System and method for payload release from UAV

Abstract

A method includes securing a payload on a payload retriever, where the payload retriever is attached to a tether that extends from an uncrewed aerial vehicle (UAV). The method also includes retracting the tether to position the payload retriever at a first location, and securing the payload to a releasable coupler of the UAV. The method also includes further retracting the tether to move the payload retriever from the first location and disengage the payload retriever from the payload. Further, the method includes actuating the releasable coupler to release the payload from the UAV.

Description

SYSTEM AND METHOD FOR PAYLOAD RELEASE FROM UAVCROSS-REFERENCE TO RELATED APPLICATION

[0001] This application claims priority to U.S. Patent Application No. 18 / 916,430, filed October 15, 2024, which is incorporated herein by reference in its entirety.BACKGROUND

[0002] An uncrewed vehicle, which may also be referred to as an autonomous vehicle, is a vehicle capable of travel without a physically -present human operator. The term “unmanned” may sometimes be used instead of, or in addition to, “uncrewed,” and it should be understood that both terms have the same meaning, and may be used interchangeably. An uncrewed vehicle may operate in a remote-control mode, in an autonomous mode, or in a partially autonomous mode.

[0003] When an uncrewed vehicle operates in a remote-control mode, a pilot or driver that is at a remote location can control the uncrewed vehicle via commands that are sent to the uncrewed vehicle via a wireless link. When the uncrewed vehicle operates in autonomous mode, the uncrewed vehicle typically moves based on pre-programmed navigation waypoints, dynamic automation systems, or a combination of these. Further, some uncrewed vehicles can operate in both a remote-control mode and an autonomous mode, and in some instances may- do so simultaneously. For instance, a remote pilot or driver may wish to leave navigation to an autonomous system while manually performing another task, such as operating a mechanical system for picking up objects, as an example.

[0004] Various t pes of uncrewed vehicles exist for various different environments. For instance, uncrewed vehicles exist for operation in the air, on the ground, underwater, and in space. Examples include quad-copters and tail-sitter UAVs. among others. Uncrewed vehicles also exist for hybrid operations in which multi -environment operation is possible. Examples of hybrid uncrewed vehicles include an amphibious craft that is capable of operation on land as well as on water or a floatplane that is capable of landing on water as well as on land. Other examples are also possible.SUMMARY

[0005] The present embodiments are directed to systems and methods for delivering a lightweight payload, for example by dropping the payload.

[0006] In one aspect a method is provided. The method includes securing a payload on a payload retriever, where the payload retriever is attached to a tether that extends from an uncrewed aerial vehicle (UAV). The method also includes retracting the tether to position thepayload retriever at a first location and securing the payload to a releasable coupler of the UAV. Further retracting the tether moves the payload retriever from the first location and disengages the payload retriever from the payload. The method also includes actuating the releasable coupler to release the payload from the UAV.

[0007] In another aspect, a UAV is provided. The UAV comprises a payload handling system and a control system. The payload handling system includes a winch, a tether that is operable to be extended and retracted by the winch, and a payload retriever secured to the tether. The control system is configured to retract the tether while a payload is secured on the payload retriever to position the payload retriever at a first location where the payload is secured to a releasable coupler. The control system is also configured to further retract the tether to move the payload retriever from the first location and disengage the payload retriever from the payload, and to actuate the releasable coupler to release the payload from the UAV.

[0008] In another aspect, a payload is provided. The payload includes a hanger configured to be coupled to a container and extend up from the container. The hanger includes a handle adapted for securing the payload to a payload retriever. The handle has opposing first and second handle segments that extend over a handle opening, where the handle opening is configured to receive a portion of the payload retriever. The first and second handle segments extend toward each other and are separated from each other to form an access passage to the handle opening. A first aperture extends through the flat body and is disposed on a first side of the handle opening, and a second aperture extends through the flat body and is disposed on a second side of the handle opening.

[0009] These as well as other aspects, advantages, and alternatives will become apparent to those of ordinary skill in the art by reading the following detailed description with reference where appropriate to the accompanying drawings. Further, it should be understood that the description provided in this summary section and elsewhere in this document is intended to illustrate the claimed subject matter by way of example and not by w ay of limitation.BRIEF DESCRIPTION OF THE DRAWINGS

[0010] FIG. 1A is a simplified illustration of an uncrewed aerial vehicle, according to an example.

[0011] FIG. IB is a simplified illustration of an uncrewed aerial vehicle, according to an example.

[0012] FIG. 1C is a simplified illustration of an uncrew ed aerial vehicle, according to an example.

[0013] FIG. ID is a simplified illustration of an uncrewed aerial vehicle, according to an example.

[0014] FIG. IE is a simplified illustration of an uncrewed aerial vehicle, according to an example.

[0015] FIG. 2 is a simplified block diagram illustrating components of an uncrewed aerial vehicle, according to an example.

[0016] FIG. 3 is a simplified block diagram illustrating a UAV system, according to an example.

[0017] FIGS. 4A, 4B, and 4C illustrate an example delivery' method using a UAV according to an example.

[0018] FIG. 5 shows a perspective view of a payload handling system according to an example.

[0019] FIG. 6 shows a perspective view of a payload retriever according to an example.

[0020] FIG. 7 shows a side view of a hanger of a payload according to an example.

[0021] FIG. 8 shows a side view of a hanger of a payload according to another example.

[0022] FIGS. 9A, 9B and 9C illustrate an example delivery method using a UAV according to another example.

[0023] FIGS. 10A, 10B, 10C, 10D and 10E illustrate a payload handling system of a UAV at various times during an example delivery method.DETAILED DESCRIPTION

[0024] Exemplary methods and systems are described herein. It should be understood that the word “exemplary ” is used herein to mean ’'serving as an example, instance, or illustration.” Any 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 ty pically identify similar components, unless context dictates otherwise. The example implementations described herein are not meant to be limiting. It will be readily understood that the aspects of the present 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.I. Overview

[0025] The present disclosure is related to methods and systems for delivering a payload using a UAV. The UAV is configured to receive the payload at a retrieval site, carry the payload to a delivery' site, and deliver the payload. The UAV includes a payload retrieveratached to a tether and a winch system adapted to extend and retract the tether. In operation, the UAV can retrieve the payload while hovering at a safe distance by using the payload retriever with the tether extended. Once the payload is secured to the payload retriever, the payload may be hoisted up to the UAV by retracting the tether. The UAV may then carry the payload to the delivery site. The UAV and payload are also cooperatively configured so that the payload retriever may disengage from the pay load while the payload is adjacent to the UAV. This allows the payload to be released at the delivery site without needing a surface, such as the ground, to dislodge the payload from the payload retriever. Delivering without the need to dislodge the payload from the payload retriever can be particularly advantageous for lighter payloads where there may be insufficient momentum to dislodge the payload.

[0026] In some examples, the UAV may include a releasable coupler to secure the payload to the UAV after the payload has been lifted up on the tether. In such instances, the payload retriever may be disengaged from the payload prior to delivery. Release of the payload from the UAV may then be carried out by actuating the releasable coupler to let go of the payload for delivery’.

[0027] In some examples, the payload includes a flexible hanger that is configured to cooperate with the payload retriever. The hanger includes a handle that may be secured to the payload retriever for hoisting the payload up to the UAV. The handle is formed by two handle segments that are separated by an access passage. This allows the payload retriever to be pulled through the access passage in order to disengage the payload retriever from the payload. In order to remove the payload retriever from the hanger of the payload, the payload may be held in place, either by the releasable coupler or by an obstruction, while the tether pulls the payload retriever through the access passage.

[0028] Further details and other embodiments of UAVs and delivery methods according to the disclosure are described in more detail below.II. Illustrative uncrewed Vehicles

[0029] Herein, the terms “uncrewed aerial vehicle” and “UAV” refer to any autonomous or semi-autonomous vehicle that is capable of performing some functions without a physically present human pilot.

[0030] A UAV can take various forms. For example, a UAV may take the form of a fixed- wing aircraft, a glider aircraft, a tail-siter aircraft, a jet aircraft, a ducted fan aircraft, a lighter- than-air dirigible such as a blimp or steerable balloon, a rotorcraft such as a helicopter or multicopter, and / or an omithopter, among other possibilities. Further, the terms “drone,”“uncrewed aerial vehicle system” (UAVS), or “uncrewed aerial system” (UAS) may also be used to refer to a UAV.

[0031] FIG. 1 A is an isometric view of an example UAV 100. UAV 100 includes wings 102, booms 104, and a fuselage 106. Wings 102 may be stationary and may generate lift based on the wing shape and the UAV's forw ard airspeed. For instance, the two wings 102 may have an airfoil-shaped cross section to produce an aerodynamic force on UAV 100. In some embodiments, wings 102 may carry horizontal propulsion units 108, and booms 104 may carry vertical propulsion units 110. In operation, power for the propulsion units may be provided from a battery7compartment 112 of fuselage 106. In some embodiments, fuselage 106 also includes an avionics compartment 114, an additional battery7compartment (not shown) and / or a delivery unit (not shown, e.g., a winch system) for handling the payload. In some embodiments, 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 securable to each other (e.g., mechanically, magnetically, or otherwise) to contiguously form at least a portion of fuselage 106.

[0032] In some embodiments, booms 104 terminate in rudders 116 for improved yaw control of UAV 100. Further, wings 102 may terminate in wing tips 117 for improved control of lift of the UAV.

[0033] In the illustrated configuration, UAV 100 includes a structural frame. The structural frame may be referred to as a "structural H-frame" or an "H-frame" (not shown) of the UAV. The H-frame may include, within wings 102, a wing spar (not shown) and, within booms 104, boom carriers (not shown). In some embodiments the wing spar and the boom carriers may be made of carbon fiber, hard plastic, aluminum, light metal alloys, or other materials. The wing spar and the boom carriers may be connected with clamps. The wing spar may include predrilled holes for horizontal propulsion units 108, and the boom carriers may include pre-drilled holes for vertical propulsion units 110.

[0034] In some embodiments, fuselage 106 may be removably attached to the H-frame (e.g., attached to the wing spar by clamps, configured with grooves, protrusions or other features to mate with corresponding H-frame features, etc.). In other embodiments, fuselage 106 similarly may be removably attached to w ings 102. The removable attachment of fuselage 106 may improve quality and or modularity of UAV 100. For example, electri cal / mechanical components and / or subsystems of fuselage 106 may be tested separately from, and before being attached to, the H-frame. Similarly, printed circuit boards (PCBs) 118 may be tested separately from, and before being attached to, the boom carriers, therefore eliminating defectiveparts / subassemblies prior to completing the UAV. For example, components of fuselage 106 (e.g., avionics, battery unit, delivery units, an additional battery compartment, etc.) may be electrically tested before fuselage 106 is mounted to the H-frame. Furthermore, the motors and the electronics of PCBs 118 may also be electrically tested before the final assembly. Generally, the identification of the defective parts and subassemblies early in the assembly process lowers the overall cost and lead time of the UAV. Furthermore, different types / models of fuselage 106 may be attached to the H-frame. therefore improving the modularity of the design. Such modularity allows these various parts of UAV 100 to be upgraded without a substantial overhaul to the manufacturing process.

[0035] In some embodiments, a wing shell and boom shells may be attached to the H-frame by adhesive elements (e.g., adhesive tape, double-sided adhesive tape. glue. etc.). Therefore, multiple shells may be attached to the H-frame instead of having a monolithic body sprayed onto the H-frame. In some embodiments, the presence of the multiple shells reduces the stresses induced by the coefficient of thermal expansion of the structural frame of the UAV. As a result, the UAV may have better dimensional accuracy and / or improved reliability.

[0036] Moreover, in at least some embodiments, the same H-frame may be used with the wing shell and / or boom shells having different size and / or design, therefore improving the modularity and versatility7of the UAV designs. The wing shell and / or the boom shells may be made of relatively light polymers (e.g., closed cell foam) covered by the harder, but relatively thin, plastic skins.

[0037] The power and / or control signals from fuselage 106 may be routed to PCBs 1 18 through cables running through fuselage 106, wings 102, and booms 104. In the illustrated embodiment, UAV 100 has four PCBs, but other numbers of PCBs are also possible. For example, UAV 100 may include two PCBs, one per the boom. The PCBs carry electronic components 119 including, for example, power converters, controllers, memory, passive components, etc. In operation, propulsion units 108 and 110 of UAV 100 are electrically connected to the PCBs.

[0038] Many variations on the illustrated UAV are possible. For instance, fixed-wing UAVs may include more or fewer rotor units (vertical or horizontal), and / or may utilize a ducted fan or multiple ducted fans for propulsion. Further, UAVs with more wings (e.g., an “x-wing’‘ configuration with four wings), are also possible. Although FIG. 1A illustrates two wings 102, two booms 104, two horizontal propulsion units 108, and six vertical propulsion units 110 per boom 104, it should be appreciated that other variants of UAV 100 may beimplemented with more or fewer of these components. For example, UAV 100 may include four wings 102, four booms 104, and more or fewer propulsion units (horizontal or vertical).

[0039] Similarly, FIG. IB shows another example of a fixed-wing UAV 120. The fixed- wing UAV 120 includes a fuselage 122, two wings 124 with an airfoil-shaped cross section to provide lift for the UAV 120, a vertical stabilizer 126 (or fin) to stabilize the plane's yaw (turn left or right), a horizontal stabilizer 128 (also referred to as an elevator or tailplane) to stabilize pitch (tilt up or down), landing gear 130. and a propulsion unit 132, which can include a motor, shaft, and propeller.

[0040] FIG. 1 C shows an example of a UAV 140 with a propeller in a pusher configuration. The term “pusher’" refers to the fact that a propulsion unit 142 is mounted at the back of the UAV and “pushes” the vehicle forward, in contrast to the propulsion unit being mounted at the front of the UAV. Similar to the description provided for FIGS. 1A and IB, FIG. 1C depicts common structures used in a pusher plane, including a fuselage 144, two wings 146, vertical stabilizers 148, and the propulsion unit 142, which can include a motor, shaft, and propeller.

[0041] FIG. ID shows an example of a tail-sitter UAV 160. In the illustrated example, the tail-sitter UAV 160 has fixed wings 162 to provide lift and allow7the UAV 160 to glide horizontally (e g., along the x-axis, in a position that is approximately perpendicular to the position shown in FIG. ID). However, the fixed wings 162 also allow7the tail-sitter UAV 160 to take off and land vertically on its own.

[0042] For example, at a launch site, the tail-sitter UAV 160 may be positioned vertically (as shown) with its fins 164 and / or wings 162 resting on the ground and stabilizing the UAV 160 in the vertical position. The tail-sitter UAV 160 may then take off by operating its propellers 166 to generate an upward thrust (e.g.. a thrust that is generally along the y-axis). Once at a suitable altitude, the tail-sitter UAV 160 may use its flaps 168 to reorient itself in a horizontal position, such that its fuselage 170 is closer to being aligned with the x-axis than the y-axis. Positioned horizontally, the propellers 166 may provide forward thrust so that the tailsitter UAV 160 can fly in a similar manner as a typical airplane.

[0043] As noted above, some embodiments may involve other types of UAVs, in addition to or in the alternative to fixed-wing UAVs. For instance, FIG. IE shows an example of a rotorcraft that is commonly referred to as a multicopter 180. The multicopter 180 may also be referred to as a quadcopter, as it includes four rotors 182. It should be understood that example embodiments may involve a rotorcraft with more or fewer rotors than the multicopter 180. For example, a helicopter typically has two rotors. Other examples with three or more rotors arepossible as well. Herein, the term “multicopter’' refers to any rotorcraft having more than two rotors, and the term “helicopter” refers to rotorcraft having two rotors.

[0044] Referring to the multicopter 180 in greater detail, the four rotors 182 provide propulsion and maneuverability for the multicopter 180. More specifically, each rotor 182 includes blades that are attached to a motor 184. Configured as such, the rotors 182 may allow the multicopter 180 to take off and land vertically, to maneuver in any direction, and / or to hover. Further, the pitch of the blades may be adjusted as a group and / or differentially, and may allow the multicopter 180 to control its pitch, roll, yaw, and / or altitude.

[0045] It should be understood that references herein to an “uncrewed” aerial vehicle or UAV can apply equally to autonomous and semi-autonomous aerial vehicles. In an autonomous implementation, all functionality of the aerial vehicle is automated; e.g., pre-programmed or controlled via real-time computer functionality that responds to input from various sensors and / or pre-determined information. In a semi-autonomous implementation, some functions of an aerial vehicle may be controlled by a human operator, while other functions are carried out autonomously. Further, in some embodiments, a UAV may be configured to allow a remote operator to take over functions that can otherwise be controlled autonomously by the UAV. Yet further, a given type of function may be controlled remotely at one level of abstraction and performed autonomously at another level of abstraction. For example, a remote operator could control high level navigation decisions for a UAV, such as by 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 more finegrained navigation decisions, such as the specific route to take between the two locations, specific flight controls to achieve the route and avoid obstacles while navigating the route, and so on.

[0046] More generally, it should be understood that the example UAVs described herein are not intended to be limiting. Example embodiments may relate to, be implemented within, or take the form of any ty pe of uncrewed aerial vehicle.III. Illustrative UAV Components

[0047] FIG. 2 is a simplified block diagram illustrating components of a UAV 200, according to an example embodiment. UAV 200 may take the form of, or be similar in form to, one of the UAVs 100, 120, 140, 160, and 180 described in reference to FIGS. 1A-1E. However, UAV 200 may also take other forms.

[0048] UAV 200 may include various types of sensors, and may include a computing system configured to provide the functionality described herein. In the illustrated embodiment, the sensors of UAV 200 include an inertial measurement unit (IMU) 202, ultrasonic sensor(s) 204, and a GPS 206, among other possible sensors and sensing systems.

[0049] In the illustrated embodiment, UAV 200 also includes one or more processors 208. A processor 208 may be a general-purpose processor or a special purpose processor (e.g., digital signal processors, application specific integrated circuits, etc.). The one or more processors 208 can be configured to execute computer-readable program instructions 212 that are stored in the data storage 210 and are executable to provide the functionality of a UAV described herein.

[0050] The data storage 210 may include or take the form of one or more computer- readable storage media that can be read or accessed by at least one processor 208. The one or more computer-readable storage media can include volatile and / or non-volatile storage components, such as optical, magnetic, organic or other memory or disc storage, which can be integrated in whole or in part with at least one of the one or more processors 208. In some embodiments, the data storage 210 can be implemented using a single physical device (e.g.. one optical, magnetic, organic or other memory or disc storage unit), while in other embodiments, the data storage 210 can be implemented using two or more physical devices.

[0051] As noted, the data storage 210 can include computer-readable program instructions 212 and perhaps additional data, such as diagnostic data of the UAV 200. As such, the data storage 210 may include program instructions 212 to perform or facilitate some or all of the UAV functionality' described herein. For instance, in the illustrated embodiment, program instructions 212 include a navigation module 214 and a tether control module 216.A. Sensors

[0052] In an illustrative embodiment, IMU 202 may include both an accelerometer and a gyroscope, which may be used together to determine an orientation of the UAV 200. In particular, the accelerometer can measure the orientation of the vehicle with respect to earth, while the gy roscope measures the rate of rotation around an axis. IMUs are commercially available in low-cost, low-pow er packages. For instance, an IMU 202 may take the form of or include a miniaturized Micro ElectroMechanical System (MEMS) or a NanoElectroMechanical System (NEMS). Other types of IMUs may also be utilized.

[0053] An IMU 202 may include other sensors, in addition to accelerometers and gyroscopes, which may help to better determine position and / or help to increase autonomy ofthe UAV 200. Two examples of such sensors are magnetometers and pressure sensors. In some embodiments, a UAV may include a low-power, digital 3-axis magnetometer, which can be used to realize an orientation independent electronic compass for accurate heading information. However, other types of magnetometers may be utilized as well. Other examples are also possible. Further, note that a UAV could include some or all of the above-described inertia sensors as separate components from an IMU.

[0054] 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 sonic altimeters or radar altimeters, can be used to provide an indication of altitude, which may help to improve the accuracy of and / or prevent drift of an IMU.

[0055] In a further aspect, UAV 200 may include one or more sensors that allow the UAV to sense objects in the environment. For instance, in the illustrated embodiment, UAV 200 includes ultrasonic sensor(s) 204. Ultrasonic sensor(s) 204 can determine the distance to an object by generating sound waves and determining the time interval between transmission of the wave and receiving the corresponding echo off an object. A typical application of an ultrasonic sensor for uncrewed vehicles or IMUs is low-level altitude control and obstacle avoidance. An ultrasonic sensor can also be used for vehicles that need to hover at a certain height or need to be capable of detecting obstacles. Other systems can be used to determine, sense the presence of, and / or determine the distance to nearby objects, such as a light detection and ranging (LIDAR) system, laser detection and ranging (LADAR) system, and / or an infrared or forward-looking infrared (FLIR) system, among other possibilities.

[0056] In some embodiments, UAV 200 may also include one or more imaging system(s). For example, one or more still and / or video cameras may be utilized by UAV 200 to capture image data from the UAV's environment. As a specific example, charge-coupled device (CCD) cameras or complementary metal-oxide-semiconductor (CMOS) cameras can be used with uncrewed vehicles. Such imaging sensor(s) have numerous possible applications, such as obstacle avoidance, localization techniques, ground tracking for more accurate navigation (e.g., by applying optical flow techniques to images), video feedback, and / or image recognition and processing, among other possibilities.

[0057] UAV 200 may also include a GPS receiver 206. The GPS receiver 206 may be configured to provide data that is typical of well-known GPS systems, such as the GPS coordinates of the UAV 200. Such GPS data may be utilized by the UAV 200 for various functions. As such, the UAV may use its GPS receiver 206 to help navigate to the caller'slocation, as indicated, at least in part, by the GPS coordinates provided by their mobile device.Other examples are also possible.B. Navigation and Location Determination

[0058] The navigation module 214 may provide functionality that allows the UAV 200 to, e.g., move about its environment and reach a desired location. To do so, the navigation module 214 may control the altitude and / or direction of flight by controlling the mechanical features of the UAV that affect flight (e.g.. its rudder(s). elevator(s), aileron(s), and / or the speed of its propeller(s)).

[0059] In order to navigate the UAV 200 to a target location, the navigation module 214 may implement various navigation techniques, such as map-based navigation and localizationbased navigation, for instance. With map-based navigation, the UAV 200 may be provided with a map of its environment, which may then be used to navigate to a particular location on the map. With localization-based navigation, the UAV 200 may be capable of navigating in an unknown environment using localization. Localization-based navigation may involve the UAV 200 building its own map of its environment and calculating its position within the map and / or the position of objects in the environment. For example, as a UAV 200 moves throughout its environment, the UAV 200 may continuously use localization to update its map of the environment. This continuous mapping process may be referred to as simultaneous localization and mapping (SLAM). Other navigation techniques may also be utilized.

[0060] In some embodiments, the navigation module 214 may navigate using a technique that relies on waypoints. In particular, waypoints are sets of coordinates that identify points in physical space. For instance, an air-navigation waypoint may be defined by a certain latitude, longitude, and altitude. Accordingly, navigation module 214 may cause UAV 200 to move from way point to way point, in order to ultimately travel to a final destination (e.g., a final waypoint in a sequence of way points).

[0061] In a further aspect, the navigation module 214 and / or other components and systems of the UAV 200 may be configured for '‘localization” to more precisely navigate to the scene of a target location. More specifically, it may be desirable in certain situations for a UAV to be within a threshold distance of the target location where a payload 228 is being delivered by a UAV (e.g.. within a few feet of the target destination). To this end. a UAV may use a two- tiered approach in which it uses a more-general location-determination technique to navigate to a general area that is associated with the target location, and then use a more-refined location-determination technique to identify and / or navigate to the target location within the general area.

[0062] For example, the UAV 200 may navigate to the general area of a target destination where a payload 228 is being delivered using waypoints and / or map-based navigation. The UAV may then switch to a mode in which it utilizes a localization process to locate and travel to a more specific location. For instance, if the UAV 200 is to deliver a payload to a user's home, the UAV 200 may need to be substantially close to the target location in order to avoid delivery of the payload to undesired areas (e.g., onto a roof, into a pool, onto a neighbor's property, etc.). However, a GPS signal may only get the UAV 200 so far (e.g., within a block of the user's home). A more precise location-determination technique may then be used to find the specific target location.

[0063] Various types of location-determination techniques may be used to accomplish localization of the target delivery location once the UAV 200 has navigated to the general area of the target delivery location. For instance, the UAV 200 may be equipped with one or more sensory systems, such as, for example, ultrasonic sensors 204. infrared sensors (not shown), and / or other sensors, which may provide input that the navigation module 214 utilizes to navigate autonomously or semi-autonomously to the specific target location.

[0064] As another example, once the UAV 200 reaches the general area of the target delivery location (or of a moving subject such as a person or their mobile device), the UAV 200 may switch to a “fly-by-wire” mode where it is controlled, at least in part, by a remote operator, who can navigate the UAV 200 to the specific target location. To this end, sensory data from the UAV 200 may be sent to the remote operator to assist them in navigating the UAV 200 to the specific location.

[0065] As yet another example, the UAV 200 may include a module that is able to signal to a passer-by for assistance in either reaching the specific target delivery location; for example, the UAV 200 may display a visual message requesting such assistance in a graphic display, play an audio message or tone through speakers to indicate the need for such assistance, among other possibilities. Such a visual or audio message might indicate that assistance is needed in delivering the UAV 200 to a particular person or a particular location, and might provide information to assist the passer-by in delivering the UAV 200 to the person or location (e.g., a description or picture of the person or location, and / or the person or location's name), among other possibilities. Such a feature can be useful in a scenario in which the UAV is unable to use sensory functions or another location-determination technique to reach the specific target location. However, this feature is not limited to such scenarios.

[0066] In some embodiments, once the UAV 200 arrives at the general area of a target delivery location, the UAV 200 may utilize a beacon from a user's remote device (e.g., the user's mobile phone) to locate the person. Such a beacon may take various forms. As an example, consider the scenario where a remote device, such as the mobile phone of a person who requested a UAV deliver}', is able to send out directional signals (e.g., via an RF signal, a light signal and / or an audio signal). In this scenario, the UAV 200 may be configured to navigate by ‘"sourcing7’ such directional signals — in other words, by determining where the signal is strongest and navigating accordingly. As another example, a mobile device can emit a frequency, either in the human range or outside the human range, and the UAV 200 can listen for that frequency and navigate accordingly. As a related example, if the UAV 200 is listening for spoken commands, then the UAV 200 could utilize spoken statements, such as “I'm over here!” to source the specific location of the person requesting delivery of a payload.

[0067] In an alternative arrangement, a navigation module may be implemented at a remote computing device, which communicates wirelessly with the UAV 200. The remote computing device may receive data indicating the operational state of the UAV 200, sensor data from the UAV 200 that allows it to assess the environmental conditions being experienced by the UAV 200, and / or location information for the UAV 200. Provided with such information, the remote computing device may determine latitudinal and / or directional adjustments that should be made by the UAV 200 and / or may determine how the UAV 200 should adjust its mechanical features (e.g.. its rudder(s), elevator(s), aileron(s), and / or the speed of its propeller(s)) in order to effectuate such movements. The remote computing system may then communicate such adjustments to the UAV 200 so it can move in the determined manner.C. Communication Systems

[0068] In a further aspect, the UAV 200 includes one or more communication systems 218.The communications systems 218 may include one or more wireless interfaces and / or one or more wireline interfaces, which allow the UAV 200 to communicate via one or more networks. Such wireless interfaces may provide for communication under one or more wireless communication protocols, such as Bluetooth, WiFi (e.g., an IEEE 802.11 protocol), Long-Term Evolution (LTE), WiMAX (e.g., an IEEE 802.16 standard), a radio-frequency ID (RFID) protocol, near-field communication (NFC), and / or other wireless communication protocols. Such wireline interfaces may include an Ethernet interface, a Universal Serial Bus (USB) interface, or similar interface to communicate via a wire, a twisted pair of wires, a coaxial cable, an optical link, a fiber-optic link, or other physical connection to a wireline netw ork.

[0069] In some embodiments, a UAV 200 may include communication systems 218 that allow for both short-range communication and long-range communication. For example, the UAV 200 may be configured for short-range communications using Bluetooth and for long- range communications under a CDMA protocol. In such an embodiment, the UAV 200 may be configured to function as a “hot spot;” or in other words, as a gateway or proxy between a remote support device and one or more data networks, such as a cellular network and / or the Internet. Configured as such, the UAV 200 may facilitate data communications that the remote support device would otherwise be unable to perform by itself.

[0070] For example, the UAV 200 may provide a WiFi connection to a remote device, and serve as a proxy or gateway to a cellular service provider's data network, which the UAV might connect to under an LTE or a 3G protocol, for instance. The UAV 200 could also serve as a proxy or gateway to a high-altitude balloon network, a satellite network, or a combination of these networks, among others, which a remote device might not be able to otherwise access.D. Power Systems

[0071] In a further aspect, the UAV 200 may include power system(s) 220. The power system 220 may include one or more batteries for providing power to the UAV 200. In one example, the one or more batteries may be rechargeable and each battery may be recharged via a wired connection between the battery and a power supply and / or via a wireless charging system, such as an inductive charging system that applies an external time-varying magnetic field to an internal battery.E. Payload Delivery

[0072] The UAV 200 may employ various systems and configurations in order to transport and deliver a payload 228. In some implementations, the payload 228 of a given UAV 200 may include or take the form of a “package” designed to transport various goods to a target delivery location. For example, the UAV 200 can include a compartment, in which an item or items may be transported. Such a package may include one or more food items, purchased goods, medical items, or any other object(s) having a size and weight suitable to be transported between two locations by the UAV. In other embodiments, a payload 228 may simply be the one or more items that are being delivered (e.g., without any package housing the items).

[0073] In some embodiments, the payload 228 may be attached to the UAV and located substantially outside of the UAV during some or all of a flight by the UAV. For example, the package may be tethered or otherwise releasably attached below the UAV during flight to a target location. In some embodiments, the package may include various features that protectits contents from the environment, reduce aerodynamic drag on the system, and prevent the contents of the package from shifting during UAV flight. In other embodiments, the package may be a standard shipping package that is not specifically tailored for UAV flight.

[0074] In order to deliver the payload, the UAV may include a winch system 221 controlled by the tether control module 216 in order to lower the payload 228 to the ground while the UAV hovers above. As shown in FIG. 2, the winch system 221 may include a tether 224, and the tether 224 may be coupled to the payload 228 by a payload retriever 226. The tether 224 may be wound on a spool that is coupled to a motor 222 of the UAV. The motor 222 may take 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 can control the speed controller to cause the motor 222 to rotate the spool, thereby unwinding or retracting the tether 224 and lowering or raising the payload retriever 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 payload 228 should be lowered towards the ground. The motor 222 may then rotate the spool so that it maintains the desired operating rate.

[0075] In order to control the motor 222 via the speed controller, the tether control module 216 may receive data from a speed sensor (e.g., an encoder) configured to convert a mechanical position to a representative analog or digital signal. In particular, the speed sensor may include a rotary encoder that may provide information related to rotary position (and / or rotary movement) of a shaft of the motor or the spool coupled to the motor, among other possibilities. Moreover, the speed sensor may take the form of an absolute encoder and / or an incremental encoder, among others. So in an example implementation, as the motor 222 causes rotation of the spool, a rotary' encoder may be used to measure this rotation. In doing so, the rotary' encoder may be used to convert a rotary position to an analog or digital electronic signal used by the tether control module 216 to determine the amount of rotation of the spool from a fixed reference angle and / or to an analog or digital electronic signal that is representative of a new rotary position, among other options. Other examples are also possible.

[0076] Based on the data from the speed sensor, the tether control module 216 may determine a rotational speed of the motor 222 and / or the spool and responsively control the motor 222 (e g., by increasing or decreasing an electrical current supplied to the motor 222) to cause the rotational speed of the motor 222 to match a desired speed. When adjusting the motor current, the magnitude of the current adjustment may be based on a proportional-integral- derivative (PID) calculation using the determined and desired speeds of the motor 222. For instance, the magnitude of the current adjustment may be based on a present difference, a pastdifference (based on accumulated error over time), and a future difference (based on current rates of change) between the determined and desired speeds of the spool.

[0077] In some embodiments, the tether control module 216 may vary the rate at which the tether 224 and pay load 228 are lowered to the ground. For example, the speed controller may change the desired operating rate according to a variable deployment-rate profde and / or in response to other factors in order to change the rate at which the payload 228 descends toward the ground. To do so, the tether control module 216 may adjust an amount of braking or an amount of friction that is applied to the tether 224. For example, to vary the tether deployment rate, the UAV 200 may include friction pads that can apply a variable amount of pressure to the tether 224. As another example, the UAV 200 can include a motorized braking system that varies the rate at which the spool lets out the tether 224. Such a braking system may take the form of an electromechanical system in which the motor 222 operates to slow the rate at which the spool lets out the tether 224. Further, the motor 222 may vary the amount by which it adjusts the speed (e.g., the RPM) of the spool, and thus may vary' the deployment rate of the tether 224. Other examples are also possible.

[0078] 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 limit placed on the motor current, there may be situations where the motor 222 cannot operate at the desired rate specified by the speed controller. For instance, as discussed in more detail below, there may be situations where the speed controller specifies a desired operating rate at which the motor 222 should retract the tether 224 toward the UAV 200, but the motor current may be limited such that a large enough downward force on the tether 224 would counteract the retracting force of the motor 222 and cause the tether 224 to unwind instead. And as further discussed below, a limit on the motor current may be imposed and / or altered depending on an operational state of the UAV 200.

[0079] In some embodiments, the tether control module 216 may be configured to determine a status of the tether 224 and / or the pay load 228 based on the amount of current supplied to the motor 222. For instance, 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 gets snagged on an object when retracting toward the UAV 200), the tether control module 216 may need to increase the motor current in order to cause the determined rotational speed of the motor 222 and / or spool to match the desired speed. Similarly, when the downward force is removed from the tether 224 (e.g., upon delivery of the pay load 228 or removal of a tether snag), the tether control module 216 may need to decrease the motor cunent in order to cause the determined rotationalspeed of the motor 222 and / or spool to match the desired speed. As such, the tether control module 216 may be configured to monitor the current supplied to the motor 222. For instance, the tether control module 216 could determine the motor current based on sensor data received from a current sensor of the motor or a current sensor of the power system 220. In any case, based on the current supplied to the motor 222, determine if the payload 228 is attached to the tether 224, if someone or something is pulling on the tether 224, and / or if the pay load retriever 226 is pressing against the UAV 200 after retracting the tether 224. Other examples are possible as well.

[0080] During delivery' of the payload 228, the payload retriever 226 can be configured to secure the payload 228 while being lowered from the UAV by the tether 224, and can be further configured to release the payload 228 upon reaching ground level. The payload retriever 226 can then be retracted to the UAV by reeling in the tether 224 using the motor 222.

[0081] In some implementations, the payload 228 may be passively released once it is lowered to the ground. For example, a passive release mechanism may include one or more swing arms adapted to retract into and extend from a housing. An extended swing arm may form a hook on which the payload 228 may be attached. Upon lowering the release mechanism and the payload 228 to the ground via a tether, a gravitational force as well as a downward inertial force on the release mechanism may cause the payload 228 to detach from the hook allowing the release mechanism to be raised upwards toward the UAV. The release mechanism may further include a spring mechanism that biases the swing arm to retract into the housing when there are no other external forces on the swing arm. For instance, a spring may exert a force on the swing arm that pushes or pulls the swing arm toward the housing such that the swing arm retracts into the housing once the weight of the payload 228 no longer forces the swing arm to extend from the housing. Retracting the swing arm into the housing may reduce the likelihood of the release mechanism snagging the payload 228 or other nearby objects when raising the release mechanism tow ard the UAV upon delivery' of the payload 228.

[0082] Active payload release mechanisms are also possible. For example, sensors such as a barometric pressure based altimeter and / or accelerometers may help to detect the position of the release mechanism (and the payload) relative to the ground. Data from the sensors can be communicated back to the UAV and / or a control system over a wireless link and used to help in determining when the release mechanism has reached ground level (e.g., by detecting a measurement with the accelerometer that is characteristic of ground impact). In other examples, the UAV may determine that the payload has reached the ground based on a weight sensordetecting a threshold low downward force on the tether and / or based on a threshold low measurement of power drawn by the winch when lowering the payload.

[0083] Other systems and techniques for delivering a payload, in addition or in the alternative to a tethered delivery system are also possible. For example, a UAV 200 could include an air-bag drop system or a parachute drop system. Alternatively, a UAV 200 carrying a payload could simply land on the ground at a delivery location. Other examples are also possible.IV. Illustrative UAV Deployment Systems

[0084] UAV systems may be implemented in order to provide various UAV -related sendees. In particular, UAVs may be provided at a number of different launch sites that may be in communication with regional and / or central control systems. Such a distributed UAV system may allow UAVs to be quickly deployed to provide services across a large geographic area (e.g., that is much larger than the flight range of any single UAV). For example, UAVs capable of carrying payloads may be distributed at a number of launch sites across a large geographic area (possibly even throughout an entire country, or even worldwide), in order to provide on-demand transport of various items to locations throughout the geographic area. FIG. 3 is a simplified block diagram illustrating a distributed UAV system 300. according to an example embodiment.

[0085] In the illustrative UAV system 300, an access system 302 may allow' for interaction with, control of, and / or utilization of a network of UAVs 304. In some embodiments, an access system 302 may be a computing system that allows for human-controlled dispatch of UAVs 304. As such, the control system may include or otherwise provide a user interface through which a user can access and / or control the UAVs 304.

[0086] In some embodiments, dispatch of the UAVs 304 may additionally or alternatively be accomplished via one or more automated processes. For instance, 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 on-board sensors, such as a GPS receiver and / or other various navigational sensors.

[0087] Further, the access system 302 may provide for remote operation of a UAV. For instance, the access system 302 may allow an operator to control the flight of a UAV via its user interface. As a specific example, an operator may use the access system 302 to dispatch a UAV 304 to a target location. The UAV 304 may then autonomously navigate to the general area of the target location. At this point, the operator may use the access system 302 to takecontrol of the UAV 304 and navigate the UAV to the target location (e.g., to a particular person to whom a payload is being transported). Other examples of remote operation of a UAV are also possible.

[0088] In an illustrative embodiment, the UAVs 304 may take various forms. For example, each of the UAVs 304 may be a UAV such as those illustrated in FIGS. 1 A-1E. However, UAV system 300 may also utilize other types of UAVs without departing from the scope of the invention. In some implementations, all of the UAVs 304 may be of the same or a similar configuration. However, in other implementations, the UAVs 304 may include a number of different types of UAVs. For instance, the UAVs 304 may include anumber of types of UAVs, with each type of UAV being configured for a different type or types of payload delivery capabilities.

[0089] The UAV system 300 may further include a remote device 306, which may take various forms. Generally, the remote device 306 may be any device through which a direct or indirect request to dispatch a UAV can be made. (Note that an indirect request may involve any communication that may be responded to by dispatching a UAV, such as requesting a package delivery). In an example embodiment, the remote device 306 may be a mobile phone, tablet computer, laptop computer, personal computer, or any network-connected computing device. Further, in some instances, the remote device 306 may not be a computing device. As an example, a standard telephone, which allows for communication via plain old telephone service (POTS), may serve as the remote device 306. Other types of remote devices are also possible.

[0090] Further, the remote device 306 may be configured to communicate with access system 302 via one or more types of communication network(s) 308. For example, the remote device 306 may communicate with the access system 302 (or a human operator of the access system 302) by communicating over a POTS network, a cellular network, and / or a data network such as the Internet. Other ty pes of netw orks may also be utilized.

[0091] 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 could request UAV delivery of a package to their home via their mobile phone, tablet, or laptop. As another example, a user could request dynamic delivery to wherever they are located 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, such that a UAV can navigate to the user's location (as indicated by their mobile phone).

[0092] In an illustrative arrangement, the central dispatch system 310 may be a server or group of servers, which is configured to receive dispatch messages 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 be further configured to route such requests or instructions to one or more local dispatch systems 312. To provide such functionality’, the central dispatch system 310 may communicate with the access system 302 via a data network, such as the Internet or a private network that is established for communications between access systems and automated dispatch systems.

[0093] In the illustrated configuration, the central dispatch system 310 may be configured to coordinate the dispatch of UAVs 304 from anumber of different local dispatch systems 312. As such, the central dispatch system 310 may keep track of which UAVs 304 are located at which local dispatch systems 312, which UAVs 304 are currently available for deployment, and / or which services or operations each of the UAVs 304 is configured for (in the event that a UAV fleet includes multiple types of UAVs configured for different services and / or operations). Additionally or alternatively, each local dispatch system 312 may be configured to track which of its associated UAVs 304 are currently available for deployment and / or are currently in the midst of item transport.

[0094] In some cases, when the central dispatch system 310 receives a request for UAV- related service (e.g.. transport of an item) from the access system 302. the central dispatch system 310 may select a specific UAV 304 to dispatch. The central dispatch system 310 may accordingly instruct the local dispatch system 312 that is associated with the selected UAV to dispatch the selected UAV. The local dispatch system 312 may then operate its associated deployment system 314 to launch the selected UAV. In other cases, the central dispatch system 310 may forward a request for a UAV-related service to a local dispatch system 312 that is near the location where the support is requested and leave the selection of a particular UAV 304 to the local dispatch system 312.

[0095] In an example configuration, the local dispatch system 312 may be implemented as a computing system at the same location as the deployment system(s) 314 that it controls. For example, the local dispatch system 312 may be implemented by a computing system installed at a building, such as a warehouse, where the deployment system(s) 314 and UAV(s) 304 that are associated with the particular local dispatch system 312 are also located. In other embodiments, the local dispatch system 312 may be implemented at a location that is remote to its associated deployment system(s) 314 and UAV(s) 304.

[0096] Numerous variations on, and alternatives to, the illustrated configuration of the UAV system 300 are possible. For example, in some embodiments, a user of the remote device 306 could request delivery of a package directly from the central dispatch system 310. To do so, an application may be implemented on the remote device 306 that allows the user to provide information regarding a requested delivery', and generate and send a data message to request that the UAV system 300 provide the delivery. In such an embodiment, the central dispatch system 310 may include automated functionality to handle requests that are generated by such an application, evaluate such requests, and, if appropriate, coordinate with an appropriate local dispatch system 312 to deploy a UAV.

[0097] Further, some or all of the functionality that is attributed herein to the central dispatch system 310, the local dispatch system(s) 312. the access system 302, and / or the deployment system(s) 314 may be combined in a single system, implemented in a more complex system, and / or redistributed among the central dispatch system 310, the local dispatch system(s) 312, the access system 302, and / or the deployment system(s) 314 in various ways.

[0098] Yet further, while each local dispatch system 312 is show n 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 being in communication with two local dispatch systems 312, the central dispatch system 310 may alternatively be in communication with more or fewer local dispatch systems 312.

[0099] In a further aspect, the deployment systems 314 may take various forms. In general, the deployment systems 314 may take the form of or include systems for physically launching one or more of the UAVs 304. Such launch systems may include features that provide for an automated UAV launch and / or features that allow for a human-assisted UAV launch. Further, the deployment systems 314 may each be configured to launch one particular UAV 304, or to launch multiple UAVs 304.

[0100] The deployment systems 314 may further be configured to provide additional functions, including for example, diagnostic-related functions such as verifying system functionality of the UAV. verifying functionality of devices that are housed within a UAV (e.g., a payload delivery apparatus), and / or maintaining devices or other items that are housed in the UAV (e.g., by monitoring a status of a payload such as its temperature, weight, etc.).

[0101] In some embodiments, the deployment systems 314 and their corresponding UAVs 304 (and possibly associated local dispatch systems 312) may be strategically distributed throughout an area such as a city. For example, the deployment systems 314 may bestrategically distributed such that each deployment system 314 is proximate to one or more payload pickup locations (e.g., near a restaurant, store, or warehouse). However, the deployment systems 314 (and possibly the local dispatch systems 312) may be distributed in other ways, depending upon the particular implementation. As an additional example, kiosks that allow users to transport packages via UAVs may be installed in various locations. Such kiosks may include UAV launch systems, and may allow a user to provide their package for loading onto a UAV and pay for UAV shipping services, among other possibilities. Other examples are also possible.

[0102] In a further aspect, the UAV system 300 may include or have access to a useraccount database 316. The user-account database 316 may include data for a number of user accounts, and which are each associated with one or more persons. For a given user account, the user-account database 316 may include data related to or useful in providing UAV-related services. Typically, the user data associated with each user account is optionally provided by an associated user and / or is collected with the associated user's permission.

[0103] Further, in some embodiments, a person may be required to register for a user account with the UAV system 300, if they wish to be provided with UAV-related services by the UAVs 304 from UAV system 300. As such, the user-account database 316 may include authorization information for a given user account (e.g., a username and password), and / or other information that may be used to authorize access to a user account.

[0104] In some embodiments, a person may associate one or more of their devices with their user account, such that they can access the services of UAV system 300. For example, when a person uses an associated mobile phone, e.g., to place a call to an operator of the access system 302 or send a message requesting a UAV-related sendee to a dispatch system, the phone may be identified via a unique device identification number, and the call or message may then be attributed to the associated user account. Other examples are also possible.V. Illustrative Payload Delivery Systems

[0105] FIGS. 4A, 4B, and 4C illustrate aspects of a delivery process by a UAV 400 in accordance with an example of the disclosure. The illustrated UAV includes wings 404, thrust rotors 406 for forward movement, lift rotors 408 for vertical movement, and a fuselage 410 between the wings 404. However, aspects of this delivery process may be performed using aircraft of various different designs, including any of those shown in FIGS. 1 A-l E.

[0106] FIG. 4A shows the UAV 400 retrieving a payload 450 using a tether 430, for example at a payload retrieval site. The payload 450 is secured on an example payload retriever440 (described in more detail below) that is attached to the tether 430. The pay load includes a container 452 and a hanger 460 that is secured to the payload retriever 440. To hoist the payload 450 up to the fuselage 410, the tether 430 is being retracted into the fuselage 410 by a winch, as explained further below. In the illustrated example, while the payload 450 is lifted up to the fuselage 410, the UAV 400 is operating in a hover mode using the lift rotors 408. However, in other examples, the UAV may move laterally while the payload 450 is lifted.

[0107] FIG. 4B shows the UAV 400 with the payload 450 hoisted all the way up and secured to the fuselage 410. The fuselage 410 includes a slot for receiving a portion of the payload 450 and holding it in place, as described in more detail below. In FIG. 4B the UAV 400 is using thrust rotors 406 to fly from the retrieval site to a delivery site.

[0108] FIG. 4C shows the UAV 400 at the delivery site in a process of delivering the payload 450. Once at the delivery site, the UAV control system, or a payload handling control system of the UAV, may operate to release the payload from the fuselage 410, if applicable, and lower the payload 450 by extending the tether 430. Once the payload 450 reaches the ground, the control system may continue lowering the tether 430, causing over-run of the tether 430. During over-run of the tether 430, the payload retriever 440 may continue to lower as the payload 450 remains stationary on the ground. The downward momentum and / or gravitational force on the payload retriever 440 may cause the payload 450 to detach from the payload retriever 440 (e.g.. by sliding off a hook of the payload retriever 440). After releasing the payload 450. the control system may retract the tether 430 and the payload retriever 440 toward the UAV 400.

[0109] FIG. 5 shows a perspective view of a pay load handling system 420, according to an example, with the payload 450 attached. In this illustrated example, the payload handling system 420 is adapted to be positioned within a fuselage of a UAV. For example, in the illustrated example, a support structure 422 of the payload handling system 420 forms part of the exterior surface of the fuselage and components of the payload handling system 420 are positioned inside the fuselage. In other examples, however, one or more components of the payload handling system may be held outside the fuselage. For instance, in some examples the payload handling system may be formed as part of a modular unit that connects to other portions of the UAV.

[0110] In the illustrated example, the payload handling system 420 includes a winch 424 that operates the tether 430 and a releasable coupler 434 that is adapted to secure the payload 450 to the UAV, as described in more detail below. The example winch 424 includes a motor 426 and a spool 428. The motor 426 drives the spool 428 to wind and unwind the tether 430on the spool 428. In other examples, the winch may have a different configuration. For example, the winch may be formed as a capstan that extends and retracts a tether without winding the tether onto a spool. Likewise, the winch may include a spool or other wheel that is coupled to another actuator of the UAV, rather than having a dedicated motor. Other examples of a winch that operates to retract and extend a tether are also possible.[OHl] As stated above, the example payload handling system 420 also includes a releasable coupler 434. The releasable coupler 434 is configured to secure the payload 450 to the UAV independent of the tether 430 and payload retriever 440. Thus, the releasable coupler 434 provides another manner for securing the payload 450 to the UAV, and in some examples may be more secure than the attachment via the payload retriever. The releasable coupler 434 may be used as a redundant or alternative option for securing the payload to the UAV. When desired, the releasable coupler 434 may be actuated by the control system to release the payload 450 and allow the payload to be delivered.

[0112] In the illustrated example, the releasable coupler 434 is formed by an actuator 436 and a pair of pins 438 (see also FIGS. 10C and 10D) that extend through corresponding apertures in the payload. When the payload is in an appropriate position, the control system may operate the actuator 436 to insert the pins 438 through the apertures in the hanger. To prepare for delivery, the control system may operate the actuator again to remove the pins 438 from the apertures in the hanger. In other examples, the releasable coupler 434 may be biased toward a closed position, such that the actuator is only used for releasing the payload. For example, the pins may be spring loaded to the closed position and have a ramped surface to allow the hanger to pass. In such examples, as the hanger is drawn into the UAV, the pins are pushed out of the way. Once the pins align with the apertures in the hanger, they close under the force of the springs. To release the hanger, the control system operates the actuator to pull the pins out of the apertures.

[0113] While the illustrated example releasable coupler 434 includes a pair of pins 438 to hold the payload, the releasable coupler may have various other configurations. For example, the releasable coupler may be formed by a clamp, a claw, a latch, or some other fastener that secures the payload to the UAV. Further still, in some examples, the payload handling system 420 may be provided without a releasable coupler 434. In such examples, the payload may be secured to the UAV by another method, such as by the retriever alone.

[0114] FIG. 6 is a perspective view of payload retriever 440 according to an example of the disclosure embodiment. The payload retriever 440 includes a tether mounting point 442 at the top of the pay load retriever 440 and a slot 448 adapted to receive a handle of a payload. Alip 446 is formed beneath the slot 448 and adapted to support the handle of the payload when it is coupled to the payload retriever 440. The payload retriever 440 may also include outer protrusions 444 that form earning surfaces that are adapted to mate with corresponding surfaces in the UAV to rotate the payload to a predetermined orientation. Corresponding mating surfaces may be included within a receptacle in the fuselage of a UAV.

[0115] FIG. 7 is a side view of an example hanger 460 of a payload configured to be carried by a UAV. The example hanger 460 includes a base 464 and a handle 470 that extends up from the base 464. The base 464 is configured to couple to a container of the payload. The handle 470 is formed as a bridge 474 that extends over a handle opening 472. In operation with the example payload retriever 440, the payload retriever 440 may hold the hanger 460 by receiving the bridge 474 in the slot 448. with the lip 446 of the payload retriever 440 passing through the handle opening 472. In other examples, the handle may have another shape. For example, rather than a handle formed as a bridge extending over an opening, the handle may be formed as a catch at the end of an extension, such as having a T shape, where the retriever is configured to seize the arms of the T. Other configurations are also possible.

[0116] In the illustrated example, the hanger 460 is formed by a flat body 462 of material having a uniform thickness, such that the hanger 460 is in the form of a tab. In other examples, the hanger may have other shapes which may have more three-dimensional variation. For example, the handle of the hanger may be formed as a flexible line, such as cord, that is secured at either end to the base.

[0117] Further, the base 464 of the example hanger 460 is formed as a section that extends past the handle 470, this allows the handle 470 to be inserted through a slot in the container 452 of the payload 450. With the base 464 being larger than the slot, the hanger 460 is secured to the container. In other examples, the base of the hanger could function similarly, but be wider than the handle rather than, or in addition to, being longer than the handle. Still, in other examples, the base of the hanger may secure to the container in another manner, such as by including a clamp or fastener that attaches to the container.

[0118] The example hanger 460 shown in FIG. 7 also includes a first aperture 466 and a second aperture 468 disposed on opposing sides of the handle opening 472. The first and second apertures 466, 468 are configured to cooperate with the releasable coupler 434 to secure the payload 450 to the UAV. In other examples, the hanger may include other structures, including notches, grooves, slots, hooks, knobs, or others, that cooperate with the releasable coupler. Further, in some examples, the releasable coupler may be configured to secure the hanger without any specific structure on the hanger, such as with a clamp configuration.VI. Example Lightweight Payload and Delivery Method

[0119] FIG. 8 is a side view of another example hanger 860 for a pay load that is configured to be carried by a UAV. Similar to hanger 460. example hanger 860 also includes a base 864 and a handle 870 that extends up from the base 864. Hanger 860 is adapted for disengagement from a payload retriever while the payload is secured on the UAV. Accordingly, once disengaged, the payload can be released for delivery' without lowering the payload retriever on the tether. This may be particularly useful with payloads that have a weight below a certain threshold. In some circumstances, such payloads may be more difficult to release from a payload retriever. These payloads may also be more appropriate than heavier payloads for simply dropping from a hovering UAV, as damage and accidents may be more easily mitigated with a lightweight package that is dropped from the UAV. In view of this hanger’s configuration being particularly well suited for use with lightweight payloads, this example hanger 860 is sometimes referred to herein as a lightweight hanger. However, hangers with this configuration may also be used with heavier payloads.

[0120] The base 864 of example hanger 860 is configured to couple to a container of the payload and is formed as a section that extends past the handle 870, similar to the base of hanger 460. Again, the extended length of the base 864 allows the handle 870 to be inserted through a slot in a container of the payload for securing the hanger 860 to the container. Of course, other examples may include another base configuration for securing to the container, as described above with respect to hanger 460.

[0121] Like hanger 460, example hanger 860 is formed by a flat body 862 of material having a uniform thickness so as to form a tab. However, other examples of such a lightweight hanger may have other shapes, as set forth above with respect to example hanger 460. Further, hanger 860 also includes a first aperture 866 and a second aperture 868 disposed on opposing sides of the handle opening 872 for cooperating with a releasable coupler 434. Again, however, lightweight hangers according to the disclosure may have other geometries for cooperating with a releasable coupler as described above with respect to hanger 460.

[0122] In example hanger 860, the handle 870 is configured for being disengageable from the payload retriever. Handle 870 is formed by a pair of handle segments 874 and 876 that extend over a handle opening 872. which is adapted to receive part of the pay load retriever for securing the hanger on the payload retriever. The two handle segments are detached from one another so as to form an access passage 878 into the handle opening 872. This access passage 878 may be used to pull a payload retriever therethrough so as to disengage from the hanger,as described in more detail below. In the illustrated example, neither the first handle segment 874 nor the second handle segment 876 extends entirely over the handle opening 872. Instead, the first and second handle segments 874, 876 extend from opposing sides of the handle opening 872 toward one another over a portion of the handle opening 872. Accordingly, the access passage 878 in this example is formed by a gap between the two handle segments 874, 876. In other examples, however, the handle segments may contact or even pass one another over the handle opening, but form an access passage by being detached and flexible so that the payload retriever may pass through the passage upon flexing of the segments.

[0123] FIGS. 9A, 9B, and 9C illustrate aspects of a delivery process by the UAV 400 shown in FIGS. 4A-4C where the payload retriever is disengaged from the payload prior to delivery, allowing the payload to be dropped at the delivery location. In this example, the payload 850 includes the lightweight hanger 860 described above, but other configurations that are adapted for releasing the payload from the payload retriever may operate similarly.

[0124] FIG. 9 A shows the UAV 400 retrieving a payload 850 using a tether 430, for example at the payload retrieval site. The payload 850 is secured to the payload retriever 440 using the hanger 860. Specifically, a lip of the payload retriever is inserted through the handle opening of the hanger 860 such that the handle segments (FIG. 8) fit into a slot of the pay load retriever. To hoist the payload 850 up to the fuselage 410, the control system is operating the winch to retract the tether 430 toward the fuselage 410. In this example, the payload 850 is lifted up to the fuselage 410 while the UAV 400 is operating in a hover mode, but in other examples, the UAV may move laterally while the payload 850 is lifted.

[0125] In FIG. 9B the payload 850 is secured to the fuselage 410 of the UAV 400 while the UAV 400 is traveling from the retrieval site to the delivery site. FIG. 4C shows the UAV 400 at the delivery site after the payload 850 has been released from the payload retriever (and if applicable a releasable coupler) and the payload is falling toward a receiving surface, such as the ground.

[0126] FIGS. 10A-10E show' aspects of a delivery' process that illustrate operation of the example payload handling system 420 with the lightweight hanger 860. For clarity’, the container of the payload and most of the UAV is not shown in FIGS. 10A through 10E. Instead only parts of the payload handling system 420 and the hanger 860 of the payload are visible. Likewise, additional portions of the UAV and payload handling system are removed from view' in FIGS. 10B-10E in comparison to FIG. 10A.

[0127] FIG. 10A illustrates the hanger 860 of the payload after the payload has been received by the payload retriever 440. Specifically the handle segments of the hanger aredisposed inside a slot in the payload retriever 440 so that the associated payload can be hoisted by the tether 430 under the control of the control system. In FIG. 10A. the tether 430 is being retracted to lift the hanger 860 up to the UAV.

[0128] In FIG. 10B, the tether is nearly fully retracted, but there is still some additional length of tether that can be wound onto the spool 428. Here, the payload retriever 440 has been drawn to a first location that is spaced below its fully retracted position, in which the payload retriever is moved into the retriever receptacle 432. In the first location, the hanger 860 is properly located to be secured by the releasable coupler 434. Specifically, when the payload retriever is at the first location, the first and second apertures 866, 868 of the hanger are aligned with two pins 438 of the releasable coupler 434.

[0129] The control system may be configured in various different ways to identify when the payload retriever is at first location and the payload is appropriately positioned to be secured by the releasable coupler. In some examples, the control system may monitor the position of the motor and identify the location of the payload retriever using the anticipated length of tether that is off the spool based on the motor position. In other examples, the control system may receive a signal from a sensor, such as a position sensor, a proximity sensor, a camera, or another type of sensor, that identifies the position of the payload retriever or part of the payload to determine when the payload retriever is in the first location. It should be understood that, while the control system is configured to take certain actions when the payload retriever is at the first location, the control system does not need to monitor the position of the payload retriever itself, and instead can act based on information about the position of any of the payload retriever, the tether, components of the winch, or the pay load.

[0130] As shown in FIG. 10C. with the payload retriever 440 located in the first location, the releasable coupler 434 is operated to secure the hanger 860 in the UAV. Specifically, in this example, an actuator 436 is operated to move the two pins 438 through the first and second apertures 866, 868 of the hanger 860. As a result, the payload is redundantly secured to the UAV by both the payload retriever 440 and the releasable coupler 434. This action of securing the hanger 860 with the releasable coupler 434 may be carried out immediately after raising the payload up to the UAV, such as while the UAV is still hovering, or may occur later, such as when the UAV is traveling from the retrieval site to the delivery site. Securing the hanger with the releasable coupler earlier may help avoid accidental release of the payload while traveling.

[0131] In FIG. 10D, the tether 430 has been further retracted to cause the payload retriever 440 to disengage from the hanger 860. In this example, the further retraction of the tether hascaused the payload retriever 440 to move through the access passage 878 in the hanger 860, but other manners of causing disengagement are possible, as described below. Because the hanger 860 is still held by the releasable coupler 434 in FIG. 10D, the payload remains secured to the UAV in FIG. 10D. In some examples, the act of disengaging the pay load retriever from the hanger may be carried out just prior to delivery, so that the hanger is redundantly secured by both the payload retriever and releasable coupler during flight. But it is also possible to disengage the payload retriever from the hanger any time after the releasable coupler has secured the hanger without dropping the payload. Accordingly, this act of disengageing the payload retriever from the hanger could be carried out earlier.

[0132] FIG. 10E illustrates the release of the pay load when the UAV is at the delivery' site. In FIG. 10E, the releasable coupler 434 has been actuated to retract the two pins 438 from the apertures 866, 868 in the hanger 860. As a result, the hanger 860 (and associated payload) is released and the payload allowed to drop to a receiving surface, such as the ground.

[0133] As demonstrated by a comparison of FIGS. 7 and 8, the example lightweight hanger 860 of FIG. 8 has various differences from the hanger 460 of FIG. 7. As previously described, the handle 870 of the lightweight hanger 860 is formed by two handle segments 874. 876. whereas the handle 470 of hanger 460 has a continuous bridge 474 that extends over the handle opening. Another difference is in the position of the handle opening relative to the apertures. The handle 470 and handle opening 472 of hanger 460 is positioned higher relative to the apertures 466, 468 than handle 870 and handle opening 872 of hanger 860 is positioned relative to the apertures 866, 868. This difference in relative position is to accommodate disengagement of the payload retriever from the lightweight hanger 860 after the lightweight hanger 860 has been secured in the UAV. Accordingly, the handle 870 of hanger 860 is lower so that the pay load retriever can be pulled further upward and through the access passage 878 of the hanger 860. In contrast, when hanger 460 is used, the payload retriever may be pulled all the way into a retriever receptacle while the hanger 460 is still attached to the payload retriever. Therefore, the handle 470 is higher relative to the apertures 466, 468.

[0134] Although these two hangers 460 and 860 have different configurations, each of them may be retrieved and secured by the same payload handling system 420. Accordingly, a single UAV may cany’ out a delivery method where it makes multiple deliveries of payloads, where one or more pay loads have one hanger configuration and one or more payloads have the other configuration. For example, such a method may include first and second deliveries. The first delivery may be related to a first payload with a first hanger configuration. The first delivery may include extending the tether to retrieve the first payload on a payload retriever ata first retrieval site, drawing the first payload up to the UAV on the payload retriever, securing the first payload to the UAV, flying to a delivery site, disengaging the payload retriever from the first payload, and then releasing the first payload for delivery. In contrast, the second delivery may be related to a second payload with a second configuration. The second delivery may include extending the tether to receive the second payload on the payload retriever at the same or another retrieval site, drawing the second payload up to the UAV. flying to the same or a new delivery site, and then lowering the second payload to a surface for release and delivery. Optionally, the second payload may also be secured to the UAV using a releasable coupler during flight.

[0135] In such a method that includes multiple deliveries using different hanger configurations, aspects of the pay load may govern which hanger is used. For example, payloads that are heavier or are more susceptible to wind loads may be outfitted with a hanger that has a closed handle, whereas lighter payloads and / or payloads less susceptible to wind loads may be outfitted with a disengageable hanger.

[0136] While the above multi-delivery process includes the use of a hanger with an open handle for the first delivery and a hanger with a closed handle for the second delivery, the UAV may complete a multi-delivery process using different hangers in various different sequences. Moreover, it is also possible to use the lightweight hanger in a delivery where the payload is not released and allowed to drop. For example, in such a process, rather than disengaging the payload retriever from the lightweight hanger, the payload retriever may be held in the first location where it remains attached to the hanger. Then, at the delivery site, the payload can be lowered on the tether, as the payload is still attached to the payload retriever.

[0137] In some examples, as suggested above, the releasable coupler can be actuated to release the payload from a substantial height so that the payload is dropped at the delivery location. In other examples, it is possible to release the payload when the UAV is close to the receiving surface, such that the payload does not drop any significant distance. Indeed, in some examples, the UAV may be configured to position the payload very close to the receiving surface, or even in contact with the receiving surface, before releasing the payload.

[0138] The illustrated examples described above include a payload with a container and a hanger formed by a separate piece coupled toward the top of the container that interfaces with the payload handling system. In other examples, the payload may have a hanger that is integrated with the container in a single piece. Moreover, in some examples the portions of the payload that interface with the payload handling system may be located somewhere other than the top of the payload. For example, some payloads may have structures configured tocooperate with a payload retriever and / or releasable coupler that are positioned elsewhere on the pay load. Further still, in some examples, the pay loads may not include specific structures to integrate with the UAV, and instead the methods described herein may be carried out using handling structures that can hold and secure payloads having standard configurations, such as a rectangular box.

[0139] As shown in FIGS. 10C and 10D above, in the illustrated example, the payload retriever 440 disengages from the hanger 860 by operation of the winch. In particular, the tether 430 is further retracted on the spool 428 to pull the payload retainer 440 through the access passage 478 of the hanger 460 while the first handle segment 474 and / or second handle segment 476 flexes to allow the payload retriever through 440.

[0140] In other examples, the disengagement of the pay load retriever from the hanger may be carried out in another manner. For instance, in some examples, the pay load retriever, rather than the hanger, may be flexible to allow the payload retriever to fit through the access passage without widening the gap between the handle segments. In other examples, the payload retriever may be twisted, rotated, or even lowered out of the hanger to disengage the payload retriever from the hanger, rather than simply pulling the payload retriever up through a passage. In such an example, the hanger may not even have such a passage. While these movements of the payload retriever to disengage from the hanger without simply being pulled through the access passage are more complicated than a simple hoisting movement, such movement may still be carried out by retracting the tether.

[0141] For instance, some examples may include a spring-loaded linkage that is operated by retracting the tether. The payload retriever may initially be raised along a simple vertical path until the payload retriever reaches the first location. The spring may be strong enough that the linkage stays in place during this vertical hoisting movement. Once the payload retriever reaches the first location, further vertical movement is blocked by the linkage. Instead, the tether may be routed through the linkage such that further retraction of the tether causes the linkage to move against the force of the spring and push the payload retriever out of engagement with the hanger. Other configurations that cause the payload retriever to disengage from the payload are also possible.

[0142] In examples described above, the payload is hoisted to the UAV on a payload retriever, subsequently secured by a releasable coupler, and then released for deli very. In other embodiments, it is possible to carry out a similar method in accordance with the disclosure without using a releasable coupler. For instance, in some examples, the payload retriever alonemay secure the payload to the UAV. At the time of delivery, the payload retriever may be disengaged from the payload, which causes the payload to drop from the UAV.VL Conclusion

[0143] The particular arrangements shown in the Figures should not be viewed as limiting. It should be understood that other implementations may include more or less of each element shown in a given Figure. Further, some of the illustrated elements may be combined or omitted. Yet further, an exemplary implementation may include elements that are not illustrated in the Figures.

[0144] Additionally, while various aspects and implementations have been disclosed herein, other aspects and implementations will be apparent to those skilled in the art. The various aspects and implementations disclosed herein are for purposes of illustration and are not intended to be limiting, with the true scope and spirit being indicated by the following claims. Other implementations 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 the present 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 w hich are contemplated herein.

Claims

CLAIMSWhat is claimed is:

1. A method comprising: receiving a payload on a payload retriever, wherein the payload retriever is attached to a tether that extends from an uncrewed aerial vehicle (UAV); retracting the tether to position the payload retriever at a first location; securing the payload to a releasable coupler of the UAV; further retracting the tether to move the payload retriever from the first location and disengage the payload retriever from the payload; actuating the releasable coupler to release the pay load from the AV.

2. The method of claim 1, wherein the payload includes a hanger extending up from a container, and wherein securing the payload on the payload retriever includes securing the hanger of the pay load to the payload retriever.

3. The method of claim 2, wherein the pay load retriever includes a slot that receives a handle of the hanger.

4. The method of claim 3, wherein the handle includes handle segments that extend over a handle opening, and wherein the handle segments are spaced from each other to form an access path into the handle opening.

5. The method of claim 4, wherein further retracting the tether pulls the payload retriever through the access path.

6. The method of claim 5. wherein pulling the pay load retriever through the access path flexes the handle segments to enlarge the access path.

7. The method of claim 1, wherein the releasable coupler secures a hanger of the payload.

8. The method of claim 1, wherein the hanger includes an aperture and the releasable coupler includes a pin that passes through the aperture.

9. The method of claim 8, wherein securing the payload to the releasable coupler includes actuating the releasable coupler to extend through the aperture.

10. The method of claim 1, wherein further retracting the tether moves the payload retriever into a receptacle in the UAV.

11. The method of claim 1, wherein actuating the releasable coupler to release the payload occurs while the UAV is airborne so as to drop the payload.

12. The method of claim 1, wherein retracting the tether and further retracting the tether include operating a motor of a winch.

13. The method of claim 1, further comprising: extending the tether from the UAV ; securing a second payload on the payload retriever; retracting the tether to move the payload retriever past the first location; and securing the second payload to the releasable coupler of the UAV.

14. The method of claim 13. further comprising: actuating the releasable coupler to disengage the second payload; and extending the tether to lower the second payload on the payload retriever.

15. The method of claim 13. wherein the second payload is heavier than the first payload.

16. An uncrewed aerial vehicle (UAV) comprising: a payload handling system comprising: a winch, a tether that is operable to be extended and retracted by the winch, and a payload retriever secured to the tether; and a control system configured to: retract the tether while a payload is secured on the payload retriever to position the payload retriever at a first location where the payload is secured to a releasable coupler; further retract the tether to move the payload retriever from the first location and disengage the payload retriever from the payload; and actuate the releasable coupler to release the payload from the UAV.

17. The UAV of claim 16, wherein the control system is further configured to actuate the releasable coupler so as to secure the payload.

18. The UAV of claim 16, wherein the control system is further configured to identify when the payload retriever is positioned in the first location.

19. A payload comprising: a hanger configured to be coupled to a container and extend upward from the container, the hanger comprising: a handle adapted for securing the payload to a payload retriever, the handle including opposing first and second handle segments that extend over a handle opening, wherein the handle opening is configured to receive a portion of the payload retriever, and wherein the first and second handle segments extend toward each other and are separated from each other to form an access passage to the handle opening, a first aperture extending through the flat body and disposed on a first side of the handle opening, and a second aperture extending through the flat body and disposed on a second side of the handle opening.

20. The pay load of claim 19, wherein the first handle segment and first aperture are symmetrically arranged with respect to the second handle segment and second aperture on opposing sides of the handle opening.

21. The payload of claim 19, wherein the hanger includes a base that extends outward from the handle and is adapted to be attached to the container.

22. The payload of claim 19, wherein the hanger is formed by a flat body.

Images