooks, allowing the release mechanism to be raised toward the UAV. The release mechanism can further include a spring mechanism that biases the swing arm to retract into the housing when no other external forces are applied to the swing arm. For example, the spring can apply a force to the swing arm, pushing or pulling the swing arm toward the housing, so that once the weight of payload 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 reduces the likelihood of the release mechanism snagging payload 228 or other nearby objects when the release mechanism is raised toward the UAV while delivering payload 228.

[0110] Active payload release mechanisms are also possible. For example, sensors such as an altimeter and / or accelerometer 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 over a wireless link and used to help determine when the release mechanism reaches ground level (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.

[0111] In addition to or in lieu of a tethered delivery system, other systems and techniques for delivering a payload are possible. For example, UAV 200 may include an airbag drop system or a parachute drop system. Alternatively, UAV 200 carrying a payload may simply land on the ground at the delivery location. Other examples are also possible.

[0112] IV. Illustrative UAV Deployment System

[0113] A UAV system can be implemented to provide a variety of UAV-related services. Specifically, UAVs can be provided at many different launch sites that can communicate with regional control systems and / or central control systems. Such a distributed UAV system can 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 can be distributed at many launch sites across a large geographic area (possibly even throughout an entire country, or even the world) to provide on-demand transportation of various items to locations within the entire geographic area. Figure 3 is a simplified block diagram illustrating a distributed UAV system 300 according to an example embodiment.

[0114] In the illustrative UAV system 300, the access system 302 can allow for interaction with, control of, and / or use of the network of UAV 304. In some embodiments, the access system 302 can be a computing system that allows for human-controlled dispatch of the UAV 304. As such, the control system can include or otherwise provide a user interface through which a user can access and / or control the UAV 304.

[0115] In some embodiments, the dispatching of the UAVs 304 can additionally or alternatively be accomplished via one or more automated processes. For example, the access system 302 can dispatch one of the UAVs 304 to transport a payload to a target location, and the UAV can autonomously navigate to the target location using various onboard sensors (such as a GPS receiver and / or other various navigation sensors).

[0116] In addition, access system 302 can provide for remote operation of the UAV. For example, access system 302 can allow an operator to control the flight of the UAV via its user interface. As a specific example, an operator can use access system 302 to dispatch UAV 304 to a target location. UAV 304 can then autonomously navigate to the approximate area of ​​the target location. At this point, the operator can use access system 302 to control 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 UAVs are also possible.

[0117] In one illustrative embodiment, UAVs 304 may take various forms. For example, each UAV 304 may be a Figures 1A-1E . However, other types of UAVs may also be used with the UAV system 300 without departing from the scope of the present invention. In some implementations, all of the UAVs 304 may be of the same or similar configuration. However, in other implementations, the UAVs 304 may include many different types of UAVs. For example, the UAVs 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.

[0118] The UAV system 300 may further include a remote device 306, which may take various forms. Generally, 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 a request for a package delivery). 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. Furthermore, 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.

[0119] Additionally, the remote device 306 can be configured to communicate with the access system 302 via one or more types of communication networks 308. For example, the remote device 306 can 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 can also be used.

[0120] 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. 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).

[0121] In one illustrative arrangement, the central dispatch system 310 can be a server or group of servers 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 be further 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 automated dispatch system.

[0122] In the illustrated configuration, the central dispatch system 310 can be configured to coordinate the dispatch of UAVs 304 from a number of different local dispatch systems 312. Thus, the central dispatch system 310 can keep track of 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 can be configured to track which of its associated UAVs 304 are currently available for deployment and / or are currently transporting items.

[0123] 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 the specific UAV 304 to the local dispatch system 312.

[0124] In one example configuration, the local dispatch system 312 can 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 can 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 can be implemented at a location remote from its associated deployed system(s) 314 and UAV(s) 304.

[0125] Many variations and alternatives to the illustrated configuration of the UAV system 300 are possible. For example, in some embodiments, a user of a remote device 306 can request the 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 requesting the UAV system 300 to provide the delivery. In such embodiments, the central dispatch system 310 can include automated functionality to process requests generated by such an application, evaluate such requests, and, if appropriate, coordinate with the appropriate local dispatch system 312 to deploy the UAV.

[0126] 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 manners.

[0127] 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.

[0128] In another aspect, the deployment system 314 can take various forms. Generally, 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 launch and / or features that allow for human-assisted UAV launch. Furthermore, the deployment systems 314 can each be configured to launch a specific UAV 304, or to launch multiple UAVs 304.

[0129] The deployment system 314 can be further configured to provide additional functionality, including, for example, diagnostic-related functionality (such as verifying system functionality of the UAV, verifying functionality of a device housed within the UAV (e.g., a payload delivery device)) and / or maintaining a device or other item housed within the UAV (e.g., by monitoring the status of the payload, such as its temperature, weight, etc.).

[0130] 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 delivery 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 UAVs and pay for the UAV delivery service, among other possibilities. Other examples are also possible.

[0131] In another aspect, the UAV system 300 may include or have access to a user account database 316. The user account database 316 may include data for numerous user accounts, with each user account being associated with one or more individuals. For a given user account, the user account database 316 may include data relevant to or useful in providing services related to the UAV. Typically, the user data associated with each user account may be optionally provided by the associated user and / or collected with the associated user's permission.

[0132] 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.

[0133] In some embodiments, people can associate one or more of their devices with their user account 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 send a message to a dispatch system requesting a UAV-related service), 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.

[0134] V. Illustrative UAV Vehicle Loading System

[0135] Figure 4A 、 Figure 4B and Figure 4C A payload loading system 400 is depicted according to an example embodiment. The payload loading system 400 includes a loading structure 402 and a UAV 430. The loading structure 402 includes a tether guide 405 and a landing platform 410. The tether guide 405 includes a first edge 409A and a second edge 409B. The UAV 430 includes a retractable tether 440 and a payload coupling 450.

[0136] UAV 430 may be similar to the above Figures 1A-1E 、 Figure 2 and Figure 3 UAV 430 includes a UAV not described in Figures 4A-4C For example, the UAV 430 may further include a winch system. The winch system may be similar to the winch system described above, for example, including Figure 2The winch system 221 may include a retractable tether 440. The other components of the UAV 430 may be similar in form and function to those described in Figures 1A-1E The components of the UAV are described in detail.

[0137] UAV 430 is coupled to the proximal end of retractable tether 440. Additionally, the proximal end of tether 440 can be coupled to a winch system of UAV 430. Vehicle coupling 450 is coupled to retractable tether 440 at the distal end of tether 440. Vehicle 460 can be coupled to retractable tether 440 at vehicle coupling 450.

[0138] The stowage structure 402 includes and defines a UAV access opening 407. Figure 4A As shown, as the UAV 430 approaches the stowage structure 402, the retractable tether 440 is extended from the UAV 430, if it is not already extended. As the UAV 430 gets closer and begins to travel past the stowage structure 402 (more specifically, the landing platform 410) (either by hovering above or on top of it), the UAV access opening 407 is large enough not to interfere with the payload coupling 450. The tether guide 405 can guide the retractable tether 440 so that the payload coupling 450 passes through the UAV access opening 407 as the UAV 430 approaches and travels past the landing platform 410.

[0139] When UAV 430 Figure 4A The initial approach position in continues to Figure 4B 409B can be considered the edges of at least a portion of stowage structure 410. At least a portion of edges 409A-409B can be at an elevation above or below the elevation of landing platform 410. Directing the retractable tether 440 includes steering or directing the retractable tether 440 in a direction that may be different from the heading that the UAV 430 is traveling as the UAV 430 approaches and / or travels past the landing platform 410 .

[0140] Tether guide 405 is coupled to landing platform 410. Additionally, landing platform 410 includes channel 415. Channel 415 is a narrow slot in landing platform 410 that, in some embodiments, is a continuation of tether guide 405, such that channel 415 also directs or guides retractable tether 440. Thus, in at least some embodiments, tether guide 405 includes channel 415. In some examples, tether guide 405 can funnel retractable tether 440 toward channel 415 or toward the center of landing platform 410. In other examples, tether guide 405 and channel 415 can guide retractable tether 440 as UAV 430 approaches and travels across at least a portion of landing platform 410, such that payload coupling device 450 reaches target location 490. In other words, as the UAV 430 travels across at least a portion of the landing platform 410 , the retractable tether 440 passes through at least a portion of the passage 415 , allowing the vehicle coupling device 450 to reach the target location 490 .

[0141] In some embodiments, the tether guide 405 and the channel 415 can be constructed of a low-friction material. Furthermore, the tether guide 405 and the channel 415 can also include one or more rollers configured to rotate when the retractable tether 440 contacts and moves along the tether guide 405 or the channel 415. The rollers (or another aspect of the loading structure 402 in other examples) can provide feedback to the UAV 430, the operator, or other components of the payload loading system 400. This feedback can include, for example, the speed, position, or other information of the UAV 430 and / or the retractable tether 440.

[0142] Although UAV 430 Figure 4B 410, but in other embodiments, the UAV 430 may land on the landing platform 410 and then continue to travel past the landing platform 410 while the UAV 430 is in contact with the landing platform 410. In this example, whether the UAV 430 is landed or hovering, the landing platform 410 provides a degree of environmental protection to the user (human or other device) and the payload 460 that the UAV 430 is picking up. The landing platform 410 maintains the UAV 430 at a buffer distance or safety distance above the target location 490.

[0143] The target location 490 is a three-dimensional space that is easily accessible to a user (such as a consumer or a merchant). In some embodiments, the target location 490 is in an ergonomic position for a user to load or unload the payload 460. In some aspects, the target location 490 is in an ergonomic position for a user to load or unload the payload 460. Figure 4B and Figure 4C 402. Although shown as a three-dimensional rectangular box, the target location 490 can take any number of other shapes, including being spherical or conical, etc. In some embodiments, the target location 490 can be a feature defined by the landing structure 402. For example, in Figure 4B and Figure 4C In the example, the target location 490 is below the landing platform 410 at a height that is easily accessible to the user. Figure 4B and Figure 4C The target location 490 is provided as being approximately the same width and length as the loading platform 410, but in other embodiments, the target location 490 may be relatively smaller than the landing platform 410. In an example, the target location 490 may be a dispatch system (such as a Figure 3 A GPS or other system or signal (which is included as part of the stowage structure 402 and / or onboard or transmitted to the UAV 430) can inform the UAV 430 that it is in the proper position so that the vehicle coupling device 450 should be within a given target location (such as the target location 490).

[0144] The delivery loading system 400 may further include other features, such as notifying the user when the UAV 430 has arrived to pick up (or drop off) the delivery 460. In some embodiments, the loading structure 402 may include a user interface to help the user prepare for delivery or pickup. For example, a merchant may enter an address or other user information into the delivery loading system 400 so that the UAV 430 is provided with the relevant information to perform the delivery of the delivery 460.

[0145] To facilitate more efficient and easier loading and unloading of vehicles (such as vehicle 460), it is desirable for vehicle coupling device 450 to reach target location 490 (e.g., as Figure 4B 490 ), such that when the payload coupling device 450 is within the target location 490, the payload 460 can be loaded onto the UAV 430 via the retractable tether 440 by coupling the payload 460 to the payload coupling device 450. In this regard, the payload 460 can be loaded onto the payload coupling device at or within the target location 490.

[0146] like Figure 4CAs depicted, UAV 430 has landed on landing platform 410. While landed, UAV 430 can charge or replace batteries and / or communicate with other aspects of the UAV system. Additionally, while landed, UAV 430 can wait for a user or other device to load (or unload) payload 460 onto payload coupling 450. At least one advantage of payload loading system 400 being configured to support landing of UAV 430 is that loading payload 460 while UAV 430 is landed conserves battery energy for UAV 430.

[0147] As payload 460 is loaded onto payload coupling 450, one or more sensors on UAV 430 can detect an increase in tension in retractable tether 440. UAV 430 can then begin to leave stowage structure 402. This can be accomplished by beginning to hover (if not already hovering) and / or continuing to travel past landing platform 410. In some embodiments, as UAV 430 leaves stowage structure 402, retractable tether 440 can continue to pass through the remainder or the entirety of channel 415 (and / or tether guide 405). In some examples, channel 415 can be a slot extending through the entire stowage platform 410.

[0148] like Figures 4A-4C As shown and provided in further detail below with respect to other specific embodiments, tether guide 405 comprises at least one edge (first edge 409A and / or second edge 409B) of stowage structure 402 that guides retractable tether 440 toward or in the direction of target location 490, such that payload coupling device 450 is also guided toward target location 490. In some aspects, tether guide 405 constrains retractable tether 440 in at least one degree of freedom by preventing movement in at least one direction. For example, retractable tether 440 may contact first edge 409A, whereupon retractable tether 440 may be guided or stressed in a direction different from the heading of UAV 430. In some aspects, first edge 409A may be angled relative to the heading of UAV 430. The angle of edge 409A may guide retractable tether 440 in a direction different from the heading of the UAV. In some embodiments, edges 409A-409B of tether guide 405 are coupled to one or more corresponding edges of channel 415. Thus, for example, first edge 409A can be coupled to and continuous with an edge of channel 415.

[0149] Furthermore, the tether guide 450 passively guides the direction or path of the retractable tether 440 as the UAV 430 travels past the stowage structure 402. Thus, for example, if the UAV 430 is slightly misaligned, has a slight error in heading, or other possible reasons, instead of having to adjust or re-approach the stowage structure 402 (or more specifically, the target location 490), as long as the retractable tether 440 is within the UAV access opening 407, the tether guide 405 (in this embodiment), which is angled toward the target location 490 and the center of the platform 410, will be guided or funneled so that the payload coupling device 450 will reach the target location 490. The UAV access opening 407 is wider and larger than the channel 415, so the UAV 430 does not have to align the retractable tether 440 with the channel 415 itself, but rather the tether guide 450 that is a feature of the loading structure 402 will provide additional alignment and guidance so that the payload coupling device 450 reaches the target location 490.

[0150] in addition, Figures 4A-4C An embodiment is depicted in which tether guide 405 and channel 415 guide or steer retractable tether 440 so that UAV 430 and payload coupling 450 travel on substantially parallel course. Additionally, tether guide 405 and / or channel 415 can reduce motion of payload coupling 450, such as any swinging or similar motion of payload coupling 450, while payload 460 can be loaded onto UAV 430.

[0151] Figure 5 A payload loading structure 500 is depicted. The payload loading structure 500 includes a loading structure 502 and a UAV 530. The payload loading structure 500 may include a similar Figures 4A-4C Components of the payload loading structure 400 are provided in FIG. 5 , even if those components are not explicitly labeled. Additionally, features of the payload loading structure 500 may be similar in form and function to components of the payload loading structure 400. For example, the loading structure 502 and the UAV 530 may be similar to Figures 4A-4C The loading structure 402 and the UAV 430.

[0152] like Figure 5As shown, loading structure 502 may be a structure that is part of a building or warehouse. In an example, loading structure 502 is coupled to or included as part of a merchant module. The merchant module may include a warehouse or distribution center. Merchants can sell or make deliveries from the merchant module including loading structure 502 via a UAV delivery system. Loading structure 502 includes a landing platform 510. Landing platform 510 may comprise at least a portion of the top or roof of the merchant module. A passageway 515 may be included as part of landing platform 510 and defines a slot extending from a UAV access opening 507 to a UAV exit opening 508. Passageway 515 may be coupled to and be an extension of tether guide 505. UAV access opening 507 may be sized so as not to interfere with payload coupling device 550 coupled to a tether 540 extending from UAV 530. Tether 540 may also be a retractable tether. The UAV exit opening 508 can be sized so as not to interfere with the vehicle coupling device 550 coupled to the vehicle 560. Thus, in some embodiments, the UAV exit opening 508 can be larger than the UAV access opening 507. The UAV access opening 507 and the UAV exit opening 508 are located in a wall of the loading structure 502. In some examples, the UAV access opening 507 and the UAV exit opening 508 are located in a wall of a merchant module.

[0153] like Figure 5 As shown, when the UAV 530 approaches the landing platform 510 of the loading structure 502, the tether guide 505 can guide or align the tether 540 into the channel 515. The target location (not shown) may include an area within the loading structure 502 or within the merchant module, below the channel 515. This arrangement allows a user (such as a merchant) to load a payload 560 onto the payload coupling 550 as the UAV 530 travels past the loading platform 510, while the UAV 530 remains safely outside the loading structure 502 (e.g., the merchant module). When the UAV 530 approaches the loading structure 502, the UAV 530 does not need to be precisely aligned with the channel 515.

[0154] For example, UAV 530 can travel in a direction substantially parallel to channel 515, but two feet to the left or right of channel 515 itself. UAV 530 does not need to adjust its approach or flight path because tether guide 505, having a maximum width of approximately four feet (in this example), will guide or steer tether 540 into channel 515 so that the vehicle coupling device reaches the target location. In addition, channel 515 can limit any dangling of vehicle coupling device 550 as UAV 530, tether 540, and vehicle coupling device 550 move through and (respectively) across loading structure 502. In other words, tether guide 505 and channel 515 can limit the movement of tether 550 in at least one degree of freedom (in this example, to the left or right of channel 515).

[0155] Although channel 515 is Figure 5 502. Although shown as straight lines in FIG. 503, other shapes are contemplated herein. For example, channel 515 may be curved to direct and guide tether 540 so that carrier coupling 550 reaches a target location within merchant module or loading structure 502. Similarly, although channel 515 is Figure 5 , but multiple channels are contemplated. For example, channel 515 may be divided into one or more channels, and tether 540 may be routed to a specific channel based on a specific target location assigned to vehicle coupling device 550 to reach therein to pick up (or drop off) the vehicle. Additionally, although in Figure 5 One UAV 530 is depicted in FIG5 , but two or more UAVs may travel at once past the landing platform 510 and the stowage structure 502. For example, the UAVs may be arranged in a row and each corresponding payload coupling may be entered one at a time through the UAV access opening 507, but two or three payload couplings (corresponding to two or three UAVs) may be within the stowage structure 502 so that multiple users can load payloads into each payload coupling simultaneously or substantially simultaneously.

[0156] although Figure 5 Primarily described as picking up deliveries 560 from merchant modules, it is contemplated that loading structure 502 may also be a residence or public place in a community designated as a location where deliveries from a UAV delivery service may be dropped off. Other similar design considerations are contemplated.

[0157] Continuing with the attached picture, Figures 6A-6D A payload loading system 600 is depicted. The payload loading system 600 includes a loading structure 602 and a UAV 630. The payload loading structure 600 may include Figure 5 The carrier loading structure 500 and / or Figures 4A-4CComponents similar to those of the payload loading structure 400 are provided in the accompanying drawings, even if such components are not explicitly labeled. Furthermore, features of the payload loading structure 600 may be similar in form and function to components of the payload loading structure 500 and / or the payload loading structure 400. For example, the loading structure 602 and the UAV 630 may be similar to Figure 5 The loading structure 502 and the UAV 530.

[0158] UAV 630 is shown approaching landing structure 602. UAV 630 includes a tether 640 and a payload coupling 650. Landing structure 602 includes a landing platform 610 (divided into multiple landing platform sections 610A-610E) and a tether guide. The tether guide includes multiple lower tether guide edges 620A-620D. The multiple lower tether guide edges 620A-620D of the tether guide define multiple tether paths 622A-622C. Each of the multiple lower tether guide edges 620A-620D can be constructed from an element of loading structure 602, such as a partition, a strut, or a duct, among other possibilities. The tether guide further includes multiple upper tether guide edges 610AA, 610BA, 610BB, 610CB, 610CC, 610DC, 610DD, and 610ED. The plurality of upper tether guide edges 610AA, 610BA, 610BB, 610CB, 610CC, 610DC, 610DD, and 610ED are edges of a landing platform 610 that includes the plurality of landing platform sections 610A-610E. Furthermore, a plurality of passages 615A-615D are provided between pairs of platform sections within the plurality of platform sections 610A-610E. Thus, the landing platform 610 includes at least one passage, each of which is provided between two of the landing platform sections 610A-610E.

[0159] The lower tether guide edges 620A-620D, the upper tether edges, and / or the channels 615A-615D can be constructed of a low-friction material so that the tether 640 can more easily slide or be guided by corresponding features of the tether guides when the tether 640 is guided or positioned within the stowage structure 602. Additionally, various features of the stowage structure 602 and the tether guides can include force sensing mechanisms, contact sensing mechanisms, or other sensing mechanisms that allow the UAV 630 to determine the position of the tether 640 within the stowage structure 602.

[0160] As in Figures 6A-6DAs depicted in FIG, each of channels 615A-615D has a pair of upper tether guide edges that funnel or guide tether 640 into the corresponding channel. For example, channel 615A is between platform portion 610A and platform portion 610B. Furthermore, tether guide edge 610AA (of platform portion 610A) and tether guide edge 610BA (of platform portion 610B) are angled to direct tether 640 into channel 615A. Similarly, channel 615B is between platform portion 610B and platform portion 610C. Furthermore, tether guide edge 610BB (of platform portion 610B) and tether guide edge 610CB (of platform portion 610C) are angled to direct tether 640 into channel 615B. The arrangement of similar features of the upper tether guides (the edges of the multiple landing platform portions and the channels between the multiple landing platform portions) is similar.

[0161] As the tether 640 is guided by the upper tether guide, the tether 640 will contact at least one of the plurality of upper tether guide edges and contact and pass through at least a portion of one of the channels, causing the vehicle coupling device to reach the target location 690. The corresponding tether guide edge and channel may contact and interact with an upper portion of the tether 640, which is closer to the proximal end of the tether 640 where the tether 640 is coupled to the UAV 630. Figures 6A-6D As shown, none of the channels 615A-615D are perpendicular (or vertically aligned) to any portion of the target location 690. Furthermore, as the tether 640 is being passed through the channels, the upper tether guide (i.e., the tether guide edge and the channels) guides the tether 640 in a direction having a heading that is substantially the same as the heading or flight path of the UAV 630.

[0162] Lower tether guide edges 620A-620D are located below the plurality of platform sections 610A-610E. Furthermore, target location 690 is located directly below a portion of lower tether guide edges 620A-620D. As UAV 630 travels across one or more of platform sections 610A-610E, the plurality of lower tether guide edges 620A-620D guide tether 640 so that payload coupling device 650 reaches target location 690. As described above, the plurality of lower tether guide edges 620A-620D define the plurality of tether paths 622A-622C. Tether 640 (more specifically, a lower portion of tether 640 closer to the distal end of tether 640, which is coupled to the payload coupling device) contacts and interacts with the plurality of lower tether guide edges 620A-620D. In this manner, the plurality of lower tether guide edges 620A-620D guide the tether 640 along one of the plurality of tether paths 622A-622C such that the vehicle coupling device 650 reaches the target location 690 as the UAV travels across at least a portion of one or more platform portions 610A-610E. In other words, as the UAV 630 travels across the landing platform, at least a portion of the tether 640 advances along one of the tether paths 622A-622C.

[0163] Each of the tether paths 622A, 622B, and 622C passes through a portion of the target location 690. Thus, each of the tether paths 622A, 622B, and 622C (defined by the lower tether guide edges 620A-620D) guides at least a portion of the tether 640 so that the vehicle coupling device 650 reaches the target location 690. Additionally, the plurality of lower tether guide edges 620A-620D may be shaped and angled so that the vehicle coupling device 650 reaches the target location 690. The lower portion of the tether 640 travels along one of the tether paths 622A-622C during the journey to the target location 690. In the example and as shown Figures 6A-6D As shown, at least a portion of each of the tether paths 622A, 622B, and 622C defined by the plurality of lower tether guide edges 620A-620D can place the tether 640 at a heading or direction that is different from the heading or direction that the UAV 630 is traveling. Further thereto, the path (e.g., flight path) that the UAV 630 is traveling can be at a heading that is different from that at least a portion of the tether 640 is traveling along one of the tether paths 622A-622C.

[0164] In other embodiments, aspects of loading structure 602 can be actuated to direct payload coupling device 650 to target location 690. For example, a specific target location (e.g., target location 690) can be selected based on the contents of the payload to be dropped or picked up. One or more lower tether guide edges 620A-620D can be actuated to offset a given tether path to direct tether 640 to a predetermined target location. For example, once the tether has entered loading structure 602, payload loading system 600 can determine the next payload to be picked up and then offset lower tether guide edges 620A-620D to direct tether 640 to target location 690. In other examples, other features, such as channels of loading structure 602, can also be movable. Actuated mechanical features of loading structure 602 can provide greater flexibility in directing payload coupling device 650 to a specific predetermined target location.

[0165] By approaching the landing structure 602 as the UAV 630 travels past the platform 610 Figures 6A-6D Each of and provides how the vehicle coupling device 650 reaches the target location 690, Figures 6A-6D The implementation methods can be further understood.

[0166] from Figure 6A Initially, UAV 630 is approaching landing structure 602, with tether 640 extended a distance greater than the vertical distance between platform sections 610A-610E and lower tether guide edges 620A-620D. Furthermore, tether 640 must be extended a distance such that vehicle coupling 650 reaches target location 690 while UAV 630 is above or hovering above landing platform 610. The above-described features provide that, as long as UAV 630 approaches within the width of landing platform 610 (i.e., from the outer edge of platform section 610A to the outer edge of platform section 610E), tether 640 will be guided by the tether guide(s) and vehicle coupling 650 will reach target location 690. Additionally, it is noted that while the tether guide edges are shown as being on one side of the platform portions 610A-610E, in other embodiments, the platform portions 610A-610E can have the same or similar shapes mirrored on the other side of the platform to allow the UAV 630 to land from any direction. Furthermore, while specific angles and shapes are shown, others are possible and contemplated.

[0167] Continue to Figure 6B, UAV 630 has landed on landing platform 610, more specifically, on platform portions 610E and 610D. As UAV 630 lands, tether 640 is guided by at least lower tether guide edge 620D and possibly one or both of upper tether guide edges 610ED and / or 610DD. Figure 6B As shown, the upper portion of tether 640, closer to UAV 630, passes through channel 615D between the two platform portions 610E and 610D. Based on the location at which UAV 630 lands on platform 610, the lower portion of tether 640, closer to vehicle coupling 650, and vehicle coupling 650 itself, advances along tether path 622C defined between lower tether guide edges 620D and 620C. If UAV 630 had landed in a location such that the upper portion of tether 640 terminated through channel 615B or 615C, the lower portion of tether 640 and vehicle coupling 650 would advance along tether path 622B. Additionally, if UAV 630 had landed in a location such that the upper portion of tether 640 terminated through channel 615A, the lower portion of tether 640 and vehicle coupling 650 would advance along tether path 622A. Figure 6B As shown, at this point, while UAV 630 has one heading along the flight path (e.g., directly from right to left on the page), vehicle coupling 650 and a portion of tether 640 are traveling along tether path 622C at a different heading. Tether path 622C guides tether 640 so that vehicle coupling 650 will reach target location 690.

[0168] Figure 6C and Figure 6D 6 is a different view depicting UAV 630 in the same position. UAV 630 has traveled past landing platform 610, and as UAV 630 travels, payload coupling device 650 reaches target location 690. Tether 640 travels along tether path 622C as it is directed and guided by lower tether guide edge 620D of the tether guide. Figure 6D (Top view of payload loading system 600), UAV 630 is not perpendicular to payload coupling 650 and target location 690. Thus, in some examples, without using the lower edge of the tether guide, payload coupling 650 would be positioned directly below UAV 630 and not within target location 690. Thus, Figures 6A-6D Various elements are provided as examples of how a tether guide can guide a tether so that a vehicle coupling device reaches a target location, even if the UAV is not directly over the target location. The vehicle loading system provides the features needed to position a vehicle coupling device at a target location.

[0169] Figure 7 Another embodiment of a payload loading system 700 is depicted. The payload loading system 700 includes a plurality of UAVs 730 and a loading structure 702. The loading structure 702 includes a landing platform 710 and a plurality of landing pads 713. The payload loading structure 700 may include a similar Figures 6A-6D The carrier loading structure 600 provided in Figure 5 The payload loading structure 500 and / or Figures 4A-4C Components of payload loading structure 400 are provided in

[0065] , even if those components are not explicitly labeled. Additionally, features of payload loading structure 700 may be similar in form and function to components of payload loading structure 600, payload loading structure 500, and / or payload loading structure 400. For example, loading structure 702 and UAV 730 may be similar to Figures 6A-6D The loading structure 602 and the UAV 630.

[0170] Each UAV 730 includes a tether 740 and a payload coupling 750. The UAV 730 is positioned on one of a plurality of landing pads 713. While in contact with the landing pad, the UAV 730 can charge its battery and perform other tasks described herein. A plurality of tether guides 705 (one for each landing pad 713) are configured such that when one of the UAVs 730 is on the landing pad 713, the tether guides 705 maintain alignment of the tether 740 so that the payload coupling 750 is within a target location.

[0171] Furthermore, when one of the UAVs 730 lands on one of the landing pads 713, the edges and angles of the tether guide 705 direct or funnel the tether 740 to the apex 706 of the tether guide 705. Apex 706 is where the first edge 709A of the tether guide 705 and the second edge 709B of the tether guide 705 meet. The first edge 709A and the second edge 709B can be constructed of a low-friction material, allowing the tether 740 to be guided and positioned more easily by the tether guide 705. The positioning of the tether 740 at the apex 706 of the tether guide 705 can limit any movement of the tether 740 and the payload coupling 750. In other examples, the apex 706 can include rollers configured to rotate as the tether 740 is reeled in or unreeled during the loading or unloading process. Additionally, the rollers at the apex 706 (or another sensing feature in other embodiments) can enable the winch system of the UAV 730 to sense or determine that a payload has been loaded onto or unloaded from the payload coupling 750. Furthermore, regardless of the heading or orientation of the UAV 730, whenever the UAV 730 lands on one of the landing pads 713, the tether 740 will hang from the apex 706 of the tether guide 705.

[0172] The landing platform 710 can be coupled to a side or wall of a merchant module. For example, Figure 7 The landing platform 710 depicted in FIG can be coupled to a warehouse wall such that the landing platform 710 extends outwardly away from the wall like a cantilever. One advantage of the landing platform 710 is that it can be easily installed on existing structures with minimal impact. Furthermore, while three landing pads 713 with three UAVs 730 are shown, more or fewer UAVs 730 and landing pads 713 are contemplated herein.

[0173] Figures 8A-8C A payload loading system 800 is shown. The payload loading system 800 includes a plurality of UAVs 830 and a loading structure 802. The loading structure 802 includes a landing platform 810 and a plurality of landing pads 813. The payload loading structure 800 may include a similar Figure 7 The carrier loading structure 700 provided in Figures 6A-6D The carrier loading structure 600 provided in Figure 5 The payload loading structure 500 and / or Figures 4A-4C Components of payload loading structure 400 are provided in

[0065] , even if those components are not explicitly labeled. Additionally, features of payload loading structure 800 may be similar in form and function to components of payload loading structure 700, payload loading structure 600, payload loading structure 500, and / or payload loading structure 400. For example, loading structure 802 and UAV 830 may be similar to Figure 7 The loading structure 702 and the UAV 730.

[0174] Figure 8A Depicted is a loading platform 810 and a tether guide 805 of loading structure 802. Tether guide 805 is coupled to loading platform 810. Furthermore, tether guide 805 is conical in shape. Tether guide 805 may have an edge 809. Tether guide 805 may be coupled to loading platform 810 at edge 809. Edge 809 may be circular in shape.

[0175] The conical tether guide 805 extends downward from the landing platform 810 toward the target location. The tether guide 805 includes a first conical portion 825, a middle portion 827, and a second conical portion 829. The first conical portion 825, the middle portion 827, and the second conical portion 829 are concentric. The first conical portion 825 is coupled to the landing platform 810 at the proximal end of the first conical portion 825. In addition, the diameter of the first conical portion 825 at the proximal end of the first conical portion 825 is greater than the diameter of the first conical portion 825 at the distal end of the first conical portion 825. The proximal end of the second conical portion 829 can be coupled to the distal end of the first conical portion 825. In other examples (such as Figures 8A-8C 829), the distal end of the first tapered portion 825 may be coupled to the intermediate portion 827. Also, the proximal end of the second tapered portion 829 may be coupled to the intermediate portion 827. The intermediate portion 827 is cylindrical and may extend vertically between the first tapered portion 825 and the second tapered portion 829. The intermediate portion 827 may have a diameter equal to that of the distal end of the first tapered portion 825.

[0176] In addition, the diameter of the proximal end of the second tapered portion 829 may be the same as the diameter of the distal end of the first tapered portion 825. The diameter of the distal end of the second tapered portion 829 is greater than the diameter of the proximal end of the second tapered portion 829.

[0177] like Figure 8B As depicted in FIG, loading structure 802 may also include merchant module 803. Merchant module 803 may include a food truck, a building, a warehouse, a retail store, and other possibilities. Landing platform 810 and tether guide 805 may be coupled to and / or mounted within merchant module 803. UAV 830 may land on landing pad 813 on landing platform 810 in such a manner that a payload coupling device 850, coupled to a tether 840 of one of UAVs 830, is positioned within conical tether guide 805. Tether 840 may extend from UAV 830 through tether guide 805 to target location 890.

[0178] like Figure 8CAs provided in

[0065] , when the UAV 830 approaches the landing platform 810, the vehicle coupling device 850 can be directed or guided to the target location 890 within the merchant module 803. The tapered design of the tether guide 805 (particularly the outward taper of the second tapered portion 829 described above) allows the vehicle coupling device 850 and the vehicle coupled thereto to enter and exit the merchant module 803 and the tether guide 805 without becoming caught on the edge of the tether guide 805. In an example, the tether 840 can be suspended from the distal end of the first tapered portion 825. In other words, when the vehicle is loaded onto or unloaded from the vehicle coupling device 850, the tether 840 can contact the conical tether guide 805 at the distal end of the first tapered portion 825. In some embodiments, the distal end of the first tapered portion 825 and the proximal end of the second tapered portion 829 can be the same.

[0179] The vehicle loading system 800 may allow for grouping of multiple vehicle attachment devices at one location in a single tie, such as the destination location 890. This configuration may be preferred by certain merchants or other users based on the need to integrate the vehicle loading system to utilize UAV delivery services and the space available for such integration.

[0180] Continue, Figure 9A and Figure 9B A payload loading system 900 is depicted. The payload loading system 900 may be similar to Figures 4A-4C 900. Additionally, loading structure 902, UAV access opening 907, passageway 915, UAV 930, and payload 960 may all be similar to the components disclosed within payload loading system 400. Additionally, landing platform 910 may be similar in some respects to landing platform 410.

[0181] Figure 9A and Figure 9B The landing platform 910 further includes a first hinged door 911A, a first spring 912A, a second hinged door 911B, and a second spring 912B. When the UAV 930 leaves the loading structure 902 with the payload 960, the first hinged door 911A and the second hinged door 911B can be opened. In some examples, the UAV 930 can fly forward with the tether extended so that the tether passes through the rest of the channel 915. Once in flight and out of the loading structure 902, the UAV 930 can retract the tether using the winch system. However, as Figure 9A and Figure 9B As depicted, in another embodiment, the UAV 930 may begin hovering above the landing platform 910 and retract the tether so that the tether pulls the payload 960 through the hinged doors 911A-911B.

[0182] In some examples, springs 912A-912B can be coupled to hinged doors 911A-911B, respectively. When hinged doors 911A-911B are downward, springs 912A-912B can be in a compressed state, so that when payload 960 is pulled, hinged doors 911A-911B exert less force on payload 960 than hinged doors 911A-911B would otherwise exert. In some embodiments, UAV 930 can hover until payload 960 is fully retracted upward into UAV 930, while in other embodiments, UAV 930 can begin to fly forward while the tether is retracted and / or payload 960 is still being pulled past hinged doors 911A-911B. Other modes of takeoff and departure from the loading structure are also contemplated.

[0183] Figure 10 A vehicle loading system 1000 is depicted within a warehouse 1070. Vehicle loading system 1000 may include similar components and functionality as other vehicle loading systems disclosed herein. Furthermore, vehicle loading system 1000 may be considered an example implementation of a vehicle loading system disclosed herein within a different merchant module (i.e., warehouse 1070). Vehicle loading system 1000 includes a loading structure 1002, which further includes a tether guide 1005, a landing platform 1010, and a landing pad 1013. Warehouse 1070 may include one or more openings 1007 for UAVs to enter and exit warehouse 1070 to deliver and pick up various vehicles. In some examples, warehouse 1070 may be a distribution center for UAV delivery services. Furthermore, loading structure 1002 includes a plurality of docking stations 1014 for charging, maintaining, and otherwise preparing UAVs for use in UAV delivery services.

[0184] Figure 11 A vehicle loading system 1100 is depicted within a warehouse 1170. The vehicle loading system 1100 may include similar components and functionality as other vehicle loading systems disclosed herein. The vehicle loading system 1100 includes a loading structure 1102 coupled to a plurality of modules 1103. Each module 1103 may include, among other examples, a commodity to be distributed via a UAV delivery service. UAVs may enter and exit the warehouse 1170 through one or more openings 1107. The loading structure 1102 further includes a plurality of tether guides 1105, a landing platform 1110, and a plurality of landing pads 1113. Additionally, the vehicle loading system 1100 includes a plurality of docking stations 1114 on a UAV docking structure 1180 for charging, maintaining, and otherwise preparing the UAVs for use in the UAV delivery service.

[0185] Additionally, a method for loading a payload onto a UAV is disclosed. Figure 12 1 is a simplified block diagram illustrating a method 1200 for loading a payload onto a UAV according to an example embodiment. It should be understood that example methods (such as method 1200) may be performed by an entity or combination of entities (i.e., by other computing devices and / or combinations thereof) without departing from the scope of the present invention.

[0186] For example, the functionality of method 1200 may be performed entirely by a machine, a human operator, a computing device (or components of a computing device, such as one or more processors or controllers), or may be distributed across multiple components of a computing device, across multiple computing devices, and / or across servers. In some examples, the computing device may receive information from input commands initiated by an operator, sensors of the computing device, or from other computing devices that collect information.

[0187] As indicated by block 1202, method 1200 includes the UAV traveling over at least a portion of a landing platform. In an example, the landing platform may be coupled to a loading structure. The loading structure may be part of a vehicle loading system and may also be part of a UAV delivery service. The loading structure and landing platform may be coupled to an existing structure, or in other examples, may be installed as a new structure. The loading structure and landing platform may be located in a merchant module, a food truck, a warehouse, a distribution center, a residence, a community, or other locations.

[0188] As indicated by block 1204, method 1200 further includes guiding the tether so that the vehicle coupling device reaches the target location. The tether is guided by a tether guide coupled to the loading structure. The vehicle coupling device can be coupled to the tether, and the tether can be coupled to the UAV. When the tether is guided by the tether guide, the tether can be extended from the UAV.

[0189] As indicated by block 1206, method 1200 further includes loading the payload.When the payload and the payload coupling device are within the target location, the payload is loaded onto the UAV by coupling the payload to the payload coupling device.

[0190] Method 1200 may further include additional aspects. For example, method 1200 may include positioning at least a portion of the tether within an opening in the stowage structure as the UAV approaches the stowage structure. In another example, method 1200 may include positioning the payload coupling device within the stowage structure's opening as the UAV approaches the stowage structure. Positioning the tether and / or payload coupling device as the UAV approaches may be performed by the UAV in flight. Positioning the tether and / or payload coupling device may be performed by the UAV as a check of the UAV's alignment and orientation relative to the landing platform. Furthermore, positioning the tether and / or payload coupling device may serve as a check that the tether is aligned so that it will flow and be guided through a tether guide, similar to flowing through a funnel. Furthermore, method 1200 may include maintaining tether alignment by the UAV and the tether guide as the payload is loaded onto the UAV.

[0191] Method 1200 may further include charging a battery of the UAV when the UAV lands on the landing platform. In other examples, the UAV may be charged while the UAV is in contact with a landing pad within the landing platform. In other embodiments, method 1200 may include unloading a first payload from the payload coupling device before loading a second payload. Method 1200 may also include extending the tether by the UAV to a length such that the payload coupling device is below the tether guide when the UAV approaches and / or travels past the landing platform.

[0192] In other embodiments, the method 1200 may include more or fewer blocks and blocks that perform the various functions described herein. Furthermore, although the blocks are described herein in a particular order, other orders of the various blocks are also contemplated herein.

[0193] VI. Conclusion

[0194] It should be understood that the arrangement described herein is for illustrative purposes only. Thus, those skilled in the art will appreciate that other arrangements and other elements (such as machines, interfaces, operations, commands, and operation groups, etc.) may be used alternatively, and some elements may be omitted entirely, depending on the desired result. In addition, many of the elements described are functional entities that may be implemented as discrete or distributed components or in combination with other components in any appropriate combination and position, or other structural elements described as independent structures may be combined.

[0195] Although various aspects and implementations have been disclosed herein, other aspects and implementations will be apparent to those skilled in the art. The various aspects and implementations disclosed herein are for illustrative purposes only and are not intended to be limiting, with the true scope being indicated by the appended claims and the full range of equivalents to which such claims are entitled. It will also be understood that the terminology used herein is for the purpose of describing particular implementations only and is not intended to be limiting.

Claims

1. A carrier loading structure, comprising: a landing platform for an unmanned aerial vehicle, wherein the unmanned aerial vehicle includes a retractable tether, the retractable tether being connectable to a vehicle at a vehicle coupling device, the vehicle coupling device being coupled to the retractable tether, wherein the landing platform includes a channel, the channel being a slot in the landing platform; and a tether guide coupled to the landing platform, wherein when the unmanned aerial vehicle approaches the landing platform, the tether guide is configured to contact the retractable tether extending from the unmanned aerial vehicle to guide the extended retractable tether into the channel, so that when the unmanned aerial vehicle travels over the landing platform, the retractable tether extending from the unmanned aerial vehicle passes through a portion of the channel and is guided by the portion of the channel so that the vehicle coupling device reaches a target location where a payload can be loaded onto or unloaded from the vehicle coupling device, The channel extends through the entire landing platform so that after the payload is loaded onto or unloaded from the payload coupling device, the retractable tether extending from the unmanned aerial vehicle passes through the remainder of the channel when the unmanned aerial vehicle leaves the payload loading structure.

2. The payload loading structure of claim 1 , wherein the tether guide comprises at least one edge of at least a portion of the payload loading structure, wherein the at least one edge is at an angle relative to a heading of the unmanned aerial vehicle as the unmanned aerial vehicle approaches the landing platform.

3. The payload stowage structure of claim 2, wherein the edge of the tether guide guides the retractable tether along a directional heading different from the heading of the unmanned aerial vehicle.

4. The vehicle loading structure of claim 1, wherein the vehicle loading structure further comprises an opening, and further wherein the tether guide guides the retractable tether such that the vehicle coupling device passes through the opening of the vehicle loading structure.

5. A payload loading structure according to claim 4, wherein the opening of the payload loading structure is located in a wall of a merchant module.

6. The vehicle loading structure of claim 1 , wherein the tether guide defines a plurality of tether paths, wherein when the unmanned aerial vehicle travels past the landing platform, the retractable tether advances along one of the tether paths, wherein each of the plurality of tether paths guides the retractable tether so that the vehicle coupling device reaches the target location.

7. A carrier loading structure according to claim 6, wherein the landing platform includes a plurality of platform sections and at least one channel, the at least one channel including the channel, wherein each channel of the at least one channel is between two of the platform sections.

8. The vehicle stowage structure of claim 6, wherein when the UAV travels past the landing platform, the heading of the UAV is different from the direction in which the retractable tether travels within at least a portion of the tether path.

9. The payload stowage structure of claim 1, wherein the landing platform includes a plurality of hinged doors, and further wherein the hinged doors open when the unmanned aerial vehicle leaves the payload stowage structure with the payload.

10. The payload stowage structure of claim 1, wherein the tether guide is configured to receive more than one tether from more than one unmanned aerial vehicle at a time.

11. The vehicle loading structure of claim 1, wherein the landing platform comprises a plurality of landing pads, wherein the unmanned aerial vehicle is charged when in contact with one of the plurality of landing pads.

12. The payload loading structure of claim 1, wherein the target position is in an ergonomic position for a user to load or unload payloads.

13. A carrier loading system, comprising: An unmanned aerial vehicle comprising a retractable tether, wherein a distal end of the tether is coupled to a vehicle coupling device and a proximal end of the tether is coupled to the unmanned aerial vehicle; as well as A carrier loading structure according to any one of claims 1 to 12.

14. A method for loading a payload onto an unmanned aerial vehicle, comprising: traveling by the unmanned aerial vehicle over at least a portion of a landing platform coupled to a stowage structure, wherein the landing platform includes a passageway, the passageway being a slot in the landing platform, wherein the passageway extends through the entirety of the landing platform; guiding a retractable tether by a tether guide coupled to the stowage structure, the retractable tether extending from the unmanned aerial vehicle and coupled to the unmanned aerial vehicle at a proximal end of the tether, wherein the tether guide guides the retractable tether into the channel by contact of the extended retractable tether with the tether guide so that the retractable tether extending from the unmanned aerial vehicle passes through a portion of the channel and is guided by the portion of the channel so that a vehicle coupling device coupled to a distal end of the tether reaches a target location when the unmanned aerial vehicle travels over the landing platform; as well as loading the vehicle onto the unmanned aerial vehicle by coupling the vehicle to the vehicle coupling device while the vehicle coupling device is within the target location; as well as The UAV exits the stowage structure, wherein the retractable tether extending from the UAV passes through a remainder of the passageway as the UAV exits the stowage structure.

15. The method according to claim 14, further comprising: When the unmanned aerial vehicle approaches the loading structure, the vehicle coupling device is positioned within the opening of the loading structure by the unmanned aerial vehicle.

16. The method according to claim 14, further comprising: The retractable tether is extended to a length by the unmanned aerial vehicle so that the carrier coupling device is below the tether guide when the unmanned aerial vehicle approaches the landing platform.

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