Tool for loading a payload onto a payload recovery device, machine comprising the loading tool and method of use

Abstract

A tool for loading a payload on a payload recovery device includes a support body and a guide extending outwardly from the support body. The guide has an elongated configuration and a cross-sectional area that is narrower than the support body. The guide is configured to be inserted into a channel of the payload recovery device and position the support body at an end of the channel adjacent to a payload carrying structure. The tool also includes a hanger configured to carry the payload. The hanger is movable relative to the support body between a closed position and a release position.

Description

[0001] Cross-references to related applications

[0002] This application claims priority to U.S. Provisional Patent Application No. 63 / 595,135, filed November 1, 2023, the contents of which are incorporated herein by reference. Background Technology

[0003] Unmanned vehicles (also known as autonomous vehicles) are vehicles capable of operating without a human operator. The term "unmanned" is sometimes used interchangeably with "driverless," and it should be understood that the two terms have the same meaning and are used interchangeably. Unmanned vehicles can operate in remotely controlled, autonomous, or partially autonomous modes.

[0004] When an unmanned vehicle operates in remote control mode, a pilot or operator at a remote location can control the unmanned 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 automation 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 operator might wish to leave navigation to the autonomous system while manually performing another task, such as operating a mechanical system for picking up objects.

[0005] Various types of unmanned vehicles exist for a wide range of environments. For example, there are unmanned vehicles that can operate in the air, on the ground, underwater, and in space. Examples include quadcopters and vertical takeoff and landing (VTOL) UAVs, among others. There are also unmanned vehicles for hybrid operations, where multi-environment operation is possible. Examples of hybrid unmanned vehicles include amphibious ships capable of operating on land and water, or seaplanes capable of landing on both water and land. Other examples are also possible. Summary of the Invention

[0006] This embodiment relates to loading a payload onto a payload recovery device. Accurately placing the payload onto the payload recovery device allows the UAV to recover the payload with a high success rate.

[0007] In one aspect, a tool is provided for loading a payload onto a payload recovery device. The tool includes a support body and a guide extending outwardly from the support body. The guide has an elongated configuration and a cross-sectional area narrower than the support body. The guide is configured to insert into a channel of the payload recovery device and position the support body at the end of the channel adjacent to the payload-bearing structure. The tool also includes a hanger configured to carry the payload. The hanger is movable relative to the support body between a closed position and a released position.

[0008] On the other hand, a machine is provided for loading a payload onto a payload recovery device. The machine includes a movable base with actuators for moving the base on a surface. An adjustable arm is attached to the movable base. A tool according to this disclosure is attached to the adjustable arm.

[0009] In another aspect, a method for loading a payload onto a payload recovery device is provided. The method includes securing the payload to a loading tool. The loading tool includes a support body, a guide extending outwardly from the support body, and a hanger for carrying the payload. The guide has an elongated configuration and a cross-sectional area narrower than the support body. The method further includes inserting the guide of the loading tool into a channel of the payload recovery device to position the support body at an end of the channel adjacent to the payload-bearing structure of the payload recovery device. The method further includes moving the hanger of the loading tool relative to the support body from a closed position to a released position to release the payload, such that the payload is carried by the payload-bearing structure of the payload recovery device.

[0010] These and other aspects, advantages, and alternatives will become apparent to those skilled in the art upon reading the following detailed description (with reference to the accompanying drawings where appropriate). Furthermore, it should be understood that the descriptions provided in the summary section and elsewhere in this document are intended to illustrate the claimed subject matter by way of example, not limitation. Attached Figure Description

[0011] Figure 1A This is a simplified illustration of an unmanned aerial vehicle according to an example embodiment.

[0012] Figure 1B This is a simplified illustration of an unmanned aerial vehicle according to an example embodiment.

[0013] Figure 1C This is a simplified illustration of an unmanned aerial vehicle according to an example embodiment.

[0014] Figure 1D This is a simplified illustration of an unmanned aerial vehicle according to an example embodiment.

[0015] Figure 1EThis is a simplified illustration of an unmanned aerial vehicle according to an example embodiment.

[0016] Figure 2 This is a simplified block diagram illustrating the components of an unmanned aerial vehicle according to an example embodiment.

[0017] Figure 3 This is a simplified block diagram illustrating a UAV system according to an example embodiment.

[0018] Figure 4A , Figure 4B and Figure 4C A payload delivery apparatus according to an example embodiment is shown.

[0019] Figure 5 A perspective view of a payload delivery apparatus according to an example embodiment is shown.

[0020] Figure 6 A perspective view of a payload coupling device according to an example embodiment is shown.

[0021] Figure 7 A side view of the handle of the payload according to an example embodiment is shown.

[0022] Figure 8 A pair of locking pins for engaging a payload handle according to an example embodiment are shown.

[0023] Figure 9 This is a perspective view of a payload recovery apparatus according to an example embodiment.

[0024] Figure 10 It shows that from Figure 9 The sequence of steps A to D performed by the payload recovery device in recovering the payload.

[0025] Figure 11A A perspective view of the loading tool according to an example embodiment is shown.

[0026] Figure 11B It shows Figure 11A Side view of the loading tool.

[0027] Figure 11C It shows Figure 11A The front view of the loading tool.

[0028] Figures 12A to 12C The illustration shows the use of a loading tool to load a payload onto a payload recovery device according to an example embodiment.

[0029] Figure 13A and Figure 13B The operation of the gantry releasing the payload from the loading tool according to an example embodiment is shown.

[0030] Figure 14A and Figure 14B The attachment of a payload to a loading tool is shown according to an example embodiment.

[0031] Figure 15 A side view of a loading machine according to an example embodiment is shown.

[0032] Figure 16 It shows the extended position. Figure 15 A perspective view of a portion of the loading machine.

[0033] Figure 17 It shows the retracted position. Figure 15 A perspective view of a portion of the loading machine. Detailed Implementation

[0034] This document describes exemplary methods and systems. It should be understood that the word "exemplary" is used herein to mean "serving as an example, instance, or illustration." Any implementation or feature described herein as "exemplary" or "illustrative" is not necessarily to be construed as preferred or advantageous over other implementations or features. In the figures, similar symbols generally identify similar components unless the context otherwise requires. The exemplary implementations described herein are not intended to be limiting. It will be readily understood that the aspects of this disclosure, as generally described herein and shown in the figures, can be arranged, replaced, combined, separated, and designed in a variety of different configurations, all of which are considered herein.

[0035] I. Overview

[0036] This embodiment relates to loading a payload onto a payload recovery device configured to provide the payload to a UAV for delivery. The UAV includes a payload coupling device at the end of a tether and is operable to recover the payload from the payload recovery device during flight. When hovering or moving above the payload recovery device, the UAV lowers the payload coupling device on the tether. The payload recovery device carries the payload and guides the payload coupling device to the payload, where the payload is secured to the payload coupling device. The UAV can then retract the tether and continue flight to deliver the payload to the delivery location.

[0037] The payload recovery device includes a channel that receives and guides the payload coupling device through the channel. A payload-bearing structure is located at the end of the channel and carries the payload until it is recovered by the payload coupling device. The loading tool of this disclosure facilitates the consistent securing of the payload to the payload-bearing structure in a manner that allows for reliable recovery via the payload coupling device.

[0038] The loading tool is configured to carry a payload until it is secured to a payload recovery device. In embodiments of this disclosure, the loading tool includes a guide extending from the tool body and configured to insert into a channel of the payload recovery device. As the guide moves into position within the channel, the body of the loading tool can move to a predetermined position at the end of the channel. The payload can be secured to a hanger of the loading tool. To release the payload, the hanger can move from a closed position to a released position, in which the loading tool releases the payload. If the loading tool is in the appropriate position, the release of the payload results in the payload being secured to the payload-bearing structure of the payload recovery device.

[0039] In some embodiments, a loading tool is integrated into a machine for loading one or more payloads onto a payload recovery device. The machine includes a movable base having a drive for moving the base on a surface and an adjustable arm attached to the movable base. The loading tool of this disclosure is attached to the adjustable arm such that the adjustable arm can position the loading tool at a desired location on the payload recovery device. In some embodiments, the machine may include a storage device for carrying one or more payloads, allowing the machine to be used to load payloads onto more than one payload recovery device.

[0040] Further details and other embodiments of the loading tools and loading machines according to this disclosure are described in more detail below.

[0041] II. Illustrative Unmanned Vehicles

[0042] In this article, the terms "unmanned aerial vehicle" and "UAV" refer to any autonomous or semi-autonomous vehicle capable of performing some functions without the physical presence of a human pilot.

[0043] UAVs can take many forms. For example, UAVs can take the form of fixed-wing aircraft, gliders, vertical takeoff and landing aircraft, jet aircraft, ducted fan aircraft, lighter-than-air spacecraft (such as airships or steerable balloons), rotorcraft (such as helicopters or multi-rotor aircraft), and / or ornithopter aircraft, among other possibilities. Furthermore, the terms "unmanned aerial vehicle," "unmanned aerial vehicle system" (UAVS), or "unmanned aviation system" (UAS) can also be used to refer to UAVs.

[0044] Figure 1AThis is an isometric view of an example UAV 100. UAV 100 includes wings 102, cantilever 104, and fuselage 106. Wings 102 may be fixed and may generate lift based on the wing shape and the UAV's forward airspeed. For example, both wings 102 may have an airfoil-shaped cross-section to generate aerodynamic forces on the UAV 100. In some embodiments, wings 102 may carry a horizontal propulsion unit 108, and cantilever 104 may carry a vertical propulsion unit 110. In operation, power for the propulsion units can be supplied from a battery compartment 112 in fuselage 106. In some embodiments, fuselage 106 also includes an avionics compartment 114, an auxiliary battery compartment (not shown), and / or a delivery unit (not shown, such as a winch system) for maneuvering payloads. In some embodiments, the fuselage 106 is modular, and two or more compartments (e.g., battery compartment 112, avionics compartment 114, other payload and delivery compartments) are detachable from each other and can be secured to each other (e.g., mechanically, magnetically or otherwise) to continuously form at least a part of the fuselage 106.

[0045] In some embodiments, the cantilever 104 terminates in a rudder 116 for improved yaw control of the UAV 100. Additionally, the wing 102 may include an elevator 115 and terminate at a wingtip 117 for improved lift control of the UAV.

[0046] In the illustrated configuration, UAV 100 includes a structural frame. This structural frame may be referred to as the UAV's "structural H-frame" or "H-frame" (not shown). The H-frame may include spars (not shown) within wing 102 and cantilever brackets (not shown) within cantilever 104. In some embodiments, the spars and cantilever brackets may be made of carbon fiber, hard plastic, aluminum, light metal alloys, or other materials. The spars and cantilever brackets may be connected using clamps. The spars may include pre-drilled holes for the horizontal propulsion unit 108, and the cantilever brackets may include pre-drilled holes for the vertical propulsion unit 110.

[0047] In some embodiments, the fuselage 106 may be removably attached to an H-frame (e.g., attached to a wing spars via clamps, configured with grooves, protrusions, or other features to mate with corresponding H-frame features, etc.). In other embodiments, the fuselage 106 may similarly be removably attached to the wing 102. Removable attachment of the fuselage 106 can improve the quality and / or modularity of the UAV 100. For example, the electrical / mechanical components and / or subsystems of the fuselage 106 can be tested separately from and before being attached to the H-frame. Similarly, the printed circuit board (PCB) 118 can be tested separately from and before being attached to the cantilever bracket, thus eliminating defective parts / subassemblies before the UAV is completed. For example, components of the fuselage 106 (e.g., avionics, battery cells, delivery units, additional battery compartments, etc.) can be electrically tested before the fuselage 106 is mounted to the H-frame. Furthermore, the motors and electronics of the PCB 118 can also be electrically tested before final assembly. Typically, identifying defective parts and subassemblies early in the assembly process reduces the overall cost and delivery time of the UAV. Furthermore, different types / models of the fuselage 106 can be attached to the H-frame, thus improving the modularity of the design. This modularity allows for the upgrading of these various components of the UAV 100 without substantial overhaul of the manufacturing process.

[0048] In some embodiments, the wing shell and cantilever shell can be attached to the H-frame using adhesive elements (e.g., tape, double-sided tape, glue, etc.). Therefore, multiple shells can be attached to the H-frame instead of a monolithic body being sprayed onto it. In some embodiments, the presence of multiple shells reduces stress caused by the coefficient of thermal expansion of the UAV's structural frame. Consequently, the UAV can have better dimensional accuracy and / or improved reliability.

[0049] Furthermore, in at least some embodiments, the same H-frame can be used with wing shells and / or cantilever shells of different sizes and / or designs, thus improving the modularity and versatility of the UAV design. The wing shells and / or cantilever shells can be made of relatively lightweight polymers (e.g., closed-cell foam) covered by a stiffer but relatively thin plastic skin.

[0050] Power and / or control signals from fuselage 106 can be routed to PCB 118 via cables passing through fuselage 106, wing 102, and cantilever 104. In the illustrated embodiment, UAV 100 has four PCBs, but other numbers of PCBs are possible. For example, UAV 100 may include two PCBs, one for each cantilever. The PCBs carry electronic components 119, including, for example, power converters, controllers, memory, passive components, etc. In operation, the propulsion units 108 and 110 of UAV 100 are electrically connected to the PCBs.

[0051] Many variations of the UAV shown are possible. For example, a fixed-wing UAV may include more or fewer rotor units (vertical or horizontal), and / or may utilize one or more ducted fans for propulsion. Furthermore, UAVs with more wings (e.g., an "X-wing" configuration with four wings) are also possible. Although Figure 1 shows two wings 102, two cantilever 104, two horizontal propulsion units 108, and six vertical propulsion units 110 for each cantilever 104, it should be understood that other variations of UAV 100 can be implemented with more or fewer of these components. For example, UAV 100 may include four wings 102, four cantilever 104, and more or fewer propulsion units (horizontal or vertical).

[0052] Similarly, Figure 1B Another example of a fixed-wing UAV 120 is shown. The fixed-wing UAV 120 includes a fuselage 122, two wings 124 with an airfoil cross section to provide lift for the UAV 120, a vertical stabilizer 126 (or vertical stabilizer) for stabilizing the aircraft's yaw (turn left or right), a horizontal stabilizer 128 (also called an elevator or horizontal tail) for stabilizing the pitch (tilt up or down), landing gear 130, and a propulsion unit 132, which may include a motor, a shaft, and a propeller.

[0053] Figure 1C An example of a UAV 140 with a propeller configured with a thruster is shown. The term "thruster" refers to the fact that the propulsion unit 142 is mounted at the rear of the UAV and "propels" the vehicle forward, as opposed to a propulsion unit mounted at the front of the UAV. Similar to... Figure 1A and Figure 1B The description provided Figure 1C A common structure used in thruster aircraft is depicted, including a fuselage 144, two wings 146, a vertical stabilizer 148, and a propulsion unit 142, which may include a motor, a shaft, and a propeller.

[0054] Figure 1DAn example of a vertical takeoff and landing (UAV) 160 is shown. In the example shown, the UAV 160 has fixed wings 162 to provide lift and allow the UAV 160 to slide horizontally (e.g., along the x-axis, in a direction approximately perpendicular to the x-axis). Figure 1D (The location shown is indicated). However, the fixed-wing 162 also allows the vertical takeoff and landing UAV 160 to take off and land independently.

[0055] For example, at a launch site, the vertical takeoff and landing (VTOL) UAV 160 can be vertically positioned (as shown), with its vertical stabilizer 164 and / or wings 162 resting on the ground and stabilizing the UAV 160 in a vertical position. The VTOL UAV 160 can then take off by manipulating its propeller 166 to generate upward thrust (e.g., approximately along the y-axis). Once at the appropriate altitude, the VTOL UAV 160 can use its flaps 168 to reorient itself to a horizontal position, bringing its fuselage 170 closer to the x-axis rather than the y-axis. The horizontally positioned propeller 166 can provide forward thrust, allowing the VTOL UAV 160 to fly in a manner similar to a typical aircraft.

[0056] Many variations of the fixed-wing UAV shown are possible. 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.

[0057] As described above, some embodiments may involve other types of UAVs besides or as alternatives to fixed-wing UAVs. For example, Figure 1E An example of a rotorcraft, commonly referred to as a multirotor aircraft 180, is shown. The multirotor aircraft 180 can also be referred to as a quadcopter because it comprises four rotors 182. It should be understood that the example embodiments may relate to rotorcraft with more or fewer rotors than the multirotor aircraft 180. For example, helicopters typically have two rotors. Other examples with three or more rotors are also possible. In this document, the term "multirotor aircraft" refers to any rotorcraft with more than two rotors, and the term "helicopter" refers to a rotorcraft with two rotors.

[0058] Referring more specifically to the multirotor aircraft 180, four rotors 182 provide propulsion and maneuverability for the multirotor aircraft 180. More specifically, each rotor 182 includes blades attached to a motor 184. This configuration allows the rotors 182 to allow the multirotor aircraft 180 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 differentially, allowing the multirotor aircraft 180 to control its pitch, roll, yaw, and / or altitude.

[0059] It should be understood that the reference to "unmanned" aircraft or UAVs herein can be equally applied to autonomous and semi-autonomous aircraft. In autonomous implementations, all functions of the aircraft are automated; for example, pre-programmed or controlled via real-time computer functions in response to inputs and / or predetermined information from various sensors. In semi-autonomous implementations, some functions of the aircraft may be controlled by a human operator, while others are performed autonomously. Furthermore, in some embodiments, a UAV may be configured to allow a remote operator to take over functions that would otherwise be autonomously controlled by the UAV. Moreover, a given type of function may be remotely controlled at one level of abstraction and autonomously performed at another. For example, a remote operator may control high-level navigation decisions of the UAV, such as specifying that the UAV should travel from one location to another (e.g., from a warehouse in a suburban area to a delivery address in a nearby city), while the UAV's navigation system autonomously controls finer-grained navigation decisions, such as the specific route taken between two locations, specific flight controls for implementing the route and avoiding obstacles while navigating the route, etc.

[0060] More generally, it should be understood that the example UAVs described herein are not intended to be limiting. The example embodiments may relate to any type of unmanned aerial vehicle, be implemented within any type of unmanned aerial vehicle, or take the form of any type of unmanned aerial vehicle.

[0061] III. Explanatory UAV Components

[0062] Figure 2 This is a simplified block diagram illustrating the components of a UAV 200 according to an example embodiment. The UAV 200 may take the form of a reference... Figures 1A to 1E The UAV described is one of the forms or similar to the reference 100, 120, 140, 160 and 180. Figures 1A to 1E The UAV is described as one of the forms of 100, 120, 140, 160, and 180. However, the UAV 200 may also take other forms.

[0063] UAV 200 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 UAV 200 include an inertial measurement unit (IMU) 202, an ultrasonic sensor 204, and a GPS 206, as well as other possible sensors and sensing systems.

[0064] In the illustrated embodiment, the UAV 200 further includes one or more processors 208. The processor 208 may be a general-purpose processor or a special-purpose processor (e.g., a digital signal processor, an application-specific integrated circuit, etc.). The one or more processors 208 may be configured to execute computer-readable program instructions 212, which are stored in a data storage device 210 and executable to provide the functionality of the UAV described herein.

[0065] Data storage device 210 may include one or more computer-readable storage media that can be read or accessed by at least one processor 208, or take the form of one or more computer-readable storage media that can be read or accessed by at least one processor 208. The one or more computer-readable storage media may include volatile and / or non-volatile storage components, such as optical, magnetic, organic, or other memory or disk storage devices, which may be wholly or partially integrated with at least one of the one or more processors 208. In some embodiments, data storage device 210 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 device 210 may be implemented using two or more physical devices.

[0066] As described above, the data storage device 210 may include computer-readable program instructions 212 and possible additional data, such as diagnostic data of the UAV 200. Thus, the data storage device 210 may include program instructions 212 to perform or facilitate some or all of the UAV functions described herein. For example, in the illustrated embodiment, program instructions 212 include a navigation module 214 and a tether control module 216.

[0067] A. Sensor

[0068] In an illustrative embodiment, IMU 202 may include both an accelerometer and a gyroscope, which can be used together to determine the orientation of UAV 200. Specifically, the accelerometer measures the vehicle's orientation 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, IMU 202 may take the form of or include miniaturized microelectromechanical systems (MEMS) or nanoelectromechanical systems (NEMS). Other types of IMUs may also be utilized.

[0069] In addition to accelerometers and gyroscopes, IMU 202 may also include other sensors that can help better determine position and / or help increase the autonomy of UAV 200. Two examples of such sensors are magnetometers and pressure sensors. In some embodiments, the UAV may include a low-power digital 3-axis magnetometer, which can be used to implement an orientation-independent electronic compass for accurate heading information. However, other types of magnetometers may also be utilized. 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.

[0070] The UAV 200 may also include a pressure sensor or barometer, which can be used to determine the altitude of the UAV 200. Alternatively, other sensors such as acoustic altimeters or radar altimeters can be used to provide altitude indication, which can help improve the accuracy of the IMU and / or prevent IMU drift.

[0071] On the other hand, UAV 200 may include one or more sensors that allow the UAV to sense objects in its environment. For example, in the illustrated embodiment, UAV 200 includes an ultrasonic sensor 204. The ultrasonic sensor 204 can determine the distance to an object by generating a sound wave and determining the time interval between the emission of the wave and the receipt of a corresponding echo from the object. Typical applications of ultrasonic sensors or IMUs for unmanned vehicles are low-level altitude control and obstacle avoidance. Ultrasonic sensors can also be used for vehicles that need to hover at a certain height or need to be able to detect obstacles. Other systems can be used to determine nearby objects, sense the presence of nearby objects, and / or determine the distance to nearby objects, such as light detection and ranging (LIDAR) systems, laser detection and ranging (LADAR) systems, and / or infrared or forward-looking infrared (FLIR) systems, among other possibilities.

[0072] In some embodiments, the UAV 200 may also include one or more imaging systems. For example, the UAV 200 may utilize one or more stationary cameras and / or video cameras to capture image data from the UAV's environment. As specific examples, charge-coupled device (CCD) cameras or complementary metal-oxide-semiconductor (CMOS) cameras may be used with the unmanned vehicle. Such imaging sensors have numerous possible applications, such as obstacle avoidance, localization technologies, ground tracking for more accurate navigation (e.g., by applying optical flow techniques to images), video feedback and / or image recognition and processing, among others.

[0073] UAV 200 may also include GPS receiver 206. GPS receiver 206 can be configured to provide typical data from well-known GPS systems, such as the GPS coordinates of UAV 200. This GPS data can be used by UAV 200 for various functions. Thus, UAV can use its GPS receiver 206 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.

[0074] B. Navigation and Location Determination

[0075] The navigation module 214 can provide functionality that allows the UAV 200 to move around in its environment and reach a desired location, for example. To do this, the navigation module 214 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.

[0076] To navigate the UAV 200 to a target location, the navigation module 214 can implement various navigation techniques, such as map-based navigation and location-based navigation. With map-based navigation, a map of its environment can be provided to the UAV 200, which can then be used to navigate to a specific location on the map. With location-based navigation, the UAV 200 can be able to navigate in an unknown environment using positioning. Location-based navigation may involve the UAV 200 constructing its own map of its environment and calculating its position within the map and / or the position of objects within the environment. For example, as the UAV 200 moves throughout its environment, it can continuously use positioning to update the map of its environment. This continuous mapping process can be referred to as Simultaneous Localization and Mapping (SLAM). Other navigation techniques may also be utilized.

[0077] In some embodiments, navigation module 214 may use waypoint-dependent techniques for navigation. Specifically, a waypoint is a set of coordinates that identifies a point in physical space. For example, an air navigation waypoint may be defined by a latitude, longitude, and altitude. Therefore, navigation module 214 can guide UAV 200 from waypoints to waypoints in order to eventually reach its final destination (e.g., the final waypoint in a waypoint sequence).

[0078] On the other hand, the navigation module 214 and / or other components and systems of the UAV 200 can be configured for "positioning" to navigate more precisely to a target location. More specifically, in some cases, it may be desirable 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 228 is delivered by the UAV. For this purpose, the UAV can use a two-tiered approach, where it uses a more general positioning technique to navigate to a general area associated with the target location, and then uses a more refined positioning technique to identify and / or navigate to the target location within the general area.

[0079] For example, UAV 200 can use waypoints and / or map-based navigation to navigate to the general area of ​​the target destination to which payload 228 is delivered. The UAV can then switch to a mode that utilizes positioning processes to locate and travel to a more specific location. For instance, if UAV 200 is to deliver a payload to a user's home, it may need to be substantially close to the target location to avoid delivering the payload to an undesirable area (e.g., onto a rooftop, into a pond, onto a neighbor's property, etc.). However, GPS signals may only allow UAV 200 to reach such a extent (e.g., within a block of the user's home). More precise location determination techniques can then be used to locate the specific target location.

[0080] Once the UAV 200 has navigated to the general area of ​​the target delivery location, various types of location determination techniques can be used to pinpoint the location of the target delivery location. For example, the UAV 200 may be equipped with one or more sensing systems, such as, for example, an ultrasonic sensor 204, an infrared sensor (not shown), and / or other sensors, which can provide the navigation module 214 with input from autonomous or semi-autonomous navigation to the specific target location.

[0081] As another example, once UAV 200 reaches a general area of ​​the target delivery location (or a moving object such as a person or their mobile device), UAV 200 can switch to "fly-by-wire" mode, where UAV 200 is at least partially controlled by a remote operator who can navigate UAV 200 to the specific target location. For this purpose, sensor data from UAV 200 can be sent to the remote operator to assist them in navigating UAV 200 to the specific location.

[0082] As another example, UAV 200 may include modules capable of signaling to passersby to assist in reaching a specific target delivery location; for example, UAV 200 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, and other possibilities. This visual or audio message may indicate that assistance is needed when delivering UAV 200 to a specific person or location, and may provide information to assist passersby in delivering UAV 200 to that person or location (e.g., a description or picture of the person or location, and / or the name of the person or location), and other possibilities. This feature may be useful in scenarios where the UAV cannot use sensing capabilities or another location determination technology to reach a specific target location. However, this feature is not limited to such scenarios.

[0083] In some embodiments, once the UAV 200 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 scenario where a remote device (such as the mobile phone of the person requesting UAV delivery) can emit directional signals (e.g., via RF signals, light signals, and / or audio signals). In this scenario, the UAV 200 can be configured to navigate by directional signals such as "source tracing"—in other words, by determining the location of the strongest signal and navigating accordingly. As another example, a mobile device can emit frequencies within or outside human range, and the UAV 200 can listen to those frequencies and navigate accordingly. As a related example, if the UAV 200 is listening for verbal commands, it can use verbal statements such as "I'm here!" to source the specific location of the person requesting payload delivery.

[0084] In an alternative arrangement, the navigation module can be implemented at a remote computing device that wirelessly communicates with the UAV 200. The remote computing device can receive data indicating the operational status of the UAV 200, sensor data from the UAV 200 allowing it to evaluate the environmental conditions the UAV 200 is experiencing, and / or the UAV 200's position information. Provided with such information, the remote computing device can determine the altitude and / or heading adjustments the UAV 200 should make and / or determine how the UAV 200 should adjust its mechanical characteristics (e.g., the speed of its rudder, elevator, ailerons, and / or its propeller) to achieve such movement. The remote computing system can then communicate these adjustments to the UAV 200, enabling it to move in a determined manner.

[0085] C. Communication System

[0086] On the other hand, UAV 200 includes one or more communication systems 218. Communication system 218 may include one or more wireless interfaces and / or one or more wired interfaces, allowing UAV 200 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, Near Field Communication (NFC), and / or other wireless communication protocols. Such wired interfaces may include Ethernet interfaces, Universal Serial Bus (USB) interfaces, or similar interfaces for communication via wires, twisted pairs, coaxial cables, optical links, fiber optic links, or other physical connections to wired networks.

[0087] In some embodiments, UAV 200 may include a communication system 218 that allows both short-range and long-range communication. For example, UAV 200 may be configured for short-range communication using Bluetooth and for long-range communication under the CDMA protocol. In such embodiments, UAV 200 may be configured to act as a "hotspot"; or in other words, as a gateway or proxy between a remote support device and one or more data networks, such as cellular networks and / or the Internet. With this configuration, UAV 200 can facilitate data communication that the remote support device would not otherwise be able to perform on its own.

[0088] For example, the UAV 200 can provide WiFi connectivity to remote devices and act as a proxy or gateway to a cellular service provider's data network, which the UAV can connect to under protocols such as LTE or 3G. The UAV 200 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.

[0089] D. Power System

[0090] On the other hand, UAV 200 may include a power system 220. Power system 220 may include one or more batteries for supplying power to UAV 200. 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.

[0091] E. Payload Delivery

[0092] UAV 200 can employ various systems and configurations for transporting and delivering payload 228. In some embodiments, the payload 228 of a given UAV 200 may include or take the form of a “package” designed to transport various goods to a target delivery location. For example, UAV 200 may include a compartment in which one or more items can be transported. Such a package may include one or more food items, purchased goods, medical items, or any other object having a size and weight suitable for transport by a UAV between two locations. In other embodiments, payload 228 may simply be one or more items being delivered (e.g., any package without items).

[0093] In some embodiments, payload 228 may be attached to the UAV and remain substantially outside the UAV for some or all of the UAV's flight. For example, during flight to a target location, the package may be tethered or otherwise releasably attached to the underside of the UAV. In some embodiments, the package may include various features that protect its contents from environmental influences, reduce aerodynamic drag on the system, and prevent displacement of the package's contents during UAV flight. In other embodiments, the package may be a standard delivery package that is not specifically designed for UAV flight.

[0094] To deliver the payload, the UAV may include a winch system 221 controlled by a tether control module 216 to lower the payload 228 to the ground while the UAV is hovering overhead. Figure 2 As shown, the winch system 221 may include a tether 224, which is coupled to a payload 228 via a payload retractor 226. The tether 224 may be wound around a spool of a motor 222 coupled to the UAV. The motor 222 may be in the form of a DC motor (e.g., a servo motor) that can be actively controlled by a speed controller. The tether control module 216 may control the speed controller to rotate the motor 222 to unwind or retract the tether 224 and lower or raise the payload retractor 226. In practice, the speed controller may output a desired operating rate (e.g., a desired RPM) for the spool, which may correspond to the speed at which the tether 224 and the payload 228 should be lowered toward the ground. The motor 222 may then rotate the spool to maintain the desired operating rate.

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

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

[0097] In some embodiments, the tether control module 216 can change the rate at which the tether 224 and payload 228 are lowered to the ground. For example, a speed controller can change the desired operating rate based on a variable deployment rate curve and / or in response to other factors, thereby changing the rate at which the payload 228 descends toward the ground. To do this, the tether control module 216 can adjust the amount of braking or friction applied to the tether 224. For example, to change the tether deployment rate, the UAV 200 can include a friction pad that can apply a variable pressure to the tether 224. As another example, the UAV 200 can include a motorized braking system that changes the rate at which the spool releases the tether 224. Such a braking system can take the form of an electromechanical system in which a motor 222 operates to slow the rate at which the spool releases the tether 224. Furthermore, the motor 222 can change the amount by which it regulates the speed of the spool (e.g., RPM), and thus can change the deployment rate of the tether 224. Other examples are also possible.

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

[0099] In some embodiments, the tether control module 216 may be configured to determine the state of the tether 224 and / or the payload 228 based on the amount of current supplied to the motor 222. For example, if a downward force is applied to the tether 224 (e.g., if the payload 228 is attached to the tether 224 or if the tether 224 is hooked onto an object as it retracts toward the UAV 200), the tether control module 216 may need to increase the motor current to match the determined rotational speed of the motor 222 and / or the spool with a desired speed. Similarly, when a downward force is removed from the tether 224 (e.g., when delivering the payload 228 or removing the tether hook), the tether control module 216 may need to decrease the motor current to match the determined rotational speed of the motor 222 and / or the spool with a desired speed. Thus, the tether control module 216 may be configured to monitor the current supplied to the motor 222. For example, the tether control module 216 may determine the motor current based on sensor data received from a current sensor of the motor or a current sensor of the power system 220. In any case, based on the current supplied to motor 222, it is determined whether payload 228 is attached to tether 224, whether someone or something is pulling tether 224, and / or whether payload retractor 226 presses against UAV 200 after retracting tether 224. Other examples are also possible.

[0100] During the delivery of payload 228, payload retractor 226 can be configured to secure payload 228 as it is lowered from the UAV via tether 224, and can be further configured to release payload 228 upon reaching the ground plane. Payload retractor 226 can then be retracted back into the UAV by using motor 222 to pull back tether 224.

[0101] In some implementations, the payload 228 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 228 can be attached. As the release mechanism and payload 228 are lowered to the ground via a tether, gravity on the release mechanism, along with downward inertial forces, can disengage the payload 228 from the hooks, allowing the release mechanism to rise toward the UAV. The release mechanism may also include a spring mechanism that biases the swing arms to retract into the housing when no other external force is applied to them. For example, a spring may apply a force to the swing arms that pushes or pulls them toward the housing, such that once the weight of the payload 228 no longer forces the swing arms to extend from the housing, the arms retract into the housing. Retracting the swing arms into the housing when the release mechanism is raised toward the UAV while delivering the payload 228 reduces the likelihood of the release mechanism snagging on the payload 228 or other nearby objects.

[0102] 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 communicated 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 detecting accelerometer measurements as ground impact characteristics). In other examples, the UAV can determine that the payload has reached the ground based on a threshold low downward force detected by a weight sensor on the tether and / or based on a threshold low measurement of the power drawn by the winch when the payload is lowered.

[0103] In addition to or as an alternative to tethered delivery systems, other systems and technologies for delivering payloads are possible. For example, UAV 200 may include an airbag landing system or a parachute landing system. Alternatively, UAV 200 carrying a payload may simply land on the ground at the delivery location. Other examples are also possible.

[0104] IV. Illustrative UAV Deployment System

[0105] UAV systems can be implemented to provide a variety of UAV-related services. Specifically, UAVs can be deployed from multiple different launch sites that can communicate with regional and / or central control systems. Such distributed UAV systems allow for the 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 across large geographic areas (potentially throughout a country or even the world) to provide on-demand transportation of various items to locations throughout the geographic area. Figure 3 This is a simplified block diagram illustrating a distributed UAV system 300 according to an example embodiment.

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

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

[0108] Furthermore, access system 302 can provide remote operation of the UAV. For example, access system 302 can allow an operator to control the flight of the UAV via its user interface. As a specific example, an operator can use access system 302 to dispatch UAV 304 to a target location. UAV 304 can then autonomously navigate to the general area of ​​the target location. At this point, the operator can use access system 302 to control UAV 304 and navigate the UAV to the target location (e.g., to a specific person transporting a payload to it). Other examples of remote operation of the UAV are also possible.

[0109] In the illustrative embodiments, UAV 304 can take various forms. For example, each of UAV 304 can be a UAV, such as Figures 1A to 1E The UAVs shown are examples of those shown. However, without departing from the scope of the invention, the UAV system 300 may also utilize other types of UAVs. In some embodiments, all UAVs 304 may have the same or similar configurations. However, in other embodiments, UAVs 304 may include multiple different types of UAVs. For example, UAVs 304 may include multiple types of UAVs, each type of UAV being configured for different or one type of payload delivery capability.

[0110] UAV system 300 may also include a remote device 306, which can take various forms. Typically, remote device 306 can be any device through which a direct or indirect request to dispatch a UAV can be made. (Note that an indirect request can involve any communication that can be responded to by dispatching a UAV, such as a request for package delivery). In example embodiments, remote device 306 can be a mobile phone, tablet computer, laptop computer, personal computer, or any network-connected computing device. Furthermore, in some cases, remote device 306 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 306. Other types of remote devices are also possible.

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

[0112] In some embodiments, the remote device 306 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 wherever they are at the time of delivery. To provide such dynamic delivery, the UAV system 300 may receive location information (e.g., GPS coordinates, etc.) from the user's mobile phone or any other device on the user's person, allowing the UAV to navigate to the user's location (as indicated by their mobile phone).

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

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

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

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

[0117] Numerous variations and alternatives to the illustrated configuration of UAV system 300 are possible. For example, in some embodiments, a user of remote device 306 may request package delivery directly from central dispatch system 310. To do this, an application may be implemented on remote device 306 that allows the user to provide information about the requested delivery and generate and send data messages to request UAV system 300 to provide delivery. In such embodiments, central dispatch system 310 may include automation functions to process requests generated by such applications, evaluate such requests, and, if appropriate, coordinate with appropriate local dispatch system 312 to deploy UAVs.

[0118] Furthermore, this document attributes that some or all of the functions of the central dispatch system 310, local dispatch system 312, access system 302 and / or deployment system 314 can be combined in a single system, implemented in a more complex system, and / or redistributed in various ways among the central dispatch system 310, local dispatch system 312, access system 302 and / or deployment system 314.

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

[0120] On the other hand, the deployment system 314 can take various forms. Typically, the deployment system 314 can take the form of a system for physically launching one or more UAVs 304, or include systems for physically launching one or more UAVs 304. Such a launch system may include features that provide automated UAV launch and / or allow manually assisted UAV launch. Furthermore, the deployment system 314 can be configured to launch one specific UAV 304, or to launch multiple UAVs 304.

[0121] The deployment system 314 can also be configured to provide additional functions, including diagnostic-related functions such as verifying the system functions of the UAV, verifying the functions of the equipment housed in the UAV (e.g., payload delivery device), 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.).

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

[0123] On the other hand, UAV system 300 may include or access a user account database 316. User account database 316 may include data from multiple user accounts, and each user account is associated with one or more individuals. For a given user account, user account database 316 may include data relevant to or useful in providing UAV-related services. Typically, user data associated with each user account may optionally be provided by the associated user and / or collected with the associated user's permission.

[0124] Furthermore, in some embodiments, if people wish to receive UAV-related services from UAV 304 of UAV system 300, they may need to register a user account with UAV system 300. Thus, user account database 316 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.

[0125] 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 300. For example, when a person uses an associated mobile phone to make a call to an operator accessing system 302 or to send a message requesting UAV-related services to a dispatch system, the phone can be identified via a unique device identifier, and the call or message can then be attributed to the associated user account. Other examples are also possible.

[0126] V. Illustrative Payload Delivery System

[0127] Figure 4A , Figure 4B and Figure 4CA UAV 400 including a payload delivery system 410 according to an example embodiment is shown. As shown, the payload delivery system 410 of the UAV 400 includes a tether 402 coupled to a spool 404, a payload latch 406, and a payload 408 coupled to the tether 402 via a payload coupling device 412. The payload latch 406 can be used to alternately secure the payload 408 and release the payload 408 during delivery. For example, as shown, the payload latch 406 can take the form of one or more pins that can engage a portion of the payload 408. Inserting the pins of the payload latch 406 into the payload coupling device 412 secures the payload coupling device 412 within a receptacle 414 on the underside of the UAV 400, thereby preventing the payload 408 from being lowered from the UAV 400. In some embodiments, the payload latch 406 may be arranged to engage the spool 404 or the payload 408 instead of the payload coupling device 412 to prevent the payload 408 from being lowered. In other embodiments, the UAV 400 may not include the payload latch 406, and the payload delivery device may be directly coupled to the UAV 400.

[0128] In some embodiments, spool 404 can be used to unwind tether 402, allowing payload 408 to be lowered from UAV 400 to the ground using tether 402 and payload coupling device 412. Payload 408 itself can be an item for delivery and can be housed (or otherwise incorporated) in a package, container, or other structure configured to interface with payload latch 406. In practice, payload delivery system 410 of UAV 400 can be used to autonomously lower payload 408 to the ground in a controlled manner to facilitate delivery of payload 408 to the ground while UAV 400 is hovering above.

[0129] like Figure 4A As shown, the payload latch 406 can be in a closed position (e.g., pin-engaged payload coupling device 412) to carry the payload 408 against or near the bottom of the UAV 400, or even partially or completely within the UAV 400, during flight from the launch site to the target location 420. The target location 420 can be a point in space directly above the desired delivery location. Then, when the UAV 400 arrives at the target location 420, the UAV's control system (e.g., ... Figure 2 The tether control module 216 can switch the payload latch 406 to the open position (e.g., disengage the pin from the payload coupling device 412), thereby allowing the payload 408 to be lowered from the UAV 400. The control system can further operate the spool 404 (e.g., by controlling...). Figure 2The motor 222) lowers the load 408, which is fixed to the tether 402 via the load coupling device 412, to the ground. Figure 4B As shown.

[0130] Once the payload 408 reaches the ground, the control system can continue to operate the spool 404 to lower the tether 402, resulting in an over-run of the tether 402. During the over-run of the tether 402, while the payload 408 remains stationary on the ground, the payload coupling device 412 can continue to lower. Downward momentum and / or gravity on the payload coupling device 412 can cause the payload 408 to detach from the payload coupling device 412 (e.g., by slipping off the hook of the payload coupling device 412). After releasing the payload 408, the control system can operate the spool 404 to retract the tether 402 and the payload coupling device 412 toward the UAV 400. Once the payload coupling device reaches or is near the UAV 400, the control system can operate the spool 404 to pull the payload coupling device 412 into the storage compartment 414, and the control system can switch the payload latch 406 to the closed position, as... Figure 4C As shown.

[0131] Figure 5 A perspective view of a payload delivery device 500 including a payload 510 according to an example embodiment is shown. The payload delivery device 500 is located within the fuselage of the UAV and includes a winch 514 powered by a motor 512 and a tether 502 wound around the winch 514. The tether 502 is attached to a payload coupling device or payload recovery device 800, which is located within a payload coupling device housing 516. The payload 510 is secured to the payload coupling device 800. In this embodiment, the top portion 517 of the payload 510 is secured within the fuselage of the UAV. A locking pin 570 is shown extending through a handle 511 attached to the payload 510 to reliably secure the payload below the UAV during high-speed flight.

[0132] Figure 5 A payload 510 is shown in an aerodynamic hexagonal tote shape, wherein the base and sidewalls are hexagonal, and the tote includes generally pointed front and rear surfaces formed at the intersection of the sidewalls and base of the tote providing the aerodynamic shape. In other embodiments, the payload may have other shapes or forms.

[0133] Figure 6This is a perspective view of a payload coupling device 800 according to an exemplary embodiment. The payload coupling device 800 includes a tether mounting point 802 at the top of the payload coupling device and a groove 808 adapted to receive a handle for a payload. A lower lip or hook 806 is formed below the groove 808. The payload coupling device 800 also includes an external protrusion 804 having helical cam surfaces 804a and 804b, which are adapted to mate with corresponding cam mating surfaces to orient the payload coupling device 800. The corresponding mating surfaces may be included within a storage section in the fuselage of the UAV or in a payload recovery structure, as described in more detail below.

[0134] Figure 7 This is a side view of a handle 511 configured to carry a payload 510 by a UAV. The handle 511 includes an aperture 513 through which a hook of a payload coupling device extends to suspend the payload during delivery or recovery. The handle 511 includes a lower portion 515 that is attached to the top portion of the payload. Holes 524 and 526 are also included, through which locking pins located within the UAV's fuselage can extend to secure the handle and payload in a fixed position during high-speed forward flight to the delivery location. Furthermore, holes 524 and 526 are also designed to receive pins for a payload carrier used to properly position the payload on a payload recovery device. The handle may be constructed of a thin, flexible plastic material that provides sufficient strength to suspend the payload below the UAV during flight to the delivery location and during delivery and / or recovery. In practice, the handle can be bent to position it within a slot of the payload coupling device.

[0135] Figure 8 A pair of pins 570, 572 are shown extending through holes 524 and 526 in the handle 511 of the payload 510 to secure the handle 511 and the top portion of the payload 510 within the UAV's fuselage. In this way, the handle 511 and the payload 510 can be secured within the UAV's fuselage or to a payload carrier of a payload recovery device. In the illustrated embodiment, pins 570 and 572 have a conical shape, which aids in guiding them into holes 524, 546. In other embodiments, the pins may have another shape, such as cylindrical. In some embodiments, pins 570 and 572 can be fully inserted into holes 524 and 526 in the handle 511 of the payload 510 to provide a secure attachment of the handle and the top portion of the payload within the UAV's fuselage, or to secure the payload to a payload recovery device.

[0136] VI. Illustrative Payload Recovery System

[0137] Figure 9 This is a perspective view of a payload recovery device 1020, on which a payload 510 is positioned, according to an example embodiment. The payload recovery device 1020 can be a permanent or non-permanent structure placed at a payload recovery location. The device includes a support member 1021, which can be fixed at its lower end to a base or platform 1025. Figure 10 Alternatively, the support member 1021 may have a lower end that can be positioned within a corresponding hole in the ground or within a hole in a device positioned on the ground. The payload recovery device 1020 can be easily folded like an umbrella frame for ease of transport. Furthermore, due to its non-permanent configuration, the payload recovery device 1020 may not require any type of permit, unlike permanent equipment used for UAV loading and unloading.

[0138] An angled extension 1023 may be attached to the upper end of extension member 1021, and adapter 1024 may be used to adjust the height or angle of angled extension 1023, and may have a threaded retaining screw with a knob to position angled extension 1023 in a desired location. Angled extension 1023 is shown having an upper end fixed to a tubular structure forming channel 1030. A first end of channel 1030 may have a first extension or tethering connector 1026A extending from the lower end of channel 1030 in a first direction and a second extension or tethering connector 1026B extending from the lower end of channel 1030 in a second direction. A second end of channel 1030 may have a load carrier 570, 572 positioned nearby or on it, adapted to secure a load 510 to the second end of channel 1030.

[0139] A first guard 1028A is shown extending from the first tether connector 1026A, and another guard 1028B is shown extending from the second tether connector 1026B. Guards 1028A and 1028B may be made of fabric or other materials such as rubber or plastic. A central guard 1029 extending from the first end of channel 1030 is also shown. When the payload recoverer begins to contact the tether connectors 1026A and 1026B during payload recovery operation, guards 1028A, 1028B, and 1029 serve to prevent the payload recoverer 800, located at the end of tether 502, from becoming entangled in the tether connectors 1026A and 1026B or other components of the payload recovery device 1020.

[0140] Channel 1030 includes a tether groove 1031 extending from a first end of channel 1030 to a second end, and the tether groove 1031 allows a payload retriever to be positioned within channel 1030, the payload retriever being attached to a tether that enters the interior 1033 of channel 1030 and extends through the tether groove 1031. A payload carrier is shown as a pair of pins 570, 572 extending through an opening in a handle 511 of payload 510 to suspend payload 510 at a position adjacent to the second end of channel 1030, ready for retrieval by a payload retriever attached to a tether suspended from the UAV.

[0141] To facilitate the automatic retrieval of payload 510 from the UAV using a payload retriever suspended by a tether, payload 510 is secured at the payload retrieval location to payload carriers 570, 572 at the second end of channel 1030. When the UAV reaches the payload retrieval location, tether 502 extends downwards from the UAV, and payload retriever 800 is positioned at the end of the tether, as shown... Figure 9 and Figure 10 As shown, the UAV approaches the payload recovery device 1020, and when it is near the payload recovery device 1020, the tether 502 begins to contact the first tether connector 1026A or the second tether connector 1026B. As the UAV moves forward, or moves upward, or when the payload recovery device is wound upward toward the UAV when the UAV is suspended in place (or any combination thereof), the tether slides inward along the first tether connector 1026A or the second tether connector 1026B, with the tether pointing toward the first end of the channel 1030. As the UAV moves further forward or upward, or the payload recovery device is wound upward, the tether 502 moves through the tether groove 1031 of the channel 1030, and the payload recovery device 800, which is eventually attached to the tether 502, is pulled into the channel 1030 by the tether. The payload retractor 800 is pulled through channel 1030, where it engages and secures the payload 510, which is fixed to the payload carriers 570 and 572. The payload retractor 800 then pulls the payload 510 out of the payload carriers 570 and 572. Once the payload 510 is released from the payload holders 570 and 572, it can be wound upwards to securely engage with the UAV, and the UAV can continue to the delivery location where the payload 510 can be delivered by the UAV.

[0142] Figure 10 It shows that from such Figure 9 The sequence of steps A to D performed in the payload recovery device 1020 recovering payload 510 is shown. Figure 10The payload retriever, shown as a payload coupling device 800 with a hook or lip 806 located below slot 808, is attached to the end of tether 502, which in turn is attached to the UAV. At point A in the sequence of steps shown from right to left, the payload retriever 800 is shown suspended from the end of tether 502, positioned below the height of tether connectors 1026A and 1026B. The payload retriever 800 and tether 502 move toward the payload retriever 1020, wherein tether 502 contacts tether connector 1026A or tether connector 1026B, and the tether 502 and payload retriever 800 move toward the channel 1030 until the payload retriever 800 is positioned just outside the channel 1030 shown at point B in the sequence. As the UAV moves further forward or upward, or as the payload retriever 800 winds upward (or any combination thereof), the tether 502 extends through the tether groove 1031 of the channel 1030, and the payload retriever 800 is positioned within the channel 1030, as indicated by point C in the sequence. As the UAV moves further forward or upward, or as the payload retriever 800 winds upward (or any combination thereof), the payload retriever 800 exits the channel 1030, and the hook or lip 806 of the payload retriever 800 engages the handle 511 of the payload 510 and removes the payload 510 from the payload carriers 570, 572 positioned at the end of the channel 1030. After the payload 510 is removed from the payload carriers 570, 572 of the payload recovery device 1020, at point D of the sequence, the payload 510 is suspended from the tether 502, wherein the handle 511 of the payload 510 is positioned in a slot 808 above the hook or lip 806 of the payload recovery device 800, wherein the payload 510 can be wound upwards to the UAV and flown for subsequent delivery at the payload delivery location.

[0143] VII. Example payload loading tools and machines

[0144] Embodiments of this disclosure provide a tool for positioning a payload on a payload recovery device (such as the payload recovery device 1020 described above). Figures 11A to 11C An embodiment of this loading tool 1050 is shown. (As...) Figure 12A and Figure 12BAs shown, the loading tool 1050 is operable to carry the payload 1090 and interact with the payload recovery device 1020 to position the payload 1090 at a desired location on the payload recovery device 1020 and place the payload 1090 on the payload-bearing structure of the payload recovery device 1020. Therefore, when the UAV's payload coupling device is pulled through the payload recovery device 1020, the payload 1090 will be accurately positioned to achieve a similar effect to that described above. Figure 10 The method shown is received by the payload coupling device. For clarity, in Figures 12A to 12C Only a portion of the payload recovery device 1020, which includes a channel for receiving the payload coupling device, is shown in the image.

[0145] like Figures 11A to 11C As shown, the loading tool 1050 includes a support body 1052, which provides the main structural components of the loading tool 1050. As explained in more detail below, the support body 1052 may include a mounting structure for supporting the loading tool 1050 via another component, such as a loading machine. Alternatively, if the loading tool 1050 is operated by hand, the support body 1052 may provide a convenient area for gripping the loading tool 1050. Furthermore, the support body 1052 may connect to and hold other components of the loading tool 1050 together.

[0146] The loading tool 1050 also includes a guide 1060 that extends outward from the support body 1052 and is configured to guide the loading tool 1050 to a desired position on the payload recovery device. Furthermore, the loading tool 1050 includes a hanger configured to carry the payload and release it when the loading tool 1050 is in the appropriate position on the payload recovery device. In the illustrated embodiment, the hanger is substantially disposed inside the support body 1502, and is described below regarding... Figure 13A and Figure 13B A more detailed description is provided in the cross-sectional diagram.

[0147] like Figures 11A to 11C As shown, in the illustrated embodiment, in order to properly interact with the configuration of the payload recovery device 1020, the guide 1060 extends forward and downward from the support body 1052. In other embodiments, depending on the shape of the channel of the payload recovery device used, the guide may extend more significantly forward or downward from the support body.

[0148] Figure 12A and Figure 12BThe positioning of the loading device 1050 on the payload recovery device 1020 is shown. The payload recovery device includes a frame 1022 forming a channel 1030. The channel 1030 extends from a funnel-shaped lower inlet end 1032 to a raised outlet end 1034. A payload-bearing structure 1040 is positioned at the outlet end 1034 of the channel 1030 and is configured to carry a payload for UAV recovery. Thus, when the payload coupling device is pulled through the channel 1030, it can recover the payload as it passes through the outlet end 1034 of the channel 1030.

[0149] like Figure 12A As shown, when the loading tool 1050 moves toward the payload recovery device 1020, the guide 1060 is guided toward the outlet end 1032 of the channel 1030. As the loading tool 1050 moves further into position on the payload recovery device 1020, the guide 1060 is inserted into the channel 1030. Figure 12B As shown, further movement of the loading tool 1050 toward the payload recovery device 1020 is restricted by inserting the guide 1060 into the channel 1030. Finally, the guide 1060 is fully inserted into the channel, and the support body 1052 of the loading tool 1050 abuts against the frame 1022 of the payload recovery device 1020.

[0150] like Figure 11A As shown, the guide 1060 has an elongated structure extending to a narrow distal end 1062. This allows the guide 1060 to be easily inserted into the channel 1030 of the payload recovery device 1020. Furthermore, the cross-sectional area of ​​the guide 1060 is narrower than that of the support body 1052, allowing the guide 1060 to move easily into the channel 1030 while preventing the support body 1052 from being inserted into the channel 1030 and remaining at the outlet end 1034 of the channel 1030.

[0151] As further explained below, the positioning of the loading tool 1050 on the payload recovery device 1020 allows the payload 1090 to be released by the loading tool 1050. Therefore, the handle 1092 of the payload 1090 descends onto the payload carrying structure 1040, as... Figure 12C As shown. In the illustrated embodiment, the payload-bearing structure 1040 is configured as a pair of hooks, which are similar to... Figure 8 The pin shown engages with the orifice in the handle 1092.

[0152] Figure 13A and Figure 13B The operation of the hanger 1070, which carries and releases the payload 1090, is shown. (As...) Figure 13AAs shown, the support body 1052 of the loading tool 1050 includes a slot 1054 for receiving a handle 1092 of a payload 1090. The slot 1054 is positioned between a front portion 1056 and a rear portion 1058 of the support body 1052. When the hanger 1070 is in the closed position, the handle 1092 of the payload 1090 is fitted into the slot 1054 and held in place by the hanger 1070, as... Figure 13A As shown. When the hanger 1070 moves to the release position, as... Figure 13B As shown, the handle 1092 is released, and the payload 1090 can be freely placed on the support structure 1040 of the payload recovery device 1020.

[0153] In the illustrated embodiment, the hanger 1070 includes a hook 1072 that carries the upper portion of the handle 1092 and prevents the payload 1090 from falling. In other embodiments, the hanger may have another configuration capable of moving between a loaded position and a released position to selectively load or release the payload. For example, in some embodiments, the hanger includes a clamp configured to clamp the payload or the opposite side of the payload handle and hold the payload in place. Other releasable attachments for carrying the payload are also possible.

[0154] In some embodiments, such as Figure 13A As shown, when the hanger 1070 is in the closed position, the hook 1072 extends across the slot 1054. As a result, the handle 1092 of the payload 1090 is prevented from being removed from the slot 1054 and is carried by the loading tool 1050. Furthermore, this allows the hook 1072 to securely carry the payload handle 1072 only in a horizontal configuration and without requiring a protruding end on the hook. Therefore, removal of the payload handle 1092 from the hook 1072 can be performed by a simple lateral movement of the hanger 1070. Alternatively, in other embodiments, the hook does not fully extend across the slot. For example, in some embodiments, the hook securely carries the payload by including a protruding end or a latch.

[0155] In some embodiments, when the hanger moves from the closed position to the released position, the hook is configured to move into a receptacle in the rear portion of the support body, such that the front surface of the rear portion of the support body causes the load handle to slide off the hook. For example, as Figure 13BAs shown, the rear portion 1058 of the support body 1052 of the loading tool 1050 includes a storage section 1064, the size and shape of which are configured to receive the hook 1072 of the lifting device 1070 when the lifting device is moved to the release position. When the hook 1072 moves into the storage section 1064, it disengages from the payload handle 1092, thereby allowing the payload 1090 to be released onto the support structure 1040 of the payload recovery device 1020. The movement of the payload handle 1092 into the storage section 1064 is restricted by the front surface 1068 of the rear portion 1058 of the support body 1052. As a result, when the hook 1072 retracts into the container 1064, the handle 1092 slides away from the hook 1072.

[0156] In some embodiments, the loading tool includes a switch configured to move the hanger from a closed position to a released position. For example, in some embodiments, the hanger includes a contact surface configured to push the hanger into the released position when the loading tool is moved to a position on the payload coupling device. In other embodiments, the switch may be activated independently by the loading machine or a user.

[0157] like Figure 13B As shown, the loading tool 1050 of the illustrated embodiment includes a switch in the form of a contact surface 1074 at the front of the hanger 1070. When the loading tool 1050 is positioned on the payload recovery device 1020 (e.g. Figure 12B As shown), a portion of the payload recovery device 1020 pushes the contact surface 1074 of the hanger 1070, such as Figure 13B As indicated by the arrow in the diagram. By pushing the contact surface 1074, the hanger 1070 moves to the release position, thereby releasing the payload 1090 from the loading tool 1050.

[0158] In some embodiments, the hanger is biased toward a closed position. This helps prevent unintentional release of the payload before the loading tool is positioned on the payload recovery device. For example, in the illustrated embodiment, the loading tool 1050 includes a spring 1078 that pushes the hanger 1070 toward the closed position. The spring can be formed as a separate component, as in the illustrated embodiment, or it can be formed as a flexible portion of the hanger or support body. Using a separate spring simplifies the manufacture of the components of the loading tool, while integrally forming the spring with one of the other components of the loading tool can reduce cost and part count. A variety of different spring configurations can be used to bias the hanger toward the closed position, such as helical springs, leaf springs, disc springs, tension springs, or other spring designs. Furthermore, another configuration can be used to bias the hanger toward the closed position, such as using a separate weight or the weight of the hanger itself to push the hanger into the closed position. For example, a portion of the hanger can rest on an inclined surface, such that moving the hanger to the release position requires “lifting” the hanger.

[0159] Figure 14A and Figure 14B An example of a payload 1090 attached to a loading tool 1050 is shown. As illustrated, in some embodiments, the loading tool includes a funnel to guide the payload to attachment to the loading tool. For example, the loading tool 1050 includes a funnel 1065 formed between a front portion 1056 and a rear portion 1058 of a support body 1052. Each of the front portion 1056 and the rear portion 1058 is angled away from each other as they extend from a slot 1054. Thus, as the loading tool 1050 moves downward toward a handle 1092 of the payload 1090, the handle 1092 can be guided toward the slot 1054 located between the front portion 1056 and the rear portion 1058. Furthermore, the forward trajectory of the guide 1060 also contributes to the funnel shape of the loading tool 1050 and helps guide the payload handle 1092 into the slot 1054. As the payload handle 1092 is further inserted into the slot 1054, the payload handle 1092 is finally secured in the loading tool 1050, as explained in more detail above.

[0160] In some embodiments, the gantry includes an inclined surface configured to extend the gantry into a closed position when the loading vehicle receives a payload. For example, such as... Figure 14B As shown, the front surface 1075 of the hook 1072 of the hanger 1070 is inclined so as to be slightly downward at an angle. As a result, when the payload handle 1092 is inserted into the slot 1054, the handle 1092 engages the inclined front surface 1075 of the hanger 1070 and is able to push the hanger 1070 away. This allows the payload handle 1092 to continue moving into the slot 1054 until the hook 1072 is positioned below the handle 1092. At this point, the hanger 1070 is pushed back to the closed position by the force of the spring 1078. Figure 13B It supports a payload of 1090.

[0161] In some embodiments, the loading tool is configured to cooperate with the payload-bearing structure of the payload recovery device to assist in placing the payload onto the payload-bearing structure. For example, in the illustrated embodiment, the payload-bearing structure 1040 of the payload recovery device 1020 is composed of… Figure 12A and Figure 12C A pair of hooks 1040 are formed, as shown from the side. To cooperate with the load-bearing structure 1040, such as... Figure 11A and Figure 11CAs shown, the loading tool 1050 includes a pair of corresponding cavities 1066 for the open end of the receiving hook 1040. When the loading tool 1050 carries the payload handle 1092, the end of the hook 1040 will pass through an appropriate orifice in the payload handle 1092 in order to move the end of the hook 1040 into the corresponding cavity 1066 in the payload recovery structure 1020. Therefore, once the loading tool 1050 is in place on the payload recovery device, the payload 1090 is ready to be released and securely held on the payload carrying structure 1040.

[0162] Figures 15 to 17 An example machine for loading payloads onto a payload recovery device is shown. Figure 15 As shown, the loading machine 1080 includes a movable base 1081 and an adjustable arm 1084 attached to the movable base 1081. A loading tool 1050 is attached to the distal end of the adjustable arm 1084 such that the adjustable arm 1084 can position the loading tool 1050 and the attached payload 1090 onto the payload recovery device 1020. For clarity, Figure 15 The movable base 1081 is shown as transparent to show the assembly of the adjustable arm 1084. Furthermore, Figure 16 and Figure 17 The movable base 1081 is not depicted in the text.

[0163] In some embodiments, the mobile base may include a drive for moving the mobile base on a surface. For example, in loading machine 1080, mobile base 1081 includes a plurality of wheels 1082 and one or more motors for powering the wheels. The motor may be an electric motor, an engine, or another configuration. Furthermore, while the illustrated embodiment shows a drive including a wheeled mobility system, in other embodiments, the drive may include tracks or outriggers to provide movement to the mobile base.

[0164] To place the loading tool 1050 onto the payload recovery device 1020, the movable base 1081 is moved to the vicinity of the payload recovery device 1020 using wheels 1082. Then, the adjustable arm 1084 lifts the loading tool 1050 and the payload 1090 upwards to the outlet of the passageway of the payload recovery device 1020. Then, the adjustable arm 1084... Figure 12A and Figure 12B The adjustable arm 1084 moves downward and toward the payload recovery device 1020 as shown to position the loading tool 1050 in place. Once the payload 1090 has been released, the adjustable arm 1084 removes the loading tool 1050 from the payload recovery device 1020 and retracts into the movable base, where it can receive another payload.

[0165] In some embodiments, the loading machine includes a storage area for carrying payloads. For example, such as Figure 15 As shown, the movable base 1081 includes a storage area 1086 for carrying another payload 1090A. This storage area can be used to carry the payload until it is secured to the loading tool 1050. To secure the payload to the loading tool, the adjustable arm can retract into the movable base until the payload handle is secured to the loading tool, as shown. Figure 17 As shown. Attaching the payload to the loading tool is facilitated by inserting the payload handle into the slot of the loading tool, as described above regarding... Figure 14A and Figure 14B The subject of discussion.

[0166] In some embodiments, the mobile base may include a spur groove configured to carry one or more additional payloads for machine loading. For example, mobile base 1081 includes a spur groove 1087 that can carry an additional payload for movement into a storage area after the initial payload has been removed by the adjustable arm. Furthermore, as... Figure 16 As shown, the machine may include a door 1088 that controls the movement of an attached payload into a storage device. When the adjustable arm 1084 is retracted, the door keeps the attached payload away from the storage area so as not to interfere with attaching the stored payload to the loading tool. Once the stored payload has been retrieved, the door can move to the open position and allow the attached payload to move into the storage area 1086. Furthermore, when the door returns to the closed position, it can push subsequent payloads into the storage position, such as... Figure 17 As shown.

[0167] In the illustrated embodiment, the adjustable arm 1084 is formed by a pair of telescopic portions, which are connected by a bridge 1085 ( Figure 17 The bridge 1085 connects to the arm, carrying the loading tool 1050 at the end of the arm. In other embodiments, the adjustable arm may be formed by other hinged components. Furthermore, although the loading tool is shown at the distal end of the adjustable arm, in other embodiments it may be positioned on another part of the arm.

[0168] VIII. Conclusion

[0169] 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. Furthermore, some of the elements shown may be combined or omitted. Additionally, exemplary embodiments may include elements not shown in the figures.

[0170] Furthermore, while various aspects and embodiments have been disclosed herein, other aspects and embodiments will be apparent to those skilled in the art. The aspects and embodiments disclosed herein are for illustrative purposes and are not intended to be limiting; 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 presented herein. It will be readily understood that the aspects of this disclosure, as generally described herein and illustrated in the figures, can be arranged, substituted, combined, separated, and designed in a wide variety of different configurations, all of which are contemplated herein.

Claims

1. A tool for loading a payload onto a payload recovery device, the tool comprising: Supporting entity; A guide extending outward from the support body, the guide having an elongated structure and a cross-sectional area narrower than the support body, wherein the guide is configured to be inserted into the channel of the payload recovery device and to position the support body at the end of the channel adjacent to the payload-bearing structure; as well as A hanger configured to carry a load, the hanger being movable relative to the support body between a closed position and a released position.

2. The tool according to claim 1, wherein, The support body includes a front portion and a rear portion, wherein a groove is formed between the front portion and the rear portion for receiving a handle with a payload.

3. The tool according to claim 2, wherein, The hanger includes a hook.

4. The tool according to claim 3, wherein, When the hanger is in the closed position, the hook extends across the slot.

5. The tool according to claim 4, wherein, The hook is configured to move into a storage portion in the rear portion of the support body when the hanger moves from the closed position to the released position, such that the front surface of the rear portion of the support body causes the handle of the payload to slide away from the hook.

6. The tool according to claim 2, wherein, The front portion and the rear portion form a funnel for guiding the handle of the payload into the slot.

7. The tool according to claim 2, wherein, The payload-bearing structure includes at least one hook, and wherein the front surface of the rear portion of the support body includes a receiving portion for the hook.

8. The tool according to claim 7, wherein, The switch is configured to move the hanger from the closed position to the released position.

9. The tool according to claim 8, wherein, The switch is formed by a contact surface on the hanger, the contact surface being configured to engage the payload recovery device when the guide is inserted into the channel.

10. The tool according to claim 1, wherein, The hanger is offset toward the closed position.

11. The tool according to claim 10, wherein, The hanger includes an inclined surface configured to push the hanger out of the closed position when the tool receives a payload.

12. A machine for loading a payload onto a payload recovery device, the machine comprising: A movable base, including a drive for moving the base on a surface; An adjustable arm is attached to the movable base; The tool according to any one of claims 1 to 11 is attached to the adjustable arm.

13. The machine according to claim 12, wherein, The mobile base includes a storage area for carrying the payload.

14. The machine according to claim 13, wherein, The adjustable arm can be moved to a delivery position and a receiving position. At the delivery position, the payload can be loaded onto the payload recovery device, and at the receiving position, the tool receives the payload from the storage area.

15. The machine according to claim 13, wherein, The mobile base includes a ramp configured to carry additional payload for refilling the storage area.

16. The machine of claim 15, further comprising a door configured to release the additional payload into the storage area.

17. The machine according to claim 16, wherein, The door is coupled to the adjustable arm, and the door is activated by movement of the arm.

18. A method for loading a payload onto a payload recovery device, the method comprising: The payload is secured to a loading tool, the loading tool comprising: Supporting main body A guide member extending outward from the support body, the guide member having an elongated structure and a cross-sectional area narrower than the support body, and A hanger that carries the effective load; The guide of the loading tool is inserted into the channel of the payload recovery device so as to position the support body at the end of the channel adjacent to the payload bearing structure of the payload recovery device; The gantry of the loading tool is moved from the closed position to the released position relative to the support body to release the payload, such that the payload is borne by the payload-bearing structure of the payload recovery device.

19. The method according to claim 18, wherein, The loading tool is attached to an adjustable arm of the machine, and wherein inserting the guide of the loading tool into the channel of the payload recovery device includes moving the adjustable arm to position the loading tool such that the guide extends into the channel.

20. The method according to claim 19, wherein, Securing the payload to the loading tool includes moving the adjustable arm to move the loading tool to the storage area of ​​the machine.

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