Payload release mechanism

Abstract

The disclosure relates to payload release systems and method. More specifically, the disclosure relates to systems and method for selectably releasing the payload upon command. Furthermore, the disclosure relates to a nacelle with a payload release mechanism comprising a rotatable payload bay door assembly.

Description

PAYLOAD RELEASE MECHANISMBackground:

[0001] The disclosure is directed to a payload release mechanism. More specifically, the disclosure is directed to systems and method for selectably releasing the payload upon command.

[0002] Currently the field of transport and delivery is inefficient. As such, optimization is often sought via unmanned vehicles, that is vehicles capable of travel without a physically present human operator. An unmanned vehicle may be operate as a remote-control mode, in an autonomous mode, or in a partially autonomous mode, and it may be suited to operate in water, land, air, or a hybrid. Unmanned aerial vehicles (UAVs), such as drones, are presently used to transport payload from one location to another for military, agriculture, medical, emergency, commercial, and recreational applications.

[0003] Generally, it is desirable for such systems to carry the payload along a desired route with reliability, such that at a specified time and place the payload is delivered to its destination. At the same time, it is desirable for the payload to be secured in such form that the quality of the stability, accuracy, and speed of the flight can be maintained.

[0004] Current practices for UAVs holding or securing a payload may comprise hooks, clamps, prongs, retaining rods, and pressure. To deliver the payload, methods may comprise retractable hooks or clamps that are triggered to open upon delivery, or a tether delivery system to lower down the payload to the delivery point. While a tether delivery is more efficient than a complete landing, it has practical limitations due to tether length, hovering time, and added complexity which decreases vehicle range and makes it prone to mechanical malfunction.

[0005] To solve these short comings, tether-less payload release options have been developed that comprise payload protection mechanisms. For instance, an expandable foam package that surrounds a product to protect the product from impact, enabling product release from some heights. Additionally, controllably inflated airbags that protect a payload upon release. A plurality of docking systems have also been developed to receive payloads from various heights and locations.

[0006] Current approaches to securing a payload during transport, with the capability for automatic or semi-automatic mid-flight release, as well as landing or partial landing release, are lacking. One payload delivery system comprises a payload container lid and a payload container. In this system a plurality of latches are configured to selectively engage with the payload container lid, and a plurality of actuators attached to the payload container lid are configured to disengage the latches from the payload container lid. These and other current payload delivery systems are not optimized for minimal drag and release mechanism simplicity.

[0007] Another cargo hold technique, but that prioritizes aerodynamic efficiency includes a containment system in an external pod that may be fillable / inflatable to contain payload and facilitate aerodynamic performance, however mid-flight release of payload is not featured.

[0008] The above-mentioned and other UAV implementations of payload securing and release mechanisms have inadequacies in either: ensuring payload protection from the elements such as rain, dust, and wind; enabling flexible delivery and release in inaccessible areas; maintaining aerodynamic efficiency by decreasing aerodynamic drag, which is critical for longer flight times, lower energy use, and reliable operation in diverse weather conditions; or ejecting payload with reliable, quick, and simplified release systems.

[0009] These and other shortcomings of the existing technology are sought to be resolved herein with a simple efficient, robust, and reliable payload release mechanism.Summary:

[0010] Disclosed, in various exemplary implementations, are systems and method for selectably releasing a payload from a delivery vehicle. More specifically, provided herein, in several exemplary implementations, are systems and methods for selectably releasing payload, which is connected to the delivery vehicle, using an actuator.

[0011] In an exemplary implementation, provided herein is a payload release mechanism, comprising: a frame configured to carry a load; an attachment mechanism, configured to be coupled to said frame; an actuator, configured to be coupled to said frame and operative to selectably release said attachment mechanism upon receipt of a release signal; a control module, configured to receive the release signal and to activate the actuator.

[0012] Also disclosed in an exemplary implementation, is a payload release nacelle and mechanism. Specifically, provided is an exemplary implementation of a nacelle with a payload release mechanism comprising a rotatable payload bay door assembly.

[0013] In an exemplary implementation, provided herein is a payload release nacelle comprising: an anterior nacelle portion; a posterior nacelle portion; a pair of side walls spanning the distance between the anterior nacelle portion and the posterior nacelle portion which forms a payload bay with a payload bay opening; a rotatable payload bay door assembly, configured to rotate between a first configuration where the payload bay opening is closed, to a second configuration, where the payload bay opening is open.

[0014] These and other features of the system and methods of the payload release nacelle, will become apparent from the following detailed description when read in conjunction with the figures and examples, which are exemplary, not limiting.Brief description of Figures:

[0015] The present disclosure has applications to unmanned and manned aerial, ground, marine, and hybrid vehicles and any transport vehicle utilized for payload delivery and requiring a specific payload release timing or location. The present disclosure on an unmanned aerial vehicle is one such exemplary implementation, illustrated in the figures for clarity and ease of understanding but the description is not limiting. For a better understanding of the payload shielding, and / or protection systems, with regal'd to the exemplary implementations thereof, reference is made to the accompanying examples and figures, in which:

[0016] FIG. 1, illustrating a flow chart of the arming process;

[0017] FIG. 2, illustrates a flow chart of the release process;

[0018] FIG. 3 illustrates a perspective view of the release mechanism before attachment of the payload thereto;

[0019] FIG. 4 illustrates a perspective view of the release mechanism during attachment of the payload thereto;

[0020] FIGs. 5 - 7 illustrate perspective views of the release mechanism during three consecutive steps of securing of the attachment mechanism;

[0021] FIG. 8 illustrates a perspective view of the release mechanism attachment of the payload thereto;

[0022] FIG. 9 - 10 illustrate perspective views of the release mechanism with the payload attached thereto, during detachment of a safety element therefrom;

[0023] FIGs. 11 - 13 illustrate a perspective view of the release mechanism with the payload attached thereto, following detachment of the safety element therefrom;

[0024] FIGs. 14 - 16 illustrate a perspective view of the release mechanism with the payload in the process of release;

[0025] FIG. 17 illustrates a perspective view of the release mechanism following release of the payload;

[0026] FIG. 18, illustrates the rotating payload release nacelle on an unmanned ariel vehicle (UAV), from a bottom perspective view;

[0027] FIG. 19, illustrates a bottom perspective view of the nacelle, the streamlined enclosure of the aircraft, in the closed configuration;

[0028] FIG. 20, illustrates a bottom perspective view of the nacelle in the opened configuration without a side wall;

[0029] FIG. 21, illustrates a side perspective view of the nacelle in the open configuration without anterior and posterior nacelle sections;

[0030] FIG. 22, illustrates an exemplary embodiment of the payload release nacelle with a groove to accommodate a camera;

[0031] FIG. 23, illustrates a bottom perspective view of the nacelle with camera groove with transparent anterior and posterior nacelle sections;

[0032] FIG. 24, illustrates a bottom perspective view of the nacelle with camera groove coupled to a camera and gondola

[0033] FIG 25, illustrates a side perspective view of the nacelle with camera groove coupled to camera and gondola without outer gondola walls; and

[0034] FIG 26, illustrates a side view of a motor connected to the rotating door.Detailed description

[0035] Provided herein are exemplary implementations of systems and methods for selectably releasing payload. In an exemplary implementation, the system can be designed for releasing valuable loads in unmanned and other small aerial vehicles. In deploying the release mechanism, a command can be issued by an operator or alternatively, the system can be configured to deploy automatically (in other words, without human intervention).

[0036] A more complete understanding of the payload release systems and method can be obtained by reference to the accompanying drawings. These figures (also referred to herein as “Fig.”) are merely schematic representations based on convenience and the ease of demonstrating the present disclosure, and are, therefore, not intended to indicate relative size, scale and dimensions of the devices or components thereof, and / or to define or limit the scope of the exemplary implementations. Although specific terms are used in the following description for the sake of clarity, these terms are intended to refer only to the particular structure of the exemplary implementations selected for illustration in the drawings, and are not intended to define or limit the scope of the disclosure. In the drawings and the following description below, it is to be understood that like numeric designations refer to components of like function.

[0037] As illustrated in Fig. 4, provided herein is an exemplary implementation of a payload release mechanism that comprises frame 100 configured to carry payload 120, and an attachment mechanism, configured to be coupled to frame 100. The attachment mechanism comprises coupler 110, configured to be secured to release pin 130 and thereby secure payload 120 to frame 100. It is noted that in the illustration, coupler 110 is a strap, alternatively any other type of attachment mechanism can be employed, such as for example a belt, a chain, a flange, a cage, or a nacelle. Furthermore, in place of strap (e.g., coupler 110) and release pin 130 for example, attachment mechanism may comprise any other coupling that can releasably secure the payload. For example, attachment mechanisms may comprise a controllable electromagnetic engagement, controllable toggles, latching clamps, hook and loop fasteners or combinations thereof, thcrmoscnsitivc glue, controllably rotating doors or chambers, or combinations thereof.

[0038] In circumstances such as Fig. 4, release pin 130 is typically disposed on frame 100. Moreover, the payload release mechanism further comprises actuator 105 with actuator wire 115, configured to be coupled to frame 100 and operative to selectably release the attachment mechanism upon receipt of a release signal, command, or triggering event. Actuator 105 is operably coupled to the release mechanism, the present release mechanism comprising release pin 130.

[0039] In exemplary implementations, actuator 105 may be a servo motor, however other actuators that are configured to operate the attachment or release mechanism may be employed, such as pneumatic or hydraulic cylinders, piezoelectric actuators, electric linear or shape memory alloy actuators. The payload release mechanism further comprises a control module, configured to receive the release signal or drop command 84 (as in Fig. 2) and to activate actuator 105, which in turns retracts release pin 130 and allows release of payload 120 from frame 100.

[0040] In additional exemplary implementations actuator 105 receives the signal to release the payload or drop command 84 (Fig. 2) from the control module in communication through actuator wire 115, wherein release pin 130 is disengaged and payload 120 is released. Furthermore, actuator 105 may also be coupled to at least one intermediary lever or arm that controls the configuration of release pin 130, wherein upon receiving the signal, actuator 105 engages the lever or arm to disengage release pin 130. Actuator wire 115 may be in communication with the aerial vehicle control module, which may comprise the flight controller, onboard computer, automatic pilot or any combination thereof. Additionally, actuator wire 115 may be in direct communication with a user or ground control, enabling payload release without aerial vehicle control module communication. In further implementations, the command initiator that delivers the signal for the triggering event for payload release may be independent of the ground control station’s command and may be programmed directly by the autopilot or flight control module (not shown). Other implementations of the triggering event or drop command may be initiated by the aerial vehicle control module, or may be external, by a user or ground operator, or a combination thereof.

[0041] Generally, frame 100 is configured to be attached to a delivery vehicle, such as for example an aerial vehicle, plane, helicopter, or an UAV (unmanned aerial vehicle).

[0042] Figs. 1 - 2 are a flow chart illustrating the payload release mechanism arming and release respectively. Turning towards the exemplary implementation of Fig. 1, the arming process comprises at least one of: release pin 130 and actuator 105 armed, or in other words the attachment mechanism and actuator ready to be activated by a signal or triggering event (70); the attachment mechanism being configured for receiving payload; the payload being inserted (72) onto the frame; the attachment mechanism, such as coupler 110, being configured to secure payload, e.g., coupler 110 is pulled and anchored onto release pin 130 (74); the payload sccurcmcnt system is ready for drop execution (76). It isto be understood that the release pin and strap of Fig. 1 may alternatively comprise other controllably releasable attachment mechanisms as aforementioned.

[0043] In another exemplary implementation, and as illustrated in Fig. 2, the drop process may comprise: a command issued (78); a communication link (80); additionally the command may be automatic (82), e.g., based on a combination of sensors and pre-programmed executable instructions; the drop command (84), where drop is synonymous with payload release; autopilot navigation or positioning (86), e.g., based on a combination of sensors, navigation algorithms, control actuators, and executable instructions; actuator 105 being activated to drop and the attachment mechanism switching to the drop configuration, e.g., release pin 130 switching to the drop configuration (88); the securement mechanism releasing the payload, e.g., coupler 110 releases (90); the drop is executed (92).

[0044] Figs. 3 - 7 illustrate additional exemplary implementations of the process of attachment of payload 120 to frame 100 and subsequent securing thereof to frame 100 using the attachment mechanism. Fig. 3 illustrates a perspective view of the release mechanism before attachment of the payload thereto, further illustrating optional safety element 125 attached to the payload.

[0045] As illustrated in Fig. 4, the release mechanism and frame 100 may hold at least two payloads; in alternative implementations, frame 100 may be configured to hold a plurality of payloads of a plurality of payload shapes and sizes. For example, frame 100 may be configured to secure at least one payload of square or oval shape, or a plurality of small payloads of spherical shapes with a plurality of strap 110s and at least one release pin 130. Optimal frame 100 configurations can be customized to payload 120’s shape and corresponding function.

[0046] Figs. 5 - 7 illustrate perspective views of the release mechanism during three consecutive steps of securing of the attachment mechanism. Fig. 5 illustrates the step of payload 120 being inserted into frame 100 and coupler 110 approaching release pin 120. Fig. 6 illustrates coupler 110 just prior to being secured onto release pin 120. Fig. 7 illustrates coupler 110 being releasably secured onto release pin 120. Fig. 8 illustrates a perspective view of the release mechanism attachment of the payload thereto, with coupler 110 releasably secured onto release pin 120. In Fig. 9, safety element 125 is being detached from payload 120, the complete detachment is illustrated in Fig. 10 wherein releasably secured payload 120 and the release mechanism is illustrated. As noted previously, safety element 125 is optional and determined by desired payload and payload function.

[0047] Fig. 11 illustrate a perspective view of the release mechanism with the payload attached thereto, following detachment of the safety element therefrom. The payload and release mechanism may be coupled to the ventral portion of various aerial vehicles, it may be centered, or it may be coupled off- center in alternative implementations. For example, two payload release mechanisms carrying two payloads each may be coupled to the ventral side of each wing of a select aerial vehicle. As apparent tothose skilled in the art, the payload release mechanism may accommodate a plurality of payloads of a plurality of shapes and be operably positioned or configured in a plurality of locations.

[0048] Independent of the attached aerial vehicle, the payload release mechanism and payload may be vertically positioned, if enabled by payload shape such as illustrated in Fig. 12. The front of the payload may also be shaped to reduce air drag as illustrated in the exemplary implementation of Fig. 13.

[0049] Figs. 14 - 17 illustrate the process of payload release upon receipt of an appropriate signal, which activates actuator 105 and thereby configuring the attachment mechanism to release, e.g., moving release pin 130 and releasing coupler 110, a strap in some exemplary implementations.

[0050] Provided herein is an additional exemplary implementation of systems and methods for selectably releasing payload, specifically by means of a nacelle or a pod having payload release capabilities. In certain exemplary implementations, the disclosed nacelle provides increased payload capacity and carrying vehicle (e.g., UAV 50, FIG. 18) stability over distances and accurate payload release.

[0051] Turning now to Fig. 18, illustrating an exemplary implementation of payload release nacelle 10 (see e.g. Fig. 19) comprising anterior nacelle portion 101, posterior nacelle portion 102, pair of side walls 104, 104’ respectively spanning distance between the anterior nacelle portion 101 and posterior nacelle portion 102, forming payload bay 1031, with payload bay opening 103, rotatable payload bay door assembly 200, configured to rotate between closed configuration (as in Fig. 19), where payload bay opening 103 is closed, to open configuration (see e.g. Fig. 20), where payload bay opening 103 is open. In some implementations the open and closed configurations of payload bay opening 103 may be partially open or partially closed, respectively where the open fraction may span from halfway to fully. In some implementations, payload bay 1031 may comprise str aps, hooks, prongs, or other payload securing devices. Additionally, payload bay 1031 may be encompassed solely by rotatable payload bay door assembly 200, or with rotatable payload bay door assembly and one side wall. Furthermore, payload release nacelle 10 may contain rotatable payload bay door assembly 200 with inner compartments in payload bay 1031, segregated by one to several slabs spanning from the anterior to posterior nacelle and or slabs spanning perpendicular thereto.

[0052] Payload release nacelle 10 (see e.g., Fig. 19) is coupled to ventral portion 501, of UAV fuselage 502. In the exemplary implementation illustrated in Fig. 18 the nacelle can have payload carrying capacity of about 0.20 to about 1.50 kg, for example about 0.50 to about 1.00. kg, or about 0.20 to about 0.80kg, such as about 0.8 to about 1.2kg. Alternatively, the radius (in those circumstances where payload bay 1031 is substantially cylindrical) may range from about 3-10cm and cylinder length may range from about 10-30cm; that is a volumetric capacity of range of about 280-9500mL. In other examples, the volumetric capacity may range for example between about 400-8000mL or about 1000- 6000mL. And inother examples, the radius may range from about 4-8cm or about 4-6cm and the cylinder length may range for example between about 15-25cm, or about 19-21cm. In one exemplary implementation, the volumetric capacity is about 1570mL; with a radius of about 5cm, and a cylinder length of about 20cm. Although illustrated as a cylindrical in shape, it is also contemplated that a box shape or other cavity shapes may be used.

[0053] In additional implementations, payload release nacelle 10, or more than one payload release nacelles may be coupled to the underside of a vehicle at various positions including the ventral portion (see e.g., 501, FIG. 18) of an aircraft vehicle fuselage as in Fig. 18, twin fuselages, wing spans or components of aerial or non-aerial vehicles where the coupling does not significantly alter the center of gravity or stability of the vehicle in transit. As described below, the shape of payload release nacelle 10 can be altered to complement the component or vehicle to which coupling is intended.

[0054] Rotatable payload bay door assembly 200 is configured to rotate between closed configuration (see e.g.. Fig. 19) where payload bay opening 103 is closed, to open configuration (see e.g., Fig. 18 and Fig. 20) where payload bay opening 103 is open. Additionally, the closed configuration may be partially to fully closed, and the open configuration may range from partially to completely open. The direction of rotation may be clockwise or counterclockwise, or a combination thereof. Fig. 19 illustrates payload bay door 201 in closed configuration and Fig. 20 illustrates payload bay door 201 in open configuration, where side wall 104’ is removed (not shown) to facilitate viewing part of an implementation of rotatable payload bay door 201 assembly 200 comprising posterior disc 205, rotatable payload bay door 201, pivot point 301, coupling of the rotatable payload bay door 201 to the posterior disc 2014, and motor 300. Notable, although nacelle 10 and payload bay 1031 is cylindrical in shape, the payload is not limited to a specific shape. The pay load release nacelle offers a universal solution to a plurality of pay loads in a plurality of shapes and sizes within the above-mentioned operable weight and volumetric ranges for the present implementation, such as fire retardant or ‘anti-fire bombs’, or payload with agricultural, medical, emergency, military, commercial, or recreational functions as apparent to those skilled in the art.

[0055] Additionally, in circumstances where multiple nacelles are mounted on opposing wings, for example, the ventral section of each wing of a UAV such as in Fig. 18, if release of payload is performed simultaneously, then nacelle rotating door 201 rotation direction may be configured such that one nacelle door 201 opens clockwise simultaneously while the opposing nacelle door 201 opens counterclockwise to achieve optimal balance and stability.

[0056] Furthermore, an advantage of the symmetrically weighted cylindrical shaped door such as rotatable door 201, is that the weight of the door rotated up is about equal to the weight of the door rotated down for the initial TT / 2 rotation. In other words, the weight of the door is almost insignificant, to the advantage of the applied force and torque applied by the actuator (e.g., motor 300) to rotate the door.Thus, the torque required to rotate the door is minimized for the initial 7t / 2 rotation since the applied force lar gely does not have to move the weight of the door. This symmetric weighting assists in reducing both the necessary torque required and the time of transition from closed configuration to open configuration of the rotating door. As apparent to those skilled in the art, the configuration of at least one nacelle, may be done in such a way to improve control, optimize balance and stability, and reduce aerodynamic disturbance during flight and release.

[0057] Turning to Fig. 21 to illustrate rotatable payload bay door 201 assembly 200 more fully, side walls 104 and 104’ have been removed and anterior nacelle portion 101 and posterior nacelle portion 102 have been removed for illustrative clarity. Rotatable payload bay door assembly 200 comprises: Harness 202, having an anterior end and a posterior end, harness 202 having elongated quadrilateral frame 2021 defining a longitudinal axis. Plurality of ribs (2020i) disposed transverse to the longitudinal axis of the harness, configured to couple to a ventral portion of an aerial vehicle or vehicle (see e.g., 501 FIG. 18). Anterior bracket 203, and posterior bracket 204, each bracket having upper bar 2031 and 2041 respectively, coupled to elongated quadrilateral frame 2021, and an apex defining pivot point 2030 and 301 respectively. Anterior disc 205, rotatably coupled to pivot point 2030, defined in anterior bracket 203, and posterior disc 206, rotatably coupled to pivot point 301, defined in posterior bracket 204. Arcuate elongated slab 201, having an anterior end and a posterior end, an upper surface and a lower surface, and arcuate elongated slab 201 is coupled to anterior disc 205 at anterior end 2013’, and to posterior disc 206 at posterior end 2014’, wherein in the closed configuration the arcuate elongated slab forms a floor to payload bay 1031 as in payload release nacelle 10.

[0058] Fig. 21 also illustrates anterior and posterior discs 205 and 206 with a plurality of openings 2060i. Additional implementations comprise sparse to a plurality of openings of different sizes, spaced in a plurality of patterns to optimize both the strength and structural integrity of the rotating discs, and to limit weight and drag of the nacelle. In the exemplary implementation of arcuate slab 201 of payload containing nacelle 10, inner framing is configured in X-patterns as in 2012, on inner arcuate slab 2011. Support framing can take a plurality of shapes and structures to support and define the shape of arcuate slab 201, although exemplary implementations will maintain symmetry. Additionally, arcuate slab 201 ’s shape may contribute to the net shape of the payload nacelle and can be narrowed and elongated, rounded, widened, straightened, or otherwise streamlined to complement the vehicle coupling. The framing can also be arranged such that an intended payload is secured on inner arcuate slab 2011 when the nacelle is in closed configuration.

[0059] In similar implementations, elongated quadrilateral frame 202 can be widened or shortened, elongated section 2021 can be lengthened, rounded, or narrowed, and for example the transverse end piece 2051 may be absent. Furthermore, the ribs 2020i can take a plurality of shapes and curvatures to becomplementary to the ventral portion of a vehicle. As displayed in Fig. 21, three ribs are present, in additional implementations ribs 2020i can have a plurality of enumerations, widths, lengths, and curvatures.

[0060] For example, in payload release nacelle 11 of Fig. 22, anterior nacelle portion 101 is altered such that groove 1011 is present, thus alternate anterior nacelle portion 101B is shaped to accommodate a camera. Rotating payload bay door assembly 200 and the size and shape of payload bay 2011 remains largely unchanged between nacelle 10 and nacelle 11, although alternate implementations are possible (e.g., longer, rounder, wider, narrower). As can be seen in Fig. 23, corresponding elongated quadrilateral frame 202 is largely the same with the exception of transverse end piece 2051 not being present, alternate configurations of elongated quadrilateral frame 202 are possible as well. In cir cumstances such as Fig. 24, the payload release nacelle 11 with camera groove 1011 may be coupled to the ventral side of gondola 502B. The payload release systems of the present disclosure herein may be coupled to gondolas or fuselages of aerial vehicles, or as previously mentioned, to a plurality of sections of aerial vehicles.

[0061] In the exemplary implementation of Fig. 25, gimballed camera 5020 is operably coupled to gondola 502B. Gimballed camera 5020 may be at least a double axis gimballed camera. The field of vision of camera 5020 may be dependent on the shape and span of camera groove 1011 but is no less than 71 / 4 rad. along the at least two axes (see e.g., FIG. 24 yaw axis 5021 and pitch axis 5023). The camera function may comprise confirming payload target site, confirming payload release, confirming payload location, confirming pay load function, other visual indications of surroundings, pay load site, or payload function, or a combination thereof.

[0062] Payload release nacelles 10 and 11 further comprise an actuator such as motor 300 (see e.g., Fig. 26) operably coupled to posterior disc 206 or anterior disc 205, operable, upon receiving a triggering event, to rotate posterior disc 206 (in nacelle 11 or 10) or anterior disc 205 (in nacelle 10) respectively at a predetermined angle, configured to transition payload bay door assembly 200 from closed to open configuration. Notably, in payload release nacelle 10, motor 300 may be operably coupled to anterior disc 206 or posterior disc 206. In payload release nacelle 11, the motor may be coupled to posterior disc 206 only. Motor 300 is coupled to pay load bay door assembly 200 at 303, the coupling type may comprise but is not limited to flexible, rigid, or gear couplings, pins, or hinges. Furthermore, the triggering event may be initiated by the vehicle command module automatically or semi-automatically, or independent from the vehicle command module, either automatically or semi-automatically, that is, external to the vehicle or vehicle command module, or it may be configured as a combination thereof.

[0063] There are additional implementations of payload release nacelle 10 and 11 wherein each rib (2020i) has an upper surface configured to couple to a ventral portion of a vehicle, the upper surface being complementary to the desired ventral surface (such as ventral surface 501). Additionally, payloadrelease nacelle wherein arcuate elongated slab 201 is configured to partially trace a perimeter of the anterior disc 205 and the posterior disc 206. Furthermore, in exemplary implementations, the triggering event may be a command provided by a user or ground control, a signal received from at least one sensor coupled to the payload release nacelle, a signal received from at least one sensor coupled to the aerial vehicle, or a combination trigger comprising one or more of the foregoing. Some implementations of the triggering event comprise activation by GPS coordinates, altitude sensor, tinier or delay-based triggers, proximity or pressure sensors, infrared or optical recognition sensors, acoustic or proximity sensors, or any combination thereof, or in combination with a received signal. For example, camera 5020 may be in communication with the command module or autopilot and be configured to provide visual indication and confirmation of drop site.

[0064] There are other implementations of payload release nacelle wherein an actuator such as motor 300 is configured to rotate posterior disc 206 or anterior disc 205, whichever is rotatably coupled to motor 300, by between about 1.6 radians (rad) and about 4.65 rad. In other implementations of payload release nacelle, motor 300 is configured to rotate posterior disc 206 or anterior disc 205, whichever is rotatably coupled to the motor by 3.14 rad.

[0065] In an additional exemplar y implementation of payload release nacelle, anterior nacelle portion 101, or posterior nacelle portion 102, further comprises a communication module; and a central processing module (CPM), the CPM being in communication with the communication module, and motor 300, wherein the CPM further comprises at least one processor in communication with a not transitory memory device storing thereon a computer readable medium with a set of executable instructions, configured when executed by at least one processor to: first, receive a triggering event signal or command, and second, using motor 300, rotate posterior disc 206 or anterior disc 205, rotatably coupled to motor 300 from closed configuration (e.g., see Fig. 19) to open configuration (e.g., see Fig. 20).

[0066] In additional implementations the central processing module (CPM) may be any other general or specific purpose programmable microprocessor, a digital signal processor, a programmable controller, an application specific integrated circuit, a programmable logic device, other similar processing devices, or a combination of these devises. Additionally, the memory may be configured to store related control programs, positioning data, operational data, and or historical records. The communication module may be coupled to the central processing unit and may comprise GPS or other such sensors. The CPM may integrate data from various sensors to execute specific tasks and the communication module may facilitate data transfer and command reception.

[0067] In one implementation, the sensors may be equipped for GPS navigation, cameras and proximity sensors for obstacle avoidance, altimeters for altitude control, and load sensor to confirm payload status. The CPM may process data from the aforementioned or other sensors to navigate the drone to deliverylocation, avoid obstacles, maintain correct altitude, validate status of payload, activate motor 300, or other tasks. The not transitory memory may store delivery routes, flight logs, delivery records, and or other desired data thereof. The communication module may communicate with user or control center, may receive commands or updates from drone operator, or may send real-time data for flight tracking and or mission updates. Motor 300 may connect to the CPM for activation or direct to the communication module. In the described and additional implementations, motor 300 may be activated automatically, semi-automatically, or manually from the drone operator. Furthermore, antennae 302 may receive the triggering event signal to release payload. In still further implementations, the triggering event is communicated with the payload release nacelle independently by the command module of the UAV, aerial vehicle, or selected vehicle type, automatically or semi-automatically.

[0068] In additional exemplary implementations the vehicle’s transit and or payload release is executed in stealth mode, which may comprises encrypted communication channels, low power transmitters, automatic operation, or a combination thereof. In implementations employing unmanned aerial vehicles, automatic operation comprises the navigation, delivery (triggering event and release of payload), and return navigation. Stealth mode may further comprise pre-programmed flight paths, delivery coordinates, onboard sensors, and algorithms to adapt to changing conditions during the mission, for example, executable instructions if communication with operator or ground control cannot be reestablished after, before, or during mission. Additionally, in some implementations of a drone executing a payload delivery mission in stealth mode, a user or ground communication may activate stealth mode and drone external communication will cease until mission is completed or a specified location is achieved. Stealth mode can be initiated automatically as the result of at least one predetermined parameters (or combination of parameters), such as distance from the launch site, distance from the ground control station (GCS), transition between vertical to cruising flight, transition beyond operator line of sight and the like. Once one or more of the forgoing parameters is determined to have occurred, the flight may initiate the stealth mode protocols comprising the foregoing.

[0069] In addition, aerial vehicle sensors, which can be installed on either the UAV, and / or the payload nacelle, can be configured to confirm mission execution, with payload landing no more than 15m past the intended target site. Furthermore, the period between the payload release triggering command and payload landing ranges from about 250-700ms, for example between about 250-650ms, or about 250- 500ms, or especially about 500ms to about 660ms. In still further exemplary implementations, the period between the payload release triggering command and rotation of payload bay door 201 that enables release of the payload is between about 200ms and about 660ms, for example between about 220ms and 300ms, or about 220 and 280ms, and under no circumstances shall the time between the triggering command and the payload release yield a distance of more than about 15 meters from the intended targetsite. In other words, the time from receiving the command to release of payload will not span a time interval that results in a distance from the target of more than about 15 meters.

[0070] In another exemplary implementation of the payload release nacelle, in using motor 300 to rotate posterior disc 206 or anterior disc 205, whichever is rotatably coupled to motor 300, the set of executable instructions is further configured to cause the at least one processor to rotate posterior disc 206 or anterior disc 205, whichever is rotatably coupled to motor 300, by between about 1.6 rad. and about 4.65 rad. Additionally, the set of executable instructions may be further configured to cause the at least one processor to rotate posterior disc 206 or anterior disc 205, whichever is rotatably coupled to motor 300, by 3.14 rad. Furthermore, motor 300 may comprise any type of controllable actuator such as electromagnetic actuators, hydraulic actuators, pneumatic actuators, gearmotors, brushless DC motors, or servo motors, depending on vehicle, payload and mission type. In the exemplary implementation where the actuator motor is a servo motor (e.g., analogue or digital), it may be configured to rotate the rotatable payload bay door 201 assembly 200 at a torque between 7-17 kg / cm or for example 10-15 kg / cm.

[0071] The payload release nacelle may be composed of composite material in exemplary implementations or any lightweight but strong materials or a combination thereof, including but not limited to carbon fiber, aluminum, plastics such as acrylic, thermoplastic or polycarbonate depending on the desired size and functionality, for instance radar absorbing structures for stealth mode.10072] Furthermore, exemplary implementations of payload delivery methods may comprise unmanned aircraft landing, hovering to a predefined altitude, intermediate point, drop point, returning to cruise altitude, or remaining at cruise altitude depending on external conditions, mission, and payload type. Additionally, the payload release nacelle may comprise one to a plurality of baffles, that is protruding nobs such as baffle 1014 (see e.g., Fig.s 20, 24), symmetrically disposed to increase vehicle stability, aerodynamics, and payload descent during payload drop. The baffles may also ensure payload descends vertically and away from the aerial vehicle by reducing turbulence in the vicinity of payload bay opening, when payload release is during flight.

[0073] In the context of the disclosure, the term "operable" means the system and / or the device and / or the program, or a certain element or step is fully functional, sized, adapted and calibrated, comprises elements for, and meets applicable operability requirements to perform a recited function when activated, coupled, implemented, actuated, effected, realized, or when an executable program is executed by at least one processor associated with the system and / or the device. In relation to systems and circuits, the term "operable" means the system and / or the circuit is fully functional and calibrated, comprises logic for, having the hardware and firmware necessary, as well as the circuitry for, and meets applicable operability requirements to perform a recited function when executed by at least one processor.

[0074] The term "comprising" and its derivatives, as used herein, are intended to be open ended terms that specify the presence of the stated features, elements, components, groups, integers, and / or steps, but do not exclude the presence of other unstated features, elements, components, groups, integers and / or steps. The foregoing also applies to words having similar meanings such as the terms, "including", "having" and their derivatives.

[0075] The terms “a”, “an” and “the” herein do not denote a limitation of quantity, and are to be construed to cover both the singular and the plural, unless otherwise indicated herein or clearly contradicted by context. The suffix “(s)” as used herein is intended to include both the singular and the plural of the term that it modifies, thereby including one or more of that term (e.g., the stack(s) includes one or more stack). Reference throughout the specification to “one exemplary implementation”, “another exemplary implementation”, “an exemplary implementation”, and so forth, when present, means that a particular element (e.g., feature, structure, and / or characteristic) described in connection with the exemplary implementation is included in at least one exemplary implementation described herein, and may or may not be present in other exemplary implementations. In addition, it is to be understood that the described elements may be combined in any suitable manner in the various exemplary implementations.

[0076] Unless specifically stated otherwise, as apparent from the discussions, it is appreciated that throughout the specification discussions utilizing terms such as “processing,” “loading,” “in communication,” “detecting,” “calculating,” “determining”, “analyzing,” “applying” or the like, refer to the action and / or processes of a computer or computing system, or similar electronic computing device, that manipulate and / or transform data represented as and to physical manifestation.

[0077] The term “computer-readable medium” as used herein, in addition to having its ordinary meaning, refers to any medium that participates in providing instructions to a processor for execution. Such a medium may take many forms, including but not limited to, non-volatile media and volatile media. Non-transitory media can be, for example, optical or magnetic disks, such as a storage device. Volatile media includes dynamic memory such as main memory. “Memory device” may generally refer to any of various types of memory devices or storage devices and is intended to encompass an installation medium, e.g., CD-ROM, floppy disks, or tape device; a computer system memory or random-access memory such as DRAM, DDR RAM, SRAM, EDO RAM, Rambus RAM, etc.; or a non-volatile memory such as magnetic media, e.g., a hard drive, optical storage or ROM, EPROM, FLASH, etc. The memory device may comprise other types of memory as well, or combinations thereof. In addition, the memory medium may be located in a first computer in which the programs are executed (e.g., the UAV on-board CPM), and / or may be located in a second different computer [or micro controller, e.g., the ground control unit] which connects to the first computer over a network such as cellular' network, satellite, wireless network or their' combinations (Mesh networks). In the latter instance, the second computer may further provideprogram instructions to the first computer for execution. The term “memory device” can also include two or more memory devices which may reside in different locations, e.g., in different computers that are connected over a network.

[0078] The term “nacelle” should be understood broadly and refers to all kinds of streamlined enclosures. The term “gondola” should be understood broadly as well and refers to a modular or detachable compartments that may hold sensors, cameras, or other equipment necessary for a UAV or other aircraft’s mission. The term “fuselage” often refers to the main body structure of an aircraft.

[0079] “Payload” refers to the object, entity, or package being carried. The “payload bay” refers to the compartment or chamber wherein the payload may be loaded, secured, or released. The term “rotatable” should be understood broadly as capable of moving in a circular- direction, e.g., around an axis or center. “Pivot point” is the center point of a rotational system. The term “rotatably coupled” means that two components are attached to each other, perhaps via one or more other components, such that one or both of the two components can rotate. Additionally, or alternatively, the term “rotatably coupled” refers to a situation where one element is coupled to another element in a fixed spatial relation but is free to rotate with respect to the other element. In other words, no substantial lateral movements of the two elements take place, while relative rotation between the two elements is possible. In yet other words, the term “rotatably coupled” refers to a situation where the rotation of the one element does not necessarily result in a rotation of the other element and vice versa. Furthermore, the term “coupled” including its various forms such as “operably coupled” refers to the joining of two members directly or indirectly to one another. Such joining may be stationary or moveable, and achieved with two members (and any additional intermediates) being integrally formed as a single unitary body with one another or with the two members or the two members and any additional members being attached to one another. Such joining may be permanent in nature or may be removable or releasable in nature. The coupling can comprise any structural joining, connection, attachment or adaptation or capability of such direct or indirect coupling thereof.

[0080] The terms “manual”, “semi-automatic”, and “automatic” may refer to modes of operation of a system component, or assembly, where the system, component, or assembly executes a specific function, process, or mission. During “manual” operation, assembly components for example, may be adjusted or configured directly by human intervention to execute system function, process, or mission. Whereas in “semi-automatic” operation some aspects or adjustments are performed automatically by a computer processor or similar system, but with the involvement of human input or control for certain functions or stages within the process of executing system function, process, or mission. The percentage of human involvement versus computer processor may vary and need not be equal. When human involvement in executing system function is limited to initiating or stopping the function, process or mission, the mode ofoperation is “automatic” and the adjustment of components is entirely performed by a computer processor or similar system, without the need for direct human intervention once initiated.

[0081] The term “arcuate” can be understood broadly as curved. In the present disclosure, terms “posterior”, “anterior” and the like, as used, are merely used for convenience, and do not limit the payload release nacelle components. As such, directions, components, or both may be flipped, rotated, moved in space, placed in a diagonal orientation or position, placed horizontally or vertically, or similarly modified. Accordingly, the terms “posterior”, “anterior”, “ventral”, “top”, “bottom”, “left”, “right”, etc., may be used herein for exemplary purposes only, to illustrate the relative positioning or placement of components. The term “assembly” as used in “payload bay door assembly” refers to a logical system or logical assembly arrangement of multiple components or devices that individually or jointly execute a set or multiple sets of instructions to perform one or more functions and is not restricted to an arrangement wherein all the component devices are in the same housing.

[0082] Accordingly, in an exemplary implementation, provided herein is a payload release nacelle comprising an anterior nacelle portion; a posterior nacelle portion; a pair of side walls spanning the distance between the anterior nacelle portion and the posterior nacelle portion, forming a payload bay with a payload bay opening; a rotatable payload bay door assembly, configured to rotate between a first configuration where the payload bay opening is closed, to a second configuration, where the payload bay opening is open. Moreover, disclosed is the payload release nacelle wherein (i) the rotatable payload bay door assembly comprises: a harness having an anterior end and a posterior end, the harness having an elongated quadrilateral frame defining a longitudinal axis; a plurality of ribs disposed transverse to the longitudinal axis of the harness, configured to couple to a ventral portion of an aerial vehicle; an anterior bracket and a posterior bracket, each bracket having an upper bar, coupled to the elongated quadrilateral frame, and an apex defining a pivot point; an anterior disc, rotatably coupled to the pivot point defined in the anterior bracket, and a posterior disc, rotatably coupled to the pivot point defined in the posterior bracket; an arcuate elongated slab having an anterior end and a posterior end, an upper surface and a lower surface, the arcuate elongated slab being coupled to the anterior disc at the anterior end, and to the posterior disc at the posterior end, wherein, in the fu st configuration, the arcuate elongated slab forms a floor to the payload bay, wherein (ii) further comprising a groove in the anterior nacelle portion, shaped to accommodate a camera, (iii) further comprising an actuator, operably coupled to the posterior disc, or the anterior disc, operable, upon receiving a triggering event, to rotate the posterior disc or the anterior disc respectively at a predetermined angle, configured to transition the payload bay door assembly to the second configuration, wherein (iv) each rib having an upper surface configured to couple to a ventral portion of an aerial vehicle, the upper surface being complementary to the ventral surface of the aerial vehicle, wherein (v) the arcuate elongated slab defines a perimeter configured to partially trace aperimeter of the anterior disc and the posterior disc, wherein (vi) the triggering event is a command provided by a user, a signal received from at least one sensor coupled to the payload release nacelle, a signal received from at least one sensor coupled to the aerial vehicle, or a combination trigger comprising one or more of the foregoing, wherein (vii) stealth mode functionality is integrated into the aerial vehicle such that the triggering event and aerial vehicle flight navigation to and from delivery site is executed without user input, wherein (viii) stealth mode functionality further comprises a combination of vehicle autopilot, pre-programmed executable instructions, and pre-programmed algorithms to respond to sensor output, wherein (ix) sensor output comprises output from the camera, wherein (x) the payload defines a chamber having a volume of between about 280-9500mL, wherein (xi) the actuator is a motor configured to rotate the posterior disc or the anterior disc whichever is rotatably coupled to the motor by between about 1.6 radians (rad) and about 4.65 rad, wherein (xii) the actuator is a motor configured to rotate the posterior disc or the anterior disc whichever is rotatably coupled to the motor by 3.14 rad, wherein (xiii) the actuator is configured to rotate the payload bay door at a torque between 7-17 kg / cm, wherein (xiv) the anterior nacelle portion, or the posterior nacelle portion further comprises a communication module; and a central processing module (CPM), the CPM being in communication with the communication module, and the actuator, wherein the CPM further comprises at least one processor in communication with a not transitory memory device storing thereon a computer readable medium with a set of executable instructions, configured when executed by the at least one processor to: receive a triggering event signal; using the actuator, rotate the posterior disc or the anterior disc rotatably coupled to the actuator from the first configuration to the second configuration, wherein (xv) the triggering event signal is initiated by the command module of an unmanned aerial vehicle (UAV), wherein (xvi) the triggering event signal is initiated independently of the coupled aerial vehicle, wherein (xvii) in using the actuator to rotate the posterior disc or the anterior disc whichever is rotatably coupled to the actuator, the set of executable instructions is further configured to cause the at least one processor to rotate the posterior disc or the anterior disc whichever is rotatably coupled to the actuator by between about 1 .6 rad. and about 4.65 rad, wherein (xviii) the set of executable instructions is further configured to cause the at least one processor to rotate the posterior disc or the anterior disc whichever is rotatably coupled to the actuator, by 3.14 rad, and (xix) wherein the actuator is a servo motor.

[0083] In another exemplary implementation, provided herein is a payload release mechanism, comprising a frame configured to carry a load; an attachment mechanism, configured to be coupled to said frame; an actuator, configured to be coupled to said frame and operative to selectably release said attachment mechanism upon receipt of a release signal; a control module, configured to receive the release signal and to activate the actuator. In further aspects, the payload release mechanism, wherein (xx) the frame is configured to be attached to a delivery vehicle, wherein (xxi) the delivery vehicle is anunmanned aerial vehicle (UAV), wherein (xxii) the attachment mechanism is chosen from a group consisting of: belt, chain, flange or cage, and wherein (xxiii) the actuator is a servo motor.

[0084] While the present disclosure has been described in detail and with reference to specific exemplary implementations thereof, it will be apparent to one of ordinary skill in the art that various changes and modifications can be made therein without departing from the spirit and scope thereof. Accordingly, it is intended that the present disclosure covers the modifications and variations of this invention provided they come within the scope of the appended claims and their equivalents.

Claims

What is claimed:

1. A payload release nacelle comprising a) an anterior nacelle portion; b) a posterior nacelle portion; c ) a pair of side walls spanning the distance between the anterior nacelle portion and the posterior nacelle portion, forming a payload bay with a payload bay opening; d) a rotatable payload bay door assembly, configured to rotate between a first configuration where the payload bay opening is closed, to a second configuration, where the payload bay opening is open.

2. The nacelle of Claim 1, wherein the rotatable payload bay door assembly comprises: a) a harness having an anterior end and a posterior end, the harness having an elongated quadrilateral frame defining a longitudinal axis; b) a plurality of ribs disposed transverse to the longitudinal axis of the harness, configured to couple to a ventral portion of an aerial vehicle; c) an anterior bracket and a posterior bracket, each bracket having an upper bar, coupled to the elongated quadrilateral frame, and an apex defining a pivot point; d) an anterior disc, rotatably coupled to the pivot point defined in the anterior bracket, and a posterior disc, rotatably coupled to the pivot point defined in the posterior bracket; e) an arcuate elongated slab having an anterior end and a posterior end, an upper surface and a lower surface, the arcuate elongated slab being coupled to the anterior disc at the anterior end, and to the posterior disc at the posterior end, wherein, in the first configuration, the arcuate elongated slab forms a floor to the payload bay.

3. The nacelle of claim 2, further comprising a groove in the anterior nacelle portion, shaped to accommodate a camera.

4. The nacelle of claim 2, further comprising an actuator, operably coupled to the posterior disc, or the anterior disc, operable, upon receiving a triggering event, to rotate the posterior disc or the anterior disc respectively at a predetermined angle, configured to transition the payload bay door assembly to the second configuration.

5. The nacelle of claim 2, wherein each rib having an upper surface configured to couple to a ventral portion of an aerial vehicle, the upper surface being complementary to the ventral surface of the aerial vehicle.

6. The nacelle of claim 2, wherein the arcuate elongated slab defines a perimeter configured to partially trace a perimeter of the anterior disc and the posterior disc.

7. The nacelle of claim 4, wherein the triggering event is a command provided by a user, a signal received from at least one sensor coupled to the payload release nacelle, a signal received from at least one sensor coupled to the aerial vehicle, or a combination trigger comprising one or more of the foregoing.

8. The nacelle of claim 7, wherein stealth mode functionality is integrated into the aerial vehicle such that the triggering event and aerial vehicle flight navigation to and from delivery site is executed without user input.

9. The nacelle of claim 8, wherein stealth mode functionality further comprises a combination of vehicle autopilot, pre-programmed executable instructions, and pre-programmed algorithms to respond to sensor output.

10. The nacelle of claim 9 and 3, wherein sensor output comprises output from the camera.

11. The nacelle of claim 1 , wherein the payload defines a chamber having a volume of between about 280-9500mL.

12. The nacelle of claim 4, wherein the actuator is a motor configured to rotate the posterior disc or the anterior disc whichever is rotatably coupled to the motor by between about 1.6 radians (rad) and about 4.65 rad.

13. The nacelle of claim 4, wherein the actuator is a motor configured to rotate the posterior disc or the anterior disc whichever is rotatably coupled to the motor by 3.14 rad.

14. The nacelle of claim 4, wherein the actuator is configured to rotate the payload bay door at a torque between 7-17 kg / cm.

15. The nacelle of claim 7, wherein the anterior nacelle portion, or the posterior nacelle portion further comprises a communication module; and a central processing module (CPM), the CPM being in communication with the communication module, and the actuator, wherein the CPM further comprises at least one processor in communication with a not transitory memory device storing thereon a computer readable medium with a set of executable instructions, configured when executed by the at least one processor to: a) receive a triggering event signal; b ) using the actuator, rotate the posterior disc or the anterior disc rotatably coupled to the actuator from the first configuration to the second configuration.

16. The nacelle of claim 15, wherein the triggering event signal is initiated by the command module of an unmanned aerial vehicle (UAV).

17. The nacelle of claim 15, wherein the triggering event signal is initiated independently of the coupled aerial vehicle.

18. The nacelle of claim 15, wherein, in using the actuator to rotate the posterior disc or the anterior disc whichever is rotatably coupled to the actuator, the set of executable instructions is further configured to cause the at least one processor to rotate the posterior disc or the anterior disc whichever is rotatably coupled to the actuator by between about 1.6 rad. and about 4.65 rad.

19. The nacelle of claim 15, wherein the set of executable instructions is further configured to cause the at least one processor to rotate the posterior disc or the anterior disc whichever is rotatably coupled to the actuator, by 3.14 rad.

20. The nacelle of claim 4, wherein the actuator is a servo motor.

21. A pay load release mechanism, comprising: a) a frame configured to carry a load; b) an attachment mechanism, configured to be coupled to said frame; c) an actuator, configured to be coupled to said frame and operative to selectably release said attachment mechanism upon receipt of a release signal; d) a control module, configured to receive the release signal and to activate the actuator.

22. The payload release mechanism of claim 21, wherein the frame is configured to be attached to a delivery vehicle.

23. The payload release mechanism of claim 21, wherein the delivery vehicle is an unmanned aerial vehicle (UAV).

24. The payload release mechanism of claim 21, wherein the attachment mechanism is chosen from a group consisting of: belt, chain, flange or cage.

25. The pay load release mechanism of claim 21, wherein the actuator is a servo motor.

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