Landing and payload loading structure

Abstract

An example UAV landing structure includes a landing platform for a UAV, a cavity within the landing platform, and a track extending along at least a portion of the landing platform and the cavity. The UAV can include a winch system including a tether couplable to a payload. Further, the cavity can be aligned over a predetermined target location. The cavity can be sized to allow the winch system to pass the tethered payload through the cavity. The track can guide the UAV to a docking location over the cavity as the UAV moves along the landing platform. The payload can be loaded to or unloaded from the UAV through the cavity when the UAV is in the docking location.

Description

[0001] This application is a divisional application of the patent application filed on October 20, 2017, with application number 201780083510.1 and entitled "Landing and Payload Loading Structure".

[0002] Cross-reference to related applications

[0003] This application claims the benefit of U.S. Application No. 15 / 358935, filed November 22, 2016, the entire contents of which are expressly incorporated herein by reference. Technical Field

[0004] This application relates to landing and payload loading structures. Background Technology

[0005] Driverless vehicles (also known as autonomous vehicles) are vehicles capable of operating without a physically present human operator. Driverless vehicles can operate in remote control mode, autonomous mode, or partially autonomous mode.

[0006] When an unmanned vehicle operates in remote control mode, a pilot or driver located at a remote location can control the vehicle by sending commands via a wireless link. When operating in autonomous mode, the unmanned vehicle typically moves based on pre-programmed navigation waypoints, dynamic automated systems, or a combination of these. Furthermore, some unmanned vehicles can operate in both remote control and autonomous modes, and in some cases, simultaneously. For example, as an example, a remote pilot or driver might want to leave navigation to the autonomous system while manually performing another task, such as operating a mechanical system for picking up objects.

[0007] Various types of unmanned vehicles exist for diverse environments. For example, there are unmanned vehicles that operate in the air, on land, underwater, and in space. Examples include quadcopter helicopters and vertical takeoff and landing (UAVs). Unmanned vehicles also exist for hybrid operations capable of operating in multiple environments. Examples of hybrid unmanned vehicles include amphibious vehicles capable of operating on both land and water, or seaplanes capable of landing on both water and land. Other examples are also possible. Furthermore, unmanned vehicles may require physical landing structures to pick up or drop payloads for battery charging or other tasks. Summary of the Invention

[0008] This application discloses an embodiment of an unmanned aerial vehicle (UAV) landing structure. With the increasing prevalence of UAVs, dedicated landing structures are essential to support UAV delivery services. For example, a structure capable of loading and unloading payloads from a UAV can help businesses seek to utilize UAV delivery services in their operations. To facilitate payload delivery, the UAV can land on an elevated landing platform and lower the payload through a cavity within the platform. Additional equipment or systems can be included within the landing structure to orient the UAV or components of the UAV so that the UAV can pick up or drop the payload. For example, a track can be attached to the landing platform to position the UAV above the cavity. In another example, a track can be attached to the landing platform to align the UAV's tether with the payload below the landing platform. The example landing structures described herein can be mounted on a freestanding support structure or on existing structures such as exterior building walls, roofs, lampposts, base stations, etc. Advantageously, the landing structures described herein can be installed in various locations without disrupting the daily lives of businesses, customers, or others, while increasing access to UAV delivery services for the same business, customer, or others.

[0009] In at least one embodiment, an apparatus is described. The apparatus includes a landing platform for a UAV, a cavity within the landing platform, and a track extending along at least a portion of the landing platform and the cavity. The UAV includes a winch system comprising a tether connectable to a payload. Furthermore, the cavity is aligned at a predetermined target location. Moreover, the cavity is sized to allow the winch system to pass the tethered payload through the cavity. Additionally, the track guides the UAV to a docking position where the tether is positioned above the cavity. When the UAV is in the docking position, the tether can raise or lower the payload through the cavity.

[0010] In another embodiment, a system is described. The system includes a winch system for a UAV and a landing platform. The winch system for the UAV includes a tether connectable to a payload. Furthermore, the landing platform includes a cavity and a track extending along at least a portion of the landing platform and the cavity. Additionally, the cavity is aligned at a predetermined target location. The cavity is sized to allow the winch system to pass the tethered payload through the cavity. As the UAV moves along the landing platform, the track guides the UAV to a docking position above the cavity. When the UAV is in the docking position, a payload can be loaded into or unloaded from the UAV through the cavity.

[0011] In another embodiment, a method is described. The method includes landing a UAV on a landing platform, engaging the UAV with a track extending along the landing platform and along at least a portion of a cavity within the landing platform, the track guiding the UAV to a docking position above the cavity, and then, while the UAV is in the docking position, loading a payload into or unloading a payload from the UAV through the cavity. The UAV includes a winch system comprising a tether connectable to the payload. Furthermore, the cavity is aligned at a predetermined target location and is sized to allow the winch system to pass the payload through the cavity.

[0012] In another aspect, a different system is described. This system includes means for landing a UAV on a landing platform, means for engaging a track extending along the landing platform and along at least a portion of a cavity within the landing platform, means for guiding the UAV to a docking position above the cavity, and means for loading a payload into or unloading a payload from the UAV through the cavity while the UAV is in the docking position. The UAV includes a winch system comprising a tether connectable to the payload. Furthermore, the cavity is aligned at a predetermined target location and is sized to allow the winch system to pass the tethered payload through the cavity.

[0013] These and other aspects, advantages, and alternatives will become apparent to those skilled in the art upon reading the following detailed description and referring to the appropriate accompanying drawings. Attached Figure Description

[0014] Figure 1 An unmanned aerial vehicle (UAV) on a loading structure according to an example embodiment is depicted.

[0015] Figure 2A A UAV on a loading structure according to an example embodiment is depicted.

[0016] Figure 2B A UAV on a loading structure according to an example embodiment is depicted.

[0017] Figure 3A A UAV on a loading structure according to an example embodiment is depicted.

[0018] Figure 3B A UAV on a loading structure according to an example embodiment is depicted.

[0019] Figure 4 This is a simplified block diagram of a UAV system and a landing structure system according to an example embodiment.

[0020] Figure 5 This is a flowchart of a method for loading / unloading payloads from a UAV according to an example embodiment.

[0021] Figure 6 A UAV on a loading structure according to an example embodiment is depicted.

[0022] Figure 7 Multiple UAVs on a loading structure according to an example embodiment are depicted.

[0023] Figure 8 Multiple UAVs on a loading structure according to an example embodiment are depicted.

[0024] Figure 9 Multiple UAVs on multiple loading structures according to example embodiments are depicted.

[0025] Figure 10 A UAV on a loading structure according to an example embodiment is depicted.

[0026] Figure 11A A UAV is depicted landing and positioning above a cavity on a loading structure according to an example embodiment.

[0027] Figure 11B A UAV is depicted landing and positioning above a cavity on a loading structure according to an example embodiment.

[0028] Figure 11C A UAV is depicted landing and positioning above a cavity on a loading structure according to an example embodiment.

[0029] Figure 11D A UAV is depicted landing and positioning above a cavity on a loading structure according to an example embodiment.

[0030] Figure 11E A UAV is depicted landing and positioning above a cavity on a loading structure according to an example embodiment.

[0031] Figure 11F A UAV is depicted landing and positioning above a cavity on a loading structure according to an example embodiment.

[0032] Figure 11G A UAV is depicted landing and positioning above a cavity on a loading structure according to an example embodiment.

[0033] Figure 12A This is a simplified illustration of a UAV based on an example embodiment.

[0034] Figure 12B This is a simplified illustration of a UAV based on an example embodiment.

[0035] Figure 12C This is a simplified illustration of a UAV based on an example embodiment.

[0036] Figure 12D This is a simplified illustration of a UAV based on an example embodiment.

[0037] Figure 12E This is a simplified illustration of a UAV based on an example embodiment.

[0038] Figure 13 This is a simplified block diagram illustrating the components of a UAV according to an example embodiment.

[0039] Figure 14 This is a simplified block diagram illustrating a UAV system according to an example embodiment. Detailed Implementation

[0040] This document describes example devices, methods, and systems. Any example embodiments or features described herein are not necessarily to be construed as preferred or advantageous over other embodiments or features. The example embodiments described herein are not intended to be limiting. It will be readily understood that certain aspects of the disclosed systems and methods can be arranged and combined in a variety of different configurations, all of which are considered herein.

[0041] Furthermore, the specific arrangements shown in the figures should not be considered limiting. It should be understood that other embodiments may include more or fewer of each element shown in the given figures. Additionally, some of the shown elements may be combined or omitted. Furthermore, exemplary embodiments may include elements not shown in the figures.

[0042] I. Overview

[0043] This embodiment relates to a landing and loading structure (also referred to herein as a "landing structure") for an unmanned aerial vehicle (UAV). Here, the terms "unmanned aerial vehicle" and "UAV" refer to any autonomous or semi-autonomous aircraft capable of performing certain functions without the physical presence of a human pilot. UAVs can take various forms. For example, among other possibilities, UAVs can take the form of: fixed-wing aircraft, gliders, vertical takeoff and landing aircraft, jet aircraft, ducted fan aircraft, light airships such as airships or controllable balloons, rotorcraft such as helicopters or multi-rotor aircraft, and / or bird-like aircraft. In some aspects, UAVs may have vertical takeoff and / or landing capabilities. Furthermore, the terms "unmanned aerial vehicle," "unmanned aerial vehicle system" (UAVS), or "unmanned aviation system" (UAS) may also be used to refer to UAVs.

[0044] UAVs are increasingly being used across various industries to retrieve, carry, and deliver payloads. Therefore, infrastructure is needed at pick-up and drop-off locations so that businesses, customers, and other users can utilize UAV delivery services. UAV landing structures can provide known, dedicated, safe landing areas for one or more UAVs to land, pick up, and / or drop payloads. Furthermore, while on a landing structure, a UAV may be able to perform various other tasks, such as recharging or replacing batteries, and uploading or downloading information from a network.

[0045] UAVs can be used to deliver or retrieve payloads to or from individuals or businesses (such as restaurants delivering food to customers in their homes). A business's premises may include a landing structure for the UAV. The landing structure may include a predetermined target location containing the payload for pickup. In other examples, the predetermined target location may include a platform or other part of the landing structure for the UAV to deploy the payload. Thus, the target location can be identified by the UAV as a mission destination, such as a delivery pickup or deployment.

[0046] In at least one example, the vendor can load the payload onto or inside a loading area of ​​a landing structure located on the ground. The vendor can enter details about the payload or delivery on a user interface connected to the ground-based structure. Upon arrival at the landing structure, the UAV can land on a landing platform above the loading area of ​​the landing structure. The structure and / or components of the UAV can then load the payload onto the UAV for delivery. Loading the payload may include securing the payload to tethers and possibly raising the payload onto the UAV.

[0047] After loading the payload, the UAV can then fly to another predetermined target location, which may include another landing structure. In the example, the predetermined target location could be a specific location such as a customer's house, or near a location such as a customer's neighbor, allowing the customer to pick up the payload from the UAV. Upon arrival at the predetermined target location, the UAV can land on the landing structure. The structure and / or the UAV can then transport the payload to the loading / unloading area of ​​the structure located on or near the ground, making the payload easily accessible to the customer. Therefore, UAV landing and loading structures can provide businesses and customers with new ways to utilize UAV delivery services.

[0048] Landing structures can be permanent, freestanding, attached to or integrated into existing structures (such as building walls, lampposts, base stations, etc.), and / or even mobile (such as UAV landing structures attached to trucks). Example landing structures may include a landing platform located at a buffer distance above average human height, allowing businesses, customers, and others to move freely around the landing structure without being obstructed or hindered by the landing platform or UAV. Raising the landing platform to a buffer distance above human height prevents injury to people and / or damage to the UAV or other structures. In other embodiments, the landing platform may be located at a buffer distance away from human interaction. This buffer distance may include horizontal and / or vertical distances, ensuring a safe distance between people around the landing platform and any UAV landing or taking off. The buffer distance can also be considered a safety distance.

[0049] The landing platform may include cavities within the platform to allow the UAV to dock with a payload. Additionally, the landing platform may include tracks or other alignment features that position the UAV or its components above the cavity, aligning the UAV or its components to pick up or deploy the payload. For example, tracks may guide the UAV to a docking position above the cavity of the landing platform, allowing the UAV to load or unload the payload through the cavity.

[0050] If the UAV is not properly aligned above the cavity, it may be unable to access the loading area or payload below the landing platform. Therefore, the UAV may need to be oriented upon landing so that it is aligned above the cavity at the docking position. However, when the UAV lands on the landing platform, it may be difficult to control its orientation or alignment using only its power. For example, using a UAV steering controller may not be precise enough to correctly orient the UAV on the landing platform for loading / unloading. Furthermore, using the UAV's controller while on the landing platform could damage the UAV or the surrounding environment. Therefore, attaching a rail to the landing platform to guide the UAV reduces the need for high-precision steering and control of the UAV while it is on the landing platform.

[0051] Advantageously, the UAV landing and loading structure can provide access to UAV delivery services to more people. Furthermore, the elevated landing platform reduces the risk of injury to humans. Additionally, the inherent characteristics of the landing structure allow it to be installed in various locations without disrupting the daily lives of people in the surrounding area.

[0052] II. Example UAV landing and payload loading infrastructure

[0053] Now refer to the attached diagram, Figure 1A scenario is shown with a landing structure 100 installed at a merchant location (such as a restaurant or warehouse). Figure 1 A landing structure 100 is depicted near a business location, such as outside a restaurant's front door. The landing structure 100 may include a landing platform 105, a payload platform 140, a user interface 139, and a vertical support structure 145. The payload platform 140 can carry the payload 135. Furthermore, the landing platform 105 may include a cavity 115 and can be coupled to the vertical support structure 145 at its bottom. A UAV 125 is also shown, which lands on or remains on... Figure 1 The UAV125 may include a winch system on landing platform 105. Figure 1 (not shown), which includes a tether that can be connected to the payload 135. Figure 1 (Not shown in the image). In this example, the winch system may be located inside or attached to the underside of the UAV125. The tether may be connected to the payload 135 using the payload coupling device 130.

[0054] Furthermore, the landing structure 100 at the merchant location may include a predetermined target location. The landing structure 100 may be referred to as a dedicated landing location for UAV 125 and other UAVs. More specifically, the predetermined target location may include a payload platform 140 within the landing structure 100. In other embodiments, a loading or unloading area including one or more payloads (such as payload 135) may be designated as the predetermined target location.

[0055] In one example, payload 135 may be mounted on payload platform 140 at or near a ground plane, which may be located at or near a user interface 139. The ground plane can be considered as being at a height along the vertical support structure 145 that is easily accessible to a person standing on the ground, such as three to five feet. At the ground plane, the vertical support structure 145 of landing structure 100 may include a user interface 139 for merchants, customers, or other UAV delivery service users. Users can input various parameters or characteristics into the computer system of landing structure 100 at the user interface 139. These characteristics input at the user interface 139 may include details about payload 135, such as its size, weight, and / or contents. Other characteristics that may be input at the user interface 139 may include delivery logistics, such as the address of the delivery station, delivery time, or pickup time.

[0056] The payload 135 can travel vertically up and down along the vertical support structure 145 on the payload platform 140 between the ground plane and the loading level. The payload platform 140 can be movably coupled to the vertical support structure 145. The loading level can be vertical or horizontal, wherein the payload 135 is connected and / or coupled to the payload coupling device 130 of the UAV 125. In some embodiments, the loading level can be at or near the bottom of the landing platform 105. In other embodiments, the loading level can be along half or three-quarters of the distance of the vertical support structure 145. In even other embodiments, the loading level can be at the same level as the ground plane, and the payload platform 140 can remain stationary.

[0057] At the loading level, the payload 135 can be secured to the UAV 125 using the payload coupling 130. The payload 135 can pass through the cavity 115 to reach the payload coupling 130. In other examples, the payload 135 and the payload coupling 130 can pass through the cavity 115 together. In this case, the payload coupling 130 can be attached to a first end of a tether, and the second end of the tether can be attached to a winch system located within the UAV 125. The UAV 125 can be vertically lowered and raised to reach and engage the payload 135. Therefore, the cavity 115 can be sized to allow the winch system to allow the tethered payload 135 and / or the payload coupling 130 to pass through the cavity 115.

[0058] The payload coupling device 130 may include features such as a hook, capsule, or shell (or combinations thereof) configured to engage with the payload 135. The payload 135 may also include a handle or hooking mechanism for engagement with the payload coupling device 130. The payload coupling device may include other mechanical or electromechanical features.

[0059] Landing structure 100 may also include additional features, such as an outer shell on all or part of structure 100, to protect against weather-related elements, such as wind, rain, snow, or extreme temperatures. In the example, the outer shell may provide temperature control for payload 135 where it may be sensitive to temperature changes. For example, payload 135 may be a hot food delivery vehicle, and payload platform 140 may include a heated outer shell to keep payload 135 warm. Landing structure 100 may also include additional features, such as railings or doors around payload platform 140, to prevent payload 135 from falling to the ground in the event of gusts of wind or displacement of the contents of payload 135.

[0060] In at least some examples, landing structure 100 may be installed in a public area, which may be a designated UAV delivery service drop-off and / or pickup location. In other examples, landing structure 100 may be installed at a specific address. This location of landing structure 100 may be known to the delivery system and UAV 125. Therefore, the location of landing structure 100 may be considered a known or predetermined target location where a user can dock with UAV 125 to pick up or drop packages or other payloads 135. In some examples, a network of predetermined target locations may exist throughout the entire geographic area known to UAV 125.

[0061] In the example, landing platform 105, more specifically cavity 115, can be mounted such that cavity 115 is aligned at a predetermined target location. Therefore, UAV 125 can simply raise or lower payload 135 vertically to or from the predetermined target location directly below cavity 115. Furthermore, in some examples, landing structure 100, particularly landing platform 105, may include navigation aids configured to transmit signals to the UAV. The navigation aids can provide final landing guidance for UAV 125 and may include reference markers, lights, sounds, radio frequencies, and other signals.

[0062] Landing structure 100 may be part of a system. This system may include UAV 125, landing platform 105, and a control system. Among other examples, the control system may be located at landing structure 100, within UAV 125, or at a remote location. The control system may be configured to perform tasks as part of a loading and / or unloading process. For example, the control system may be configured to instruct UAV 125 to apply a symmetrical forward thrust such that the UAV's landing gear contacts a track on landing platform 105. The symmetrical forward thrust of UAV 125 may allow UAV 125 to glide along landing platform 125 without any active steering by UAV 125. This track may be considered a passive alignment feature, such as a raised track or groove built into landing platform 105. In other respects, the track may be considered an active alignment feature, such as a conveyor belt or a series of conveyor belts. The track may guide UAV 125 over cavity 115.

[0063] Furthermore, the control system can instruct the UAV125 to continue applying forward thrust until the UAV125 reaches the docking position. The control system can also determine whether the UAV125 has reached the docking position and then activate the UAV125's winch system to lower the tether passage cavity 115. The tether can be connected to the payload coupling device 130 at a first end and to the winch system at a second end. Thus, the control system can instruct the winch system to lower the payload coupling device 130 through cavity 115, allowing the payload coupling device 130 to engage with or disengage from the payload 135. The control system can then determine whether the tether has been engaged with or disengaged from the payload 135. Finally, the control system can then activate the winch system to raise the tether back into passage cavity 115.

[0064] Figure 2A and 2B Two additional scenarios are depicted for other embodiments with landing structures 200A and 200B, respectively. Figure 2A In the UAV 225A, the landing structure 200A may include a landing platform 205A and a vertical support structure 245A. Figure 2A As shown, it includes a winch motor 290A, a tether 232A, and a payload coupling device 230A. The components and features of the landing structure 200A can be compared with... Figure 1 The landing structure 100 has the same or similar components and features.

[0065] exist Figure 2A In the scenario shown, UAV 225A has landed on landing platform 205A and tether 232 has been deployed from the winch system within UAV 225A, thereby lowering payload coupling device 230A to near ground level. The winch system within UAV 225A can be operated using winch motor 290A to raise and lower payload coupling device 230A. At ground level, the user can secure payload 235A to payload coupling device 230A. In such an example, ground level can be the same as the loading level. Figure 2A As shown, the payload connection device 230A may include a hook, and the payload 235A may be a bag with a handle that can be positioned to surround the hook of the payload connection device 230A, thereby securing the payload 235A to the payload connection device 230A.

[0066] In one example, after securing payload 235A, winch motor 290A can wind tether 232A, thereby raising payload 235A and payload coupling device 230A to loading platform 205A. Winch motor 290A can continue winding tether 232A, thereby raising payload 235A until payload 235A has completely passed through the cavity of landing platform 205A. Figure 2A (Not shown in the image).

[0067] Similarly, in another example, after UAV 225A lands on landing platform 205A, winch motor 290A can deploy rope 232A and extend it vertically downwards toward the ground, thereby lowering payload 235A. In this case, landing structure 200A may include a predetermined target location, such as a specific location within the vicinity, and the landing platform 205A, particularly a cavity (not shown) of platform 205A, can be aligned above the predetermined target location. Thus, the user wishing delivery can reach the predetermined target location after being notified of the location. The user can then unload payload 235A from payload coupling device 230A located at the ground plane.

[0068] Figure 2A The diagram also shows a vertical support structure 245A. In this example, the vertical support structure 245A can be attached to the exterior wall of a building. In other embodiments, the vertical support structure 245A can be independent. In other embodiments, the vertical support structure 245A can be a street lamppost, base station, or other structure.

[0069] exist Figure 2B In this configuration, the landing structure 200B may include a landing platform 205B, a payload platform 240B, and a vertical support structure 245B. The UAV 225B is also included. Figure 2B As shown, it includes a winch motor 290B, a tether 232B, and a payload coupling device 230B. The components and features of the landing structure 200B can be compared with... Figure 1 Landing structure 100 and Figure 2A The landing structure of the 200A has the same or similar components and features.

[0070] exist Figure 2B In the illustrated embodiment, UAV 225B has landed on landing platform 205B and the tether 232B is deployed using winch motor 290B to lower payload coupling device 235B. Payload coupling device 235B may include mechanisms for opening and / or clamping payload 235B. Payload 235B may be located on payload platform 240B, and payload platform 240B may be located within a cavity of landing platform 205B. Figure 2BBelow (not shown in the image). The payload platform 240B can be movably connected to the vertical support structure 245B, allowing the payload platform 240B to travel vertically between the ground plane (e.g., at a height where the user can initially place the payload 235B on the payload platform 240B) and the loading level. At the loading level, the payload 235B can be secured to the UAV 225B using the payload coupling device 230B. Thus, in at least some examples, the loading level can be at a height higher than the ground plane.

[0071] On one hand, the payload platform 240B can lift the payload 235B to the middle of the vertical support structure 245B and stop there. The payload coupling device 230B can lower the stopped payload 235B, coupling it to the payload 235B, and then raise the payload 235B through a cavity (not shown) of the landing platform 205B. Other combinations of relative movement between the payload platform 240B and the payload coupling device 230B are possible.

[0072] Figure 2A and 2B One aspect depicted is the height of the loading platform 205A-B above the ground and above the user of the landing structure 200A-B. In the example, the bottom of the landing platform 205A-B may be located at a buffer distance above average human height. By positioning the landing platform 205A-B at a buffer distance above humans on the ground, the UAV 225A-B maintains a safer distance from humans on the ground. The UAV 225A-B may include rotors and other heavy components and move at high speeds, thus potentially causing injury to the user or bystander of the landing structure 200A-B. Therefore, by maintaining a buffer distance above average human height, the UAV 225A-B can be safely kept away from humans on the ground. In some examples, the bottom of the loading platform 205A-B may be nine to fifteen feet above the ground. In other examples, the bottom of the loading platform 205A-B may be at a buffer distance between four and ten feet above average human height, such that the landing platform 205A-B is approximately nine to fifteen feet above the ground. In even other embodiments, landing platforms 205A-B may be located at a buffer or safety distance away from human interaction. This buffer distance may be along the vertical and / or horizontal direction from landing platforms 205A-B. Furthermore, the buffer distance may include additional safety features, such as railings or walls to protect humans from the effects of UAV 225A-B during landing or takeoff.

[0073] Figure 3A and 3B An example embodiment of the loading platform 305 is shown. Figure 3A and 3BIt includes a loading platform 305, a landing area 310, a cavity 315, a track 320, at least one stop 322, a UAV 325, a payload connection device 330, a tether 332, and a vertical support structure 345. Figure 3A and 3B The components and features can be with Figure 1 , 2A The components and features are the same as or similar to those in 2B. For example, landing platform 305 can be respectively with... Figure 1 , 2A The landing platforms 105, 205A and 205B are the same as or similar to those of the 2B.

[0074] Figure 3A This is a top view of the loading platform 305A, where the UAV 325 has landed in the landing area 310 of the loading platform 305. The landing area 310 may be a flat or predominantly flat surface, and may have a larger footprint than the UAV 325. In some embodiments, the landing area 310 may be horizontal, while in other embodiments, the landing area 310 may be angled. In some examples, the landing area 310 may be angled such that the downhill slope is in the direction toward the cavity 315. The landing area 310 may include lights, sensors, or other signals that can enable the UAV 325 to identify the landing area 310 of the loading platform 305.

[0075] Cavity 315 provides access to the underside of UAV 325, allowing UAV 325, or particularly its payload coupling device 330, to engage or disengage with a payload that UAV 325 may be picking up or delivering. Furthermore, cavity 315 can be sized to allow the payload and payload coupling device 330 to pass through and mate within cavity 315. Thus, to unload or load a payload, after UAV 325 has landed in landing area 310, UAV 325 may need to glide or move toward cavity 315 so that the payload can be loaded onto or unloaded from the underside of UAV 325. For proper loading or unloading operation, it is important that cavity 315, payload coupling device 330, and payload are aligned along the same or nearly identical vertical axes.

[0076] Because the dimensions of cavity 315 can be configured to accommodate a payload, and because alignment of the payload coupling device 330 with the payload below may be important, the UAV 325 may need to move to a specific location above cavity 315. A specific location and / or area around cavity 315 can be considered a docking position. In at least one embodiment, the UAV 325 can use its own power to travel along land platform 305 to cavity 315. However, land platform 305 may be relatively narrow and may become difficult and require precise steering (via remote control from the user or via an autopilot system) to glide the UAV 325 to the docking position above cavity 315.

[0077] Furthermore, while the UAV 325 may have a desired orientation when it lands on the landing platform 305 (e.g., an orientation in a direction that allows the UAV 325 to simply travel forward to cross the cavity 315 and reach the docking position), the UAV 325 may actually have an orientation different from the desired orientation when it lands on the landing platform 305. For example, as Figure 3A As shown, UAV 325 can be angled to either cavity 315 or track 320 of landing platform 305. This allows UAV 325 to engage with track 320, and track 320 can guide UAV 325 to a docking position above cavity 315. Therefore, only symmetrical or even forward thrust from UAV 325 is required to reach the docking position.

[0078] exist Figure 3B In this configuration, UAV 325 can be positioned in a docking position above cavity 315. UAV 325 can move along landing platform 305 and be guided to the docking position by track 320. The docking position can represent a preferred location and orientation on landing platform 305. When in the docking position above cavity 315, payloads can be loaded or unloaded from UAV 325. In some aspects, when the UAV is in the docking position, tether 332 can be positioned above the cavity, allowing the tether to raise or lower the payload through cavity 315. Furthermore, when in the docking position, UAV 325 can be able to replace or recharge its batteries, and perform other tasks. Additionally, when in the docking position, mechanical constraints such as hooks or flexible straps can prevent UAV 325 from moving or falling off landing platform 325.

[0079] Track 320 may include one or more components or sections. In at least one example, for example, Figure 3A and 3BAs shown, track 320 may include a straight portion of a raised track, which may be located on landing platform 305 near landing area 310. Track 320 may then include a tapered portion of the raised track, which begins from the straight portion and tapers to the edge of cavity 315. Furthermore, track 320 may also include a cavity portion of track extending along at least a portion of cavity 315. In the example, track 320 may be considered to have a “Y” shape. Other geometries of track 320 are also possible to guide UAV 325 to the docking position. For example, depending on the size and shape of landing platform 305 and the location of cavity 315 within platform 305, a generally circular track 320 may be used.

[0080] In the example, such as Figure 3A The UAV 325 shown (i.e., at an angle to cavity 315) can apply forward thrust, and the boom or other components of the UAV 325 can engage the track 320, resulting in the track 320 being able to rotate and orient the UAV 325 such that the track 320 can guide the UAV 325 to a docking position above cavity 315. Engaging the track 320 may include components such as the boom of the UAV 325 contacting the track 320. Guiding the UAV 325 along the track may include rotating the UAV 325 as it moves laterally along the land platform 305, causing the UAV 325 to advance in the desired direction on cavity 315.

[0081] In some respects, track 320 can be a passive alignment feature. For example, track 320 can be built into platform 305, such that track 320 acts as a stationary physical barrier or obstacle. In other respects, track 320 can be an active alignment feature. For example, track 320 can include a conveyor belt or a series of conveyor belts that guide the UAV 325 along platform 305 above cavity 315. Other examples of track 325 are also possible.

[0082] As the UAV 325 advances forward, at least one stop block 322 may be required to mechanically prevent the UAV 325 from traveling beyond the cavity 315. In embodiments, for example, as shown... Figure 3BAs shown, at least one stop block 322 can engage or contact with a component such as the landing gear of a UAV 325, thereby preventing the UAV 325 from continuing forward. At least one stop block 322 may also include features to prevent vertical movement of the UAV 325. Thus, features of the stop block 322 can prevent the UAV 325 from detaching from the platform 305 by gusts of wind or other external forces. In one example, at least one stop block 322 may include a top portion configured to contact the landing gear or another component of the UAV 325 if the UAV 325 experiences gusts of wind or other forces in the vertical direction. In other examples, at least one stop block 322 may surround or capture at least a portion of the landing gear of the UAV 325. At least one stop block 322 may be located at the distal end of the landing platform 305 near cavity 315. In the example, to disengage from at least one stop block, the UAV 325 may reverse its movement so that the landing gear of the UAV 325 is no longer surrounded or captured by at least one stop block 322.

[0083] III. Example Landing Structure System

[0084] Figure 4 This is a simplified block diagram showing the components of the landing structure 400. The landing structure 400 may include components respectively connected to... Figure 1 , 2A Similar elements and features to landing structures 100, 2B, 3A and 3B, landing structures 200A-B and landing platform 305.

[0085] Landing structure 400 may include various types of sensors and may include a computing system configured to provide the functions described herein. Landing structure 400 may include sensor 460, such as sensor 460, to monitor the altitude of the payload platform or the status of the UAV as it lands on landing structure 400.

[0086] In the illustrated embodiment, the landing structure 400 also includes one or more processors 462. The processor 462 may be a general-purpose processor or a special-purpose processor (e.g., a digital signal processor, an application-specific integrated circuit, etc.). The one or more processors 462 may be configured to execute computer-readable program instructions 468 stored in data memory 466 and executable to provide the functionality of the UAV and landing structure described herein.

[0087] Data storage 466 may include or take the form of one or more computer-readable storage media that can be read or accessed by at least one processor 462. 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 integrated integrally or partially with at least one of the one or more processors 462. In some embodiments, data storage 466 may be implemented using a single physical device (e.g., a single optical, magnetic, organic, or other memory or disk storage unit), while in other embodiments, data storage 466 may be implemented using two or more physical devices.

[0088] On the other hand, landing structure 400 may include one or more communication systems 472. Communication system 472 may include one or more wireless interfaces and / or one or more wired interfaces, allowing landing structure 400 to communicate via one or more networks. Such wireless interfaces may provide communication under one or more wireless communication protocols, such as Bluetooth, WiFi (e.g., IEEE 802.11), LTE, WiMAX (e.g., IEEE 802.16), RFID, NFC, and / or other wireless communication protocols. Such wired interfaces may include Ethernet interfaces, Universal Serial Bus (USB) interfaces, or similar interfaces for communication via wires, twisted pairs, coaxial cables, optical links, fiber optic links, or other physical connections to wired networks.

[0089] In some embodiments, landing structure 400 may include a communication system 472 that allows for both short-range and long-range communication. For example, landing structure 400 may be configured for short-range communication using Bluetooth and long-range communication under the CDMA protocol. In such embodiments, landing structure 400 may be configured to act as a "hotspot," or in other words, as a gateway or proxy between the remote support device and one or more data networks (such as cellular networks and / or the Internet). With this configuration, landing structure 400 can facilitate data communication that the remote support device would otherwise be unable to perform independently.

[0090] For example, landing structure 400 can provide WiFi connectivity to remote devices and act as a proxy or gateway to the data network of a cellular service provider to which landing structure 400 may connect, for example, under LTE or 3G protocols. Landing structure 400 can also act as a proxy or gateway to high-altitude balloon networks, satellite networks, or combinations thereof that remote devices may not otherwise access.

[0091] On the other hand, landing structure 400 may include a power system 470. In addition to a forced-wire connection to the power grid, power system 470 may also include one or more batteries. In one example, the one or more batteries may be rechargeable, and each battery may be recharged via a wired connection between the battery and a power source and / or via a wireless charging system (such as an inductive charging system that applies an external time-varying magnetic field to the internal battery). On another front, additional batteries for the UAV may be stored and charged on landing structure 400. Thus, when the UAV is in a docking position on landing structure 400, rechargeable batteries from landing structure 400 can replace the UAV's depleted batteries.

[0092] IV. Example methods for loading and unloading UAVs

[0093] Figure 5 This is a flowchart of an example method 500 for loading or unloading a UAV using a landing structure. Method 500 may include one or more operations, functions, or actions, as shown in one or more of blocks 502, 504, 506, and / or 508, each of which may be performed by any device or system disclosed herein; however, other configurations may also be used.

[0094] Furthermore, illustrative methods, such as method 500, can be performed wholly or partially by components within the UAV landing structure system, such as... Figure 4 The UAV and landing structure system shown includes one or more components. It should be understood that the example methods, such as method 500, can be performed by entities or combinations of entities (i.e., by other computing devices, robotic devices, and / or combinations thereof) without departing from the scope of the invention.

[0095] As shown in box 502, method 500 includes a UAV landing on a landing platform. The landing platform may include cavities and tracks within the platform. The tracks may include one or more portions of raised tracks, or may also include slots cut into the platform. The bottom of the landing platform may be located at a buffer distance above average human height. By maintaining a buffer distance between average human height and the landing platform, landing structures can be installed in various locations while reducing physical interaction between the UAV and people. Because UAVs may include heavy and / or rotating components that could cause personal injury or property damage, safely positioning the landing platform above existing structures can reduce the risk of such personal injury or property damage.

[0096] As shown in box 504, method 500 also includes engaging the UAV on the track. After the UAV lands in the landing area of ​​the landing platform, the engaging track may include the UAV sliding along the platform using symmetrical forward thrust until a component of the UAV, such as a boom located under the UAV's wing, engages the track. The boom engages the track by physically contacting it.

[0097] In the example, the track may extend along the landing platform and along at least a portion of a cavity within the platform. Furthermore, the cavity may be aligned at a predetermined target location. This predetermined target location may be an address or location designated for receiving packages or payloads from the UAV. In some examples, the predetermined target location may include specific components of the landing structure configured to store payloads. In other examples, the predetermined target location may include an address or location where the UAV will pick up the payload. Therefore, the cavity is aligned at the target location so that the UAV can accurately pick up or deploy payloads while hovering or landing on the landing platform. Additionally, the cavity may be sized to allow the UAV's payload coupling device and the payload itself to rise and fall through the cavity.

[0098] As shown in box 506, method 500 also includes guiding the UAV along a track to a docking position above the cavity. The track can passively guide the UAV by acting as a buffer or railing that the UAV can utilize to achieve a preferred orientation and position on the platform above the cavity. For example, after engaging the track, the UAV continues to advance forward to continue gliding along the platform. By using only a balanced forward lateral thrust, the UAV can be deflected (i.e., can be rotated or oriented by the track) to the docking position above the cavity.

[0099] As shown in box 508, method 500 may further include loading a payload onto or unloading a payload from the UAV via the cavity while the UAV is in the docking position. In the example, when the UAV is in the docking position, mechanical restraints or stop blocks or other mechanisms may hold the UAV in place for loading / unloading. Furthermore, when the UAV is in the docking position, the UAV may also exchange or replace parts or components of the UAV system, such as batteries, or may be coupled to the landing platform or another component of the landing structure for charging or downloading / uploading information from a server network.

[0100] Method 500 may include Figure 5 Other steps or functions not shown. For example, method 500 may include transferring a payload from the ground plane to a loading level via a payload platform. The payload platform may be configured to move vertically along a vertical support structure coupled to the landing platform. Furthermore, the payload platform may be aligned along the same vertical axis as the cavity of the landing platform to facilitate proper loading / unloading of the UAV.

[0101] Method 500 may further include a winch system located in the UAV that moves the payload coupling device vertically upward or downward to secure the payload. For example, the payload platform may move along the direction of the land platform at half of the vertical support structure, and the winch system may deploy a tether attached to the payload coupling device, thereby lowering the device through the cavity and down from the land platform to the payload platform. The position where the payload coupling device secures the payload can be considered the loading level of the land structure.

[0102] V. Alternative embodiments of UAV landing infrastructure

[0103] Figure 6 Another embodiment of the landing structure 600 is shown. The landing structure 600 may include a landing platform 605 and a cavity 615. Furthermore, the landing structure 600 may include components respectively connected to… Figure 1 , 2A Similar elements and features to landing structures 100, 200A-B, 305, and 400 of landing structures 2B, 3A, 3B, and 4.

[0104] In the example, landing platform 605 can be attached to the exterior wall of a building. This allows landing platform 605 to extend cantilevered from the building wall. In some respects, landing platform 605 can occupy very little space and can be placed almost anywhere on a wall. Thus, landing platform 605 can provide UAV delivery access or capacity to businesses or customers without interfering with the existing structure or requiring extensive construction. In the example, for instance... Figure 6 In this embodiment, the landing platform 605 may include a circular aluminum or steel tube or rod that is bent and welded to form the landing platform 605. In such an example, the landing area of ​​the platform may coincide with the area of ​​the platform surrounding the cavity 615. Furthermore, the landing area, or the area where the UAV 625 contacts and initially lands on the landing platform 605, may be angled and the UAV 625 may be guided to the docking position by utilizing gravity.

[0105] Figure 7 Another embodiment of the landing structure 700 is shown. The landing structure 700 may include a landing platform 705, a cavity 715, and a vertical support structure 745. Furthermore, the landing structure 700 may include components respectively connected to… Figure 1 , 2A Similar elements and features to landing structures 100, 200A-B, 305, 400 and 600 of landing structures 2B, 3A, 3B, 4 and 6.

[0106] In the example, the landing platform 705 can be large enough to simultaneously hold or dock multiple UAV 725s. Furthermore, the cavity can be large enough to allow multiple UAV 725s to be loaded or unloaded simultaneously. Figure 7 As shown, the landing structure 700 can be installed on the service window of a shop or restaurant. This allows businesses or customers to easily access the payload deployed or retrieved by the UAV725.

[0107] Figure 8 Another embodiment of the landing structure 800 is shown. The landing structure 800 may include a landing platform 805, a cavity 815, multiple payloads 835, and a payload alignment device 837. Furthermore, the landing structure 800 may include components respectively connected to… Figure 1 , 2A The landing structures and platforms of 2B, 3A, 3B, 4, 6 and 7 have similar elements and features.

[0108] In one example, the landing platform can be integrated into a canopy attached to a building. In other examples, the landing platform 805 can be integrated into an umbrella, roof, or other existing structure. In some aspects, the landing platform 805 can be mounted on a service window or station. The merchant can place the payload 835 on a payload alignment device 837, and the payload alignment device 837 can align the payload 835 below the cavity 815, so that the payload 835 can be secured by the UAV 825. The payload alignment device 837 can be mounted below the landing platform 805 and may include a conveyor, elevator, or slider configured to move the payload 835 to a pickup position corresponding to the landing position on the landing platform 805 of the UAV 825.

[0109] Figure 9 Another embodiment of multiple landing structures 900A-C installed on a single structure is shown. Each landing structure 900A-C may include a vertical support structure 945A-C and other components. Furthermore, the landing structures 900A-C may include components respectively connected to… Figure 1 , 2A The landing structures and platforms of 2B, 3A, 3B, 4, 6, 7 and 8 have similar elements and features.

[0110] The building may be a restaurant or a warehouse, and UAVs 925A, 925B, and 925C can be accessed through multiple locations via landing structures 900A-C. For example, landing structure 900A may be located near a door or part of a door mount. This allows users to drop or pick up different payloads as they enter or leave the building. Representing another example, landing structure 900B may be part of the building or mounted via the building's roof. This allows landing structure 900B to provide UAV delivery pick-up / drop services to users within the building (e.g., in the kitchen). For example, UAV 925B can deliver products or other ingredients to a chef in the kitchen by landing on landing structure 900B via vertical support structure 945B. In another example, landing structure 900C may be located near or connected to a drive unit via a window of the building. Vertical support structures 945A-C may include lift platforms, conveyor platforms, or other known types of transport devices to lift payloads from users below to UAVs 925A-C or move payloads from UAVs 925A-C to users below.

[0111] Figure 10 Another embodiment of the landing structure 1000 is shown. The landing structure 1000 may include a landing platform 1005, a track 1020, and a vehicle 1046. Furthermore, the landing structure 1000 may include components respectively connected to… Figure 1 , 2A The landing structures and platforms of 2B, 3A, 3B, 4, 6, 7, 8 and 9 have similar components and features.

[0112] Vehicle 1046 can be a van or truck, such as a food truck that can use UAV 1025. UAV 1025 can be used to deliver payloads including food to customers, or to deliver additional ingredients to cooks or staff inside the truck. In other embodiments, vehicle 1046 can be a delivery truck or van capable of picking up or delivering packages via UAV 1025 as part of a larger delivery service network. For example, vehicle 1046 can deliver packages to a neighboring area by driving to that area and then using UAV 1025 to deliver them to a specific address or location.

[0113] In at least one aspect, the landing platform 1005 attached to vehicle 1046 may not be located at a buffer distance above average human height. However, landing structure 1000 may include other safety features, such as railings, cages, or other enclosures that may be included around the outer edge of landing platform 1005 to protect personnel from injury when UAV 1025 lands or takes off from platform 1005. Such enclosures may extend from landing platform 1005 to a buffer distance at least above average human height. In such an example, UAV 1025 may land and take off vertically through the enclosure. In other aspects, other safety features may be included, such as an extendable canopy that may cover UAV 1025 when it is on the platform, as part of landing structure 1000. In another example, additional safety features may be included inside vehicle 1046 to protect personnel inside the vehicle who may or may not interact with UAV 1025.

[0114] VI. Further embodiments of a UAV landing structure with passive positioning

[0115] Figure 11A -G depicts another embodiment of the landing structure 1100. Specifically, Figure 11B-11G The image shows a UAV 1125 landing and taxiing to docking station 1117. Landing structure 1100 may include a landing platform 1105, a landing area 1110, a cavity 1115, docking station 1117, and track 1120. In this example, landing area 1110 may be a preferred landing location for UAV 1125. Landing area 1110 may be surrounded or at least slightly surrounded by track 1120. Track 1120 may be... Figure 11B -G contains a slot 1120 in the landing platform 1105. The slot 1120 can be cut into the surface of the landing platform 1105. Additionally, the landing structure 1100 may include slots respectively with... Figure 1 , 2A The landing structures and platforms of 2B, 3A, 3B, 4, 6, 7, 8, 9, and 10 have similar components and features, which may or may not be present. Figure 11A As shown in -G.

[0116] like Figure 11AAs shown, UAV 1125 may include at least one boom 1122. Boom 1122 may be attached to the wing of UAV 1125. Furthermore, boom 1122 may include two landing supports 1123A-B. Each landing support 1123A-B may be a pad, leg, wheel, or other type of landing gear that supports UAV 1125 when it lands on landing platform 1105. UAV 1125 may include a vertical propeller 1124V that can provide vertical thrust and a lateral propeller 1124L that can provide lateral thrust. In at least one example, six vertical propellers 1124V may be attached to boom 1122.

[0117] In addition, such as Figure 11A As shown, each landing support 1123A-B may include a pin 1121 extending beyond the landing support 1123. In some aspects, the pin 1121 may be located only within the landing support 1123A-B on one side of the UAV 1125. Thus, for example in Figure 11B-11G In this configuration, pin 1121 is located only in the landing support 1123A-B on the left side of UAV 1125. In some examples, pin 1121 may be connected to a spring within the landing support 1123, allowing pin 1121 to retract or extend from the landing support 1123.

[0118] like Figure 11B As shown, UAV1125 can land on landing platform 1105. More specifically, UAV1125 can land in landing area 1110, which is located close to the center of landing platform 1105.

[0119] like Figure 11C As shown, UAV 1125 can use forward thrust to propel itself toward slot 1120. Because landing area 1110 is surrounded by slot 1120, regardless of its orientation upon landing, UAV 1125 only needs to propel itself forward to move laterally toward slot 1120 without any steering control or feedback. In some respects, uniform or symmetrical thrust can be applied to the lateral propellers 1124L to move UAV 1125 laterally along landing platform 1105.

[0120] like Figure 11DAs shown, once UAV 1125 reaches slot 1120, pin 1121D of the front landing support 1123A can engage slot 1120. Reference numeral 1121D provides an example location where pin 1121 of the front landing support 1123A enters and engages slot 1120. Pin 1121 can engage slot 1120 by descending or extending downwards into it, thereby limiting the lateral movement of UAV 1125. Therefore, as UAV 1125 continues its symmetrical forward thrust, UAV 1125 will begin to rotate about pin 1121 in the front landing support 1123A. For example, as... Figure 11D As shown, UAV1125 can be forced to turn toward docking station 1117 because pin 1121 has engaged in slot 1120.

[0121] like Figure 11E As shown, as UAV 1125 continues its forward thrust, it has rotated or spun around the forward landing support, causing pin 1121 of the rear landing support 1123B to now engage slot 1120, similar to pin 1121 of the forward landing support 1123A. Reference numeral 1121E indicates the position where pin 1121 within the rear landing support 1123B reaches and engages slot 1120. UAV 1125 can now have two pins 1121 engaged in slot 1120.

[0122] like Figure 11F As shown, two pins 1121 engage in the slot, and as UAV 1125 continues to advance, the slot 1120 guides UAV 1125 along the landing platform 1105 toward docking station 1117. In other words, the slot 1120 steers UAV 1125 toward docking station 1117.

[0123] Finally, as Figure 11G As shown, UAV 1125 is positioned above cavity 1105 in docking station 1117. Docking station 1117 can be considered the location where UAV 1125 is in the docking position, thus UAV 1125 can be loaded / unloaded while in docking station 1117. UAV 1125 only needs to provide symmetrical forward thrust, and slot 1120 guides UAV 1125 as it slides along land platform 1105.

[0124] VII. Illustrative unmanned vehicles

[0125] Figure 12A This is a simplified illustration of a top view of a UAV provided according to an example embodiment. Specifically, Figure 12AAn example of a fixed-wing UAV 1200 is shown, which can also be referred to as an airplane, aircraft, biplane, glider, etc. As the name suggests, the fixed-wing UAV 1200 has stationary wings 1202 that generate lift based on the wing shape and the aircraft's forward airspeed. For example, the two wings 1202 may have an airfoil-shaped cross-section to generate aerodynamics on the UAV 1200.

[0126] As shown in the figure, the fixed-wing UAV 1200 may include a wing body 1204 instead of the explicitly defined fuselage. The wing body 1204 may include, for example, control electronics such as an inertial measurement unit (IMU) and / or electronic speed controller, batteries, other sensors, and / or payloads. The illustrative UAV 1200 may also include landing gear (not shown) to assist in controlled takeoff and landing. In other embodiments, other types of UAVs without landing gear may also be included.

[0127] The UAV 1200 also includes a propulsion unit 1206, which may each include an electric motor, a shaft, and a propeller for propelling the UAV 1200. A vertical stabilizer 1208 (or winglet) may also be attached to the wing body 1204 and / or the wing 1202 to stabilize the UAV's yaw (left or right turn) during flight. In some embodiments, the UAV 1200 may also be configured to act as a glider. For this purpose, the UAV 1200 may shut down its electric motor, propulsion unit, etc., and glide for a period of time.

[0128] During flight, the UAV1200 can control its direction and / or speed of movement by controlling its pitch, roll, yaw, and / or altitude. For example, the vertical stabilizer 1208 may include one or more rudders for controlling the UAV's yaw, and the wing 1202 may include one or more elevators for controlling the UAV's pitch and / or one or more ailerons for controlling the UAV's roll. As another example, simultaneously increasing or decreasing the speed of all propellers can cause the UAV1200 to increase or decrease its altitude, respectively.

[0129] Similarly, Figure 12B Another example of a fixed-wing UAV 1220 is shown. The fixed-wing UAV 1220 includes a fuselage 1222, two wings 1224 with airfoil cross-sections to provide lift for the UAV 1220, a vertical stabilizer 1226 (or winglets) to stabilize the aircraft's yaw (turn left or right), a horizontal stabilizer 1228 (also called an elevator or horizontal tail) to stabilize pitch (tilt up or down), landing gear 1230, and a propulsion unit 1232, which may include an electric motor, a shaft, and a propeller.

[0130] Figure 12CAn example of a UAV 1240 with a propeller configured with a thruster is shown. Contrary to the notion that the propulsion unit is mounted at the front of the UAV, the term "thruster" refers to the propulsion unit 142 being mounted at the rear of the UAV and "propulsing" the aircraft forward. Similar to... Figure 12A and 12B The description provided Figure 12C A common structure used in thruster aircraft is depicted, including a fuselage 1244, two wings 1246, a vertical stabilizer 1248, and a propulsion unit 1242, which may include an electric motor, a shaft, and a propeller.

[0131] Figure 12D An example of a vertical takeoff and landing (VTOL) UAV 1260 is shown. In the example shown, the VTOL UAV 1260 has a fixed wing 1262 to provide lift and allow the UAV 1260 to glide horizontally (e.g., along the x-axis, in a position approximately perpendicular to the x-axis). Figure 12D (as shown in the image). However, the fixed wing 1262 also allows the vertical takeoff and landing UAV 1260 to take off and land vertically on its own.

[0132] For example, at the launch site, the vertical takeoff and landing UAV 1260 can be positioned vertically (as shown in the figure), with its winglets 1264 and / or wings 1262 resting on the ground and stabilizing the UAV 1260 in a vertical position. The UAV 1260 can then take off by operating its propeller 1266 to generate upward thrust (e.g., thrust approximately along the y-axis). Once at the appropriate altitude, the UAV 1260 can use its wing guards 1268 to reorient itself to a horizontal position, bringing its fuselage 1270 closer to alignment with the x-axis rather than the y-axis. With horizontal positioning, the propeller 166 can provide forward thrust, enabling the UAV 1260 to fly in a manner similar to that of a conventional aircraft.

[0133] Many variations are possible on the fixed-wing UAV illustrated. For example, a fixed-wing UAV may include more or fewer propellers and / or may utilize one or more 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.

[0134] As mentioned above, in addition to fixed-wing UAVs, or alternatively, some embodiments may involve other types of UAVs. For example, Figure 12EAn example of a gyroplane, commonly referred to as a multirotor aircraft 1280, is shown. The multirotor aircraft 1280 can also be referred to as a quadcopter because it comprises four rotors 1282. It should be understood that the example embodiment may relate to a gyroplane with more or fewer rotors than the multirotor aircraft 1280. For example, a helicopter typically has two rotors. Other examples with three or more rotors are also possible. Here, the term "multirotor aircraft" refers to any gyroplane with more than two rotors, and the term "helicopter" refers to a gyroplane with two rotors.

[0135] Referring more specifically to the multirotor 1280, four rotors 1282 provide propulsion and maneuverability for the multirotor 1280. More specifically, each rotor 1282 includes blades attached to an electric motor 1284. This configuration allows the rotors 1282 to allow the multirotor 1280 to take off and land vertically, maneuver in any direction, and / or hover. Furthermore, the blade pitch can be adjusted as a set and / or separately, allowing the multirotor 1280 to control its pitch, roll, yaw, and / or altitude.

[0136] It should be understood that the reference to "unmanned" aircraft or UAVs herein can be equally applied to autonomous and semi-autonomous aircraft. In an autonomous implementation, all functions of the aircraft are automatic; for example, they are pre-programmed or controlled via real-time computer functions that respond to inputs and / or predetermined information from various sensors. In a semi-autonomous implementation, some functions of the aircraft can be controlled by an operator, while others are performed autonomously. Furthermore, in some embodiments, a UAV can be configured to allow a remote operator to take over functions that would otherwise be autonomously controlled by the UAV. Going further, a given type of function can be remotely controlled at one level of abstraction and autonomously performed at another. For example, a remote operator can control high-level navigation decisions for the UAV, such as specifying that the UAV should travel from one location to another (e.g., from a suburban warehouse to a delivery address in a nearby city), while the UAV's navigation system autonomously controls more granular navigation decisions, such as the specific route between two locations, specific flight controls to achieve the route, and obstacle avoidance while navigating along the route.

[0137] More generally, it should be understood that the example UAVs described herein are not intended to be limiting. The example embodiments may relate to, be implemented in, or take such a form in any type of unmanned aerial vehicle.

[0138] VIII. Illustrative UAV Components

[0139] Figure 13This is a simplified block diagram illustrating components of a UAV1300 according to an example embodiment. The UAV1300 may take the form of a reference... Figures 12A-12E The UAV1200, 1220, 1240, 1260, and 1280 are described in one of the forms or are similar in form. However, the UAV1300 may also take other forms.

[0140] The UAV1300 may include various types of sensors and may include a computing system configured to provide the functions described herein. In the illustrated embodiment, the sensors of the UAV1300 include an inertial measurement unit (IMU) 1302, an ultrasonic sensor 1304, and a GPS 1306, as well as other possible sensors and sensing systems.

[0141] In the illustrated embodiment, the UAV 1300 also includes one or more processors 1308. The processor 1308 may be a general-purpose processor or a special-purpose processor (e.g., a digital signal processor, an application-specific integrated circuit, etc.). The one or more processors 1308 may be configured to execute computer-readable program instructions 1312 stored in data memory 1310 and executable to provide the functionality of the UAV described herein.

[0142] The data storage device 1310 may include or take the form of one or more computer-readable storage media that can be read or accessed by at least one processor 1308. 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 integrated integrally or partially with at least one of the one or more processors 1308. In some embodiments, the data storage device 1310 may be implemented using a single physical device (e.g., a single optical, magnetic, organic, or other memory or disk storage unit), while in other embodiments, the data storage device 1310 may be implemented using two or more physical devices.

[0143] As described above, the data storage 1310 may include computer-readable program instructions 1312 and possible additional data, such as diagnostic data of the UAV 1300. Thus, the data storage 1310 may include program instructions 1312 to perform or facilitate some or all of the UAV functions described herein. For example, in the illustrated embodiment, program instructions 1312 include a navigation module 1314.

[0144] A. Sensor

[0145] In an illustrative embodiment, the IMU1302 may include an accelerometer and a gyroscope, which can be used together to determine the orientation of the UAV1300. Specifically, the accelerometer measures the orientation of the aircraft relative to the Earth, while the gyroscope measures the rate of rotation about an axis. IMUs are commercially available in low-cost, low-power packages. For example, the IMU1302 may take the form of a micro-microelectromechanical system (MEMS) or a nanoelectromechanical system (NEMS), or include both. Other types of IMUs may also be used.

[0146] In addition to accelerometers and gyroscopes, the IMU1302 may also include other sensors that can help better determine position and / or contribute to increasing the autonomy of the UAV1300. Two examples of such sensors are magnetometers and pressure sensors. In some embodiments, the UAV may include a low-power digital 3-axis magnetometer, which can be used to implement an independent electronic compass for accurate heading information. However, other types of magnetometers may also be used. Other examples are also possible. Furthermore, note that the UAV may include some or all of the aforementioned inertial sensors as components separate from the IMU.

[0147] The UAV1300 may also include a pressure sensor or barometer, which can be used to determine the UAV1300's altitude. Alternatively, other sensors such as pitch meters or radar altimeters may be used to provide altitude indication, which may help improve the accuracy of the IMU and / or prevent its drift.

[0148] On the other hand, UAV1300 may include one or more sensors that allow the UAV to sense objects in its environment. For example, in the illustrated embodiment, UAV1300 includes an ultrasonic sensor 1304. The ultrasonic sensor 1304 can determine the distance to an object by generating sound waves and determining the time interval between the transmission of the waves and the receipt of the corresponding echo from the object. Typical applications of ultrasonic sensors for unmanned aerial vehicles or IMUs are low-level altitude control and obstacle avoidance. Ultrasonic sensors can also be used for aircraft that need to hover at a certain altitude or need to be able to detect obstacles. Other systems can be used to determine the presence of nearby objects (such as optical detection and ranging (LIDAR) systems, laser detection and ranging (LADAR) systems, and / or infrared or forward-looking infrared (FLIR) systems, and / or determine the distance to nearby objects.

[0149] In some embodiments, the UAV1300 may also include one or more imaging systems. For example, the UAV1300 may use one or more still photography and / or cameras to capture image data from the UAV environment. As specific examples, charge-connected device (CCD) cameras or complementary metal-oxide-semiconductor (CMOS) cameras may be used in unmanned aerial vehicles. Such imaging sensors have many possible applications, such as obstacle avoidance, positioning technology, ground tracking for more precise navigation (e.g., by applying optical flow technology to images), video feedback and / or image recognition and processing, etc.

[0150] The UAV1300 may also include a GPS receiver 1306. The GPS receiver 1306 may be configured to provide data from a typical, well-known GPS system, such as the GPS coordinates of the UAV1300. The UAV1300 can utilize this GPS data for various functions. Therefore, the UAV can use its GPS receiver 1306 to aid in navigation to the caller's location, as indicated at least in part by the GPS coordinates provided by its mobile device. Other examples are also possible.

[0151] B. Navigation and Location Determination

[0152] The navigation module 1314 can provide functions that allow the UAV 1300 to move, for example, around its environment and reach a desired location. To this end, the navigation module 1314 can control the altitude and / or direction of flight by controlling the mechanical characteristics of the UAV that affect flight, such as the speed of its rudder, elevator, ailerons and / or its propeller.

[0153] To navigate the UAV1300 to a target location, the navigation module 1314 can implement various navigation techniques, such as map-based navigation and location-based navigation. Using map-based navigation, the UAV1300 can establish a map of its environment and then use that map to navigate to a specific location on the map. Using location-based navigation, the UAV1300 can navigate in an unknown environment by using positioning. Location-based navigation may involve the UAV1300 building its own environment map and calculating its position within the map and / or the positions of objects within the environment. For example, as the UAV1300 moves throughout its environment, it can continuously use positioning to update its environment map. This continuous mapping process can be referred to as Simultaneous Localization and Mapping (SLAM). Other navigation techniques can also be used.

[0154] In some embodiments, navigation module 1314 may use waypoint-dependent techniques for navigation. Specifically, a waypoint is a set of coordinates that identify a point in physical space. For example, an air navigation waypoint may be defined by a latitude, longitude, and altitude. Therefore, navigation module 1314 can enable the UAV 1300 to move between waypoints to eventually reach its final destination (e.g., the final waypoint in a waypoint sequence).

[0155] On the other hand, the navigation module 1314 and / or other components and systems of the UAV 1300 can be configured to "position" for more precise navigation to a target location. More specifically, in some cases, it may be necessary for the UAV to be within a threshold distance (e.g., within a few feet of the target destination) of the target location from which the payload 1320 is delivered by the UAV. For this purpose, the UAV can use a dual approach, in which a more general positioning technique is used to navigate to a general area associated with the target location, and then a more precise positioning technique is used to identify and / or navigate to the target location within the general area.

[0156] For example, the UAV1300 can navigate to the general area of ​​the target destination to which the payload 1320 is being delivered by using waypoints and / or map-based navigation. The UAV can then switch to a mode that uses a positioning process to locate and proceed to a more specific location. For instance, if the UAV1300 is delivering a payload to a user's home, it may need to be substantially close to the target location to avoid delivering the payload to undesirable areas (e.g., on a rooftop, in a pool, on a neighbor's property, etc.). However, until now, GPS signals may only be available to the UAV1300 (e.g., within the block of the user's home). More precise location determination techniques can then be used to locate the specific target location.

[0157] Once the UAV1300 has navigated to the general area of ​​the target delivery location, various types of location determination techniques can be used to pinpoint the location. For example, the UAV1300 may be equipped with one or more sensing systems, such as an ultrasonic sensor 1304, an infrared sensor (not shown), and / or other sensors, which can provide input to the navigation module 1314 from primary or semi-autonomous navigation to a specific target location.

[0158] As another example, once the UAV1300 reaches the general area of ​​the target delivery location (or a moving object such as a person or their mobile device), the UAV1300 can switch to a fly-by-wire mode, where it is at least partially controlled by a remote operator who can navigate the UAV1300 to the specific target location. For this purpose, sensor data from the UAV1300 can be sent to the remote operator to assist them in navigating the UAV1300 to the specific location.

[0159] As another example, the UAV1300 may include a module capable of signaling to passersby to assist in reaching a specific target delivery location; for example, the UAV1300 may display a visual message requesting such assistance on a graphic display, play an audio message or tone through a speaker to indicate the need for such assistance, etc. Such visual or audio messages may indicate that assistance is needed in delivering the UAV1300 to a specific person or location, and may provide information to help passersby deliver the UAV1300 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), etc. Such a feature may be useful where the UAV cannot use sensing capabilities or other location determination technologies to reach a specific target location. However, this feature is not limited to this situation.

[0160] In some embodiments, once the UAV1300 reaches the general area of ​​the target delivery location, it can use beacons from a remote device (e.g., the user's mobile phone) to locate the person. Such beacons can take various forms. As an example, consider a remote device (such as the mobile phone of the person requesting UAV delivery) capable of transmitting directional signals (e.g., via RF signals, optical signals, and / or audio signals). In this case, the UAV1300 can be configured to navigate by directional signals such as “procure”—in other words, by identifying the location with the strongest signal and navigating accordingly. As another example, a mobile device can transmit frequencies within or outside human range, and the UAV1300 can listen to those frequencies and navigate accordingly. As a related example, if the UAV1300 is listening for verbal commands, it can use verbal statements such as “I’m here!” to locate the specific position of the person requesting payload delivery.

[0161] In an alternative arrangement, the navigation module can be implemented in a remote computing device that wirelessly communicates with the UAV1300. The remote computing device can receive data indicating the operational status of the UAV1300, sensor data from the UAV1300 (allowing it to assess the environmental conditions the UAV1300 is experiencing), and / or the UAV1300's position information. With such information, the remote computing device can determine the altitude and / or heading adjustments the UAV1300 should make and / or determine how the UAV1300 should adjust its mechanical characteristics (e.g., the speed of its rudder, elevator, ailerons, and / or its propeller) to achieve this movement. The remote computing system can then transmit such adjustments to the UAV200, enabling it to move in a determined manner.

[0162] C. Communication System

[0163] On the other hand, the UAV1300 includes one or more communication systems 1316. Communication system 1316 may include one or more wireless interfaces and / or one or more wired interfaces, allowing the UAV1300 to communicate via one or more networks. Such wireless interfaces can provide communication under one or more wireless communication protocols, such as Bluetooth, WiFi (e.g., IEEE 802.11), LTE, WiMAX (e.g., IEEE 802.16), RFID, NFC, and / or other wireless communication protocols. Such wired interfaces may include Ethernet interfaces, Universal Serial Bus (USB) interfaces, or similar interfaces for communication via wires, twisted pairs, coaxial cables, optical links, fiber optic links, or other physical connections to wired networks.

[0164] In some embodiments, the UAV1300 may include a communication system 1316 that allows for both short-range and long-range communication. For example, the UAV1300 may be configured for short-range communication using Bluetooth and long-range communication under the CDMA protocol. In such embodiments, the UAV1300 may be configured to act as a "hotspot," or in other words, as a gateway or proxy between the remote support device and one or more data networks (such as cellular networks and / or the Internet). With this configuration, the UAV1300 can facilitate data communications that the remote support device would otherwise be unable to perform independently.

[0165] For example, the UAV1300 can provide WiFi connectivity to remote devices and act as a proxy or gateway to the data networks of cellular service providers to which the UAV may connect, for example, under LTE or 3G protocols. The UAV1300 can also act as a proxy or gateway to high-altitude balloon networks, satellite networks, or combinations thereof that the remote devices may not otherwise access.

[0166] D. Power System

[0167] On the other hand, UAV1300 may include a power system 1318. Power system 1318 may include one or more batteries for supplying power to UAV1300. In one example, the one or more batteries may be rechargeable, and each battery may be 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 the internal battery).

[0168] E. Payload

[0169] The UAV 1300 can employ various systems and configurations to transport the payload 1320. In some embodiments, the payload 1320 of a given UAV 1300 may include or take the form of a "package" designed to transport various goods to a target delivery location. For example, the UAV 1300 may include a compartment in which one or more items can be transported. Such a package may be one or more food items, purchased items, medical items, or any other object having dimensions and weight suitable for transport by a UAV between two locations. In other embodiments, the payload 1320 may simply be one or more items being delivered (e.g., any package without items).

[0170] In some embodiments, the payload 1320 may be attached to the UAV and remain substantially outside the UAV for some or all of the UAV's flight. For example, the package may be tethered or otherwise releasably attached to the underside of the UAV during flight to a target location. In embodiments where the package carries items under the UAV, the package may include various features to protect its contents from environmental influences, reduce aerodynamic drag on the system, and prevent displacement of the package's contents during UAV flight.

[0171] For example, when the payload 1320 takes the form of a package for transporting goods, the package may include an outer shell made of waterproof cardboard, plastic, or any other lightweight and waterproof material. Furthermore, to reduce drag, the package may have a smooth surface with a sharp front end, thereby reducing the frontal cross-sectional area. Additionally, the sides of the package may taper gradually from a wide bottom to a narrow top, allowing the package to function as a narrow pylon, thus reducing interference with the UAV's wings. This may keep some of the forward area and volume of the package away from the UAV's wings, preventing a reduction in lift on the wings caused by the package. Additionally, in some embodiments, the outer shell of the package may be made of a single piece of material to reduce air gaps or excess material, both of which can increase drag on the system. Alternatively or additionally, the package may include stabilizers to suppress package jitter. This reduction in jitter may result in less rigidity in the connection between the package and the UAV and may lead to less displacement of the package's contents during flight.

[0172] To deliver a payload, a UAV may include a retractable delivery system that lowers the payload to the ground as the UAV hovers overhead. For example, the UAV may include a tether attached to the payload via a release mechanism. A winch can deploy and wind the tether to lower and raise the release mechanism. The release mechanism can be configured to secure the payload as it is lowered from the UAV via the tether and release it upon reaching the ground plane. The release mechanism can then be retracted back into the UAV by using the winch to wind the tether.

[0173] In some implementations, the payload 1320 can be passively released once it is lowered to the ground. For example, the passive release mechanism may include one or more swing arms adapted to retract into and extend from the housing. The extended swing arms may form hooks to which the payload 1320 can be attached. As the release mechanism and payload 1320 are lowered to the ground via tethers, gravity on the release mechanism, along with downward inertial forces, may cause the payload 1320 to detach from the hooks, allowing the release mechanism to rise toward the UAV. The release mechanism may further include a spring mechanism that biases the swing arms to retract into the housing when no other external force is applied to the swing arms. For example, a spring may apply a force to the swing arms to push or pull them toward the housing, such that the swing arms retract into the housing once the weight of the payload 1320 no longer forces them to extend from the housing. Retracting the swing arms into the housing during the delivery of the payload 1320, while raising the release mechanism toward the UAV, reduces the likelihood of the release mechanism snagping the payload 1320 or other nearby objects.

[0174] Active payload release mechanisms are also possible. For example, sensors such as barometric altimeters and / or accelerometers can help detect the position of the release mechanism (and payload) relative to the ground. Data from the sensors can be transmitted back to the UAV and / or control system via a wireless link and used to help determine when the release mechanism has reached the ground plane (e.g., by utilizing measurements of ground impact characteristics detected by accelerometers). In other examples, the UAV may determine that the payload has reached the ground based on a weight sensor detecting a threshold low downward force on the tether and / or based on a threshold low measurement of the power drawn by the winch when the payload is lowered.

[0175] In addition to or as an alternative to the tethered delivery system, other systems and technologies for delivering payloads are possible. For example, the UAV1300 may include an airbag landing system or a parachute landing system. Alternatively, the UAV1300 carrying the payload may simply land on the ground at the delivery location. Other examples are also possible.

[0176] IX. Illustrative UAV Deployment System

[0177] UAV systems can be implemented to provide a variety of UAV-related services. In particular, UAVs can be deployed from multiple different launch sites that may communicate with regional and / or central control systems. Such distributed UAV systems allow for rapid deployment of UAVs to provide services across large geographic areas (e.g., much larger than the flight range of any single UAV). For example, UAVs capable of carrying payloads can be distributed across multiple launch sites in large geographic areas (potentially even across an entire country or the world) to provide on-demand transportation of various items to locations throughout the geographic area. Figure 14 This is a simplified block diagram illustrating a distributed UAV system 1400 according to an example embodiment.

[0178] In the illustrative UAV system 1400, access system 1402 may allow network interaction, control, and / or use with UAV 1404. In some embodiments, access system 1402 may be a computing system that allows for human-controlled scheduling of UAV 1404. Therefore, the control system may include or otherwise provide a user interface through which a user can access and / or control UAV 1404.

[0179] In some embodiments, the scheduling of UAV 1404 may be performed additionally or alternatively via one or more automated processes. For example, access system 1402 may schedule one of UAV 1404 to transport a payload to a target location, and the UAV may autonomously navigate to the target location by utilizing various onboard sensors, such as GPS receivers and / or other various navigation sensors.

[0180] Furthermore, access system 1402 can provide remote operation of the UAV. For example, access system 1402 can allow an operator to control the flight of the UAV through its user interface. As a specific example, an operator can use access system 1402 to schedule UAV 1404 to a target location. UAV 1404 can then autonomously navigate to a general area of ​​the target location. At this point, the operator can use access system 1402 to control UAV 1404 and navigate the UAV to the target location (e.g., to a specific person to whom the payload is being transported). Other examples of remote operation of the UAV are also possible.

[0181] In the illustrative embodiments, the UAV1404 can take various forms. For example, each UAV1404 can be such as Figures 12A-12E The UAVs shown are examples of those in the original invention. However, other types of UAVs may also be used in the UAV system 1400 without departing from the scope of the invention. In some embodiments, all UAVs 1404 may have the same or similar configurations. However, in other embodiments, UAVs 1404 may include multiple different types of UAVs. For example, UAVs 1404 may include multiple types of UAVs, each type of UAV configured for one or more different types of payload delivery capabilities.

[0182] UAV system 1400 may also include a remote device 1406 that can take various forms. Typically, remote device 1406 can be any device through which a direct or indirect request to dispatch a UAV can be made. (Note that an indirect request may involve any communication that could be responded to by dispatching a UAV, such as a request for package delivery). In example embodiments, remote device 1406 may be a mobile phone, tablet, laptop, personal computer, or any networked computing device. Furthermore, in some cases, remote device 1406 may not be a computing device. As an example, a standard telephone that allows communication via Common Old Style Telephone Service (POTS) can be used as remote device 1406. Other types of remote devices are also possible.

[0183] Furthermore, remote device 1406 can be configured to communicate with access system 1402 via one or more types of communication networks 1408. For example, remote device 1406 can communicate with access system 1402 (or a human operator of access system 1402) by communicating over a POTS network, a cellular network, and / or a data network such as the Internet. Other types of networks may also be used.

[0184] In some embodiments, the remote device 1406 may be configured to allow a user to request delivery of one or more items to a desired location. For example, a user may request a UAV to deliver a package to their home via their mobile phone, tablet, or laptop. As another example, a user may request dynamic delivery to any location they are at the time of delivery. To provide such dynamic delivery, the UAV system 1400 may receive location information (e.g., GPS coordinates) from the user's mobile phone or any other device belonging to the user, enabling the UAV to navigate to the user's location (as indicated by their mobile phone).

[0185] In the illustrative arrangement, the central dispatch system 1410 may be a server or a group of servers configured to receive dispatch message requests and / or dispatch instructions from the access system 1402. Such dispatch messages may request or instruct the central dispatch system 1410 to coordinate the deployment of UAVs to various target locations. The central dispatch system 1410 may be further configured to route such requests or instructions to one or more local dispatch systems 1412. To provide this functionality, the central dispatch system 1410 may communicate with the access system 1402 via a data network (such as the Internet or a dedicated network established for communication between the access system and the automated dispatch system).

[0186] In the illustrated configuration, the central dispatch system 1410 can be configured to coordinate the dispatch of UAVs 1404 from multiple different local dispatch systems 1412. Therefore, the central dispatch system 1410 can track which UAV 1404 resides in which local dispatch system 1412, which UAV 1404 is currently available for deployment, and / or which service or operation each UAV 1404 is configured for (in cases where the UAV fleet includes multiple types of UAVs configured for different services and / or operations). Alternatively, each local dispatch system 1412 can be configured to track which of its associated UAVs 1404 is currently available for deployment and / or currently in the process of transporting goods.

[0187] In some cases, when the central dispatch system 1410 receives a request from the access system 1402 for a UAV-related service (such as the transportation of goods), the central dispatch system 1410 can select a specific UAV 1404 for dispatch. The central dispatch system 1410 can then instruct the local dispatch system 1412 associated with the selected UAV to dispatch the selected UAV. The local dispatch system 1412 can then operate its associated deployment system 1414 to launch the selected UAV. In other cases, the central dispatch system 1410 can forward the request for the UAV-related service to the local dispatch system 1412 near the location of the request, leaving the selection of the specific UAV 1404 to the local dispatch system 1412.

[0188] In the example configuration, the local scheduling system 1412 may be implemented as a computing system located in the same location as the deployment system 1414 it controls. For example, the local scheduling system 1412 may be implemented as a computing system installed in a building such as a warehouse, where the deployment system 1414 and UAV 1404 associated with the specific local scheduling system 1412 are also located. In other embodiments, the local scheduling system 1412 may be implemented in a location remote from its associated deployment system 1414 and UAV 1404.

[0189] Various variations and alternatives to the illustrated configuration of UAV system 1400 are possible. For example, in some embodiments, a user of remote device 1406 may request package delivery directly from central dispatch system 1410. For this purpose, an application may be implemented on remote device 1406, allowing the user to provide information about the requested delivery and generate and send data messages to request delivery from UAV system 1400. In such embodiments, central dispatch system 1410 may include automated functions for processing requests generated by such applications, evaluating such requests, and, if appropriate, coordinating with appropriate local dispatch system 1412 to deploy the UAV.

[0190] Furthermore, some or all of the functions of the central scheduling system 1410, the local scheduling system 1412, the access system 1402, and / or the deployment system 1414 can be combined in a single system, implemented in a more complex system, and / or redistributed in various ways among the central scheduling system 1410, the local scheduling system 1412, the access system 1402, and / or the deployment system 1414.

[0191] Furthermore, although each local scheduling system 1412 is shown as having two associated deployment systems 1414, a given local scheduling system 1412 may optionally have more or fewer associated deployment systems 1414. Similarly, although the central scheduling system 1410 is shown as communicating with two local scheduling systems 1412, the central scheduling system 1410 may optionally communicate with more or fewer local scheduling systems 1412.

[0192] On the other hand, the deployment system 1414 can take various forms. Typically, the deployment system 1414 can take the form of a system for physically launching one or more UAVs 1404, or include such a system. Such a launch system may include features that provide automated UAV launch and / or allow human-assisted UAV launch. Furthermore, each of the deployment systems 1414 can be configured to launch one specific UAV 1404, or to launch multiple UAVs 1404.

[0193] The deployment system 1414 can also be configured to provide additional functions, such as diagnostic functions, such as verifying the system functions of the UAV, verifying the functions of the equipment housed in the UAV (e.g., payload delivery equipment), and / or maintaining the equipment or other items housed in the UAV (e.g., by monitoring the status of the payload, such as its temperature, weight, etc.).

[0194] In some embodiments, deployment system 1414 and its corresponding UAV 1404 (and possibly associated local scheduling system 1412) can be strategically distributed across areas such as cities. For example, deployment system 1414 can be strategically distributed such that each deployment system 1414 is located near one or more payload pickup locations (e.g., near restaurants, shops, or warehouses). However, depending on the specific implementation, deployment system 1414 (and possibly local scheduling system 1412) can be distributed in other ways. As another example, kiosks allowing users to transport packages via UAV can be installed in various locations. Such kiosks may include UAV launch systems and allow users to provide their packages for loading onto the UAV and pay for UAV transportation services, etc. Other examples are also possible.

[0195] On the other hand, the UAV system 1400 may include or have access to a user account database 1416. The user account database 1416 may include data for multiple user accounts, each associated with one or more individuals. For a given user account, the user account database 1416 may include data relevant to or useful for providing services related to the UAV. Typically, user data associated with each user account may optionally be provided by the relevant user and / or collected with the relevant user's permission.

[0196] Furthermore, in some embodiments, if people wish to receive UAV-related services from UAV 1404 of UAV system 1400, they may need to register a user account with UAV system 1400. Thus, user account database 1416 may include authorization information for a given user account (e.g., username and password) and / or other information that can be used to authorize access to the user account.

[0197] In some embodiments, individuals can associate one or more of their devices with their user accounts, enabling them to access the services of UAV system 1400. For example, when a person uses an associated mobile phone, such as placing a call access system 1402 operator or sending a message requesting UAV-related services to a dispatch system, the phone can be identified by a unique device identification number, and the call or message can then be attributed to the associated user account. Other examples are also possible.

[0198] X. Conclusion

[0199] The specific arrangement shown in the figures should not be considered limiting. It should be understood that other embodiments may include more or fewer of each element shown in the given figures. Furthermore, some of the shown elements may be combined or omitted. Additionally, exemplary embodiments may include elements not shown in the figures.

[0200] Furthermore, while various aspects and embodiments have been disclosed herein, other aspects and embodiments will be apparent to those skilled in the art. The various aspects and embodiments disclosed herein are for illustrative purposes and not restrictive, and the true scope and spirit are indicated by the appended claims. Other embodiments may be utilized, and other changes may be made without departing from the spirit or scope of the subject matter set forth herein. It will be readily understood that the aspects of this disclosure, as generally described herein and illustrated in the accompanying drawings, can be arranged, replaced, combined, separated, and designed in a variety of different configurations, all of which are contemplated herein.

Claims

1. A landing structure, comprising: A landing platform for an unmanned aerial vehicle (UAV), wherein the landing platform includes a cavity, and wherein the UAV includes a winch system including a tether connectable to a payload, the cavity providing access to the underside of the UAV so that the UAV can be attached to or detached from the payload; as well as A track extending along the landing platform and at least a portion of the cavity, wherein the track comprises: The straight portion of the raised track runs along the landing platform; The tapered portion of the raised track, wherein the tapered portion of the raised track begins from the straight portion of the raised track and taperes outward to the edge of the cavity; and The cavity portion of the raised track, wherein the cavity portion of the raised track extends along at least a portion of the cavity. The track is configured such that after the UAV lands on the landing platform, the track guides the UAV to a docking position above the cavity, wherein the UAV travels along the landing platform to the docking position under the power of the UAV.

2. The landing structure according to claim 1, wherein the track passively guides the UAV toward the docking position.

3. The landing structure according to claim 1, wherein the raised track extends upward away from the landing platform.

4. The landing structure of claim 1, wherein the track configuration is such that when the UAV applies forward thrust and the landing gear of the UAV contacts the track, the UAV is guided toward the docking position.

5. The landing structure according to claim 4, wherein the landing gear includes a boom.

6. The landing structure according to claim 1, wherein the landing platform is located on the roof of the building.

7. The landing structure according to claim 1, wherein the UAV is in a storage state when it is in the docking position.

8. The landing structure of claim 1, wherein the UAV includes a battery, and the UAV charges the battery after landing on the landing platform.

9. The landing structure of claim 8, wherein the UAV charges the battery when in the docking position.

10. The landing structure of claim 1, wherein the cavity is aligned at a predetermined target location and is sized to allow the winch system to pass the tether's payload through the cavity; and When the UAV is in the docking position, the tether is positioned above the cavity, allowing the tether to raise or lower the effective load through the cavity.

11. A system comprising: An unmanned aerial vehicle (UAV) including a winch system, wherein the winch system includes a tether that can be attached to a payload; A landing platform, including a cavity and including a track extending along the landing platform and at least a portion of the cavity, the cavity providing access to the underside of the UAV so that the UAV can be coupled to or decoupled from the payload, wherein the track includes: The straight portion of the raised track runs along the landing platform; The tapered portion of the raised track, wherein the tapered portion of the raised track begins from the straight portion of the raised track and taperes outward to the edge of the cavity; and The cavity portion of the raised track, wherein the cavity portion of the raised track extends along at least a portion of the cavity. The track is configured such that after the UAV lands on the landing platform, the track guides the UAV to a docking position above the cavity, wherein the UAV travels along the landing platform to the docking position under power from the UAV; and The control system is configured as follows: Instruct the UAV to apply forward thrust, causing the UAV to contact the track; and The UAV is instructed to continue applying forward thrust until it reaches the docking position.

12. The system of claim 11, wherein the control system is further configured to: Determine whether the UAV has reached the docking position; and Based on the determination that the UAV has reached the docking position, the winch system is activated to lower the tether through the cavity in the landing platform.

13. The system of claim 11, wherein the control system is further configured to: Determine whether the UAV has reached the docking position; and Based on the determination that the UAV has reached the docking position, the battery of the UAV is charged.

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