Package for UAV delivery

Abstract

A package adapted for use with an uncrewed aerial vehicle (UAV) is provided. The package includes a container with a bottom face including a first perimeter formed by eight edges, a closable top opposite the bottom face, the closeable top including a second perimeter formed by four edges, and a side wall extending between the bottom face and the closable top. The side wall includes a front face, a rear face, two lateral faces, front angled sections between the front face and the lateral faces, and rear angled sections between the rear face and the lateral faces. The package also includes a hanger secured to the closable top of the container. The hanger includes a handle having a handle opening and a bridge that extends over the handle opening. The bridge is configured to be secured by a component of the UAV.

Description

PACKAGE FOR UAV DELIVERYCROSS-REFERENCE TO RELATED APPLICATIONS

[0001] This application claims priority to U.S. Pat. App. No. 19 / 037,504, filed January 27, 2025, which is hereby incorporated 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 types 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 a package configured to be secured by a component of the UAV, such as a payload retriever. With the package secured to the UAV, the payload can be safely transported, or can be raised and lowered by manipulating a tether attached to the payload retriever.

[0006] In one aspect a package adapted for use with an uncrewed aerial vehicle (UAV) is provided. The package includes a container with a bottom face including a first perimeterformed by eight edges, a closable top opposite the bottom face, the closeable top including a second perimeter formed by four edges, and a side wall extending between the bottom face and the closable top. The side wall includes a front face, a rear face, two lateral faces, front angled sections between the front face and the lateral faces, and rear angled sections between the rear face and the lateral faces. The package also includes a hanger secured to the closable top of the container. The hanger includes a handle having a handle opening and a bridge that extends over the handle opening. The bridge is configured to be secured by a component of the UAV.

[0007] In another aspect a method of transporting a payload is provided. The method includes providing the payload in a container of a package. The container includes a bottom face including a first perimeter formed by eight edges, a closable top opposite the bottom face, the closeable top including a second perimeter formed by four edges, and a side wall extending between the bottom face and the closable top. The side wall includes a front face, a rear face, two lateral faces, front angled sections between the front face and the lateral faces, and rear angled sections between the rear face and the lateral faces. The method also includes coupling a hanger of the package to a component of a UAV, where the hanger is attached to the closable top of the container. The method also includes securing the package against the UAV, operating the UAV in a forward flight mode with the front face of the package facing the direction of travel such that the angled sections direct airflow around the package.

[0008] 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 way of limitation.BRIEF DESCRIPTION OF THE DRAWINGS

[0009] FIG. 1 A is a simplified illustration of an uncrewed aerial vehicle, according to an example embodiment.

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

[0011] FIG. 1C is a simplified illustration of an uncrewed aerial vehicle, according to an example embodiment.

[0012] FIG. ID is a simplified illustration of an uncrewed aerial vehicle, according to an example embodiment.

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

[0014] FIG. 2 is a simplified block diagram illustrating components of an uncrewed aerial vehicle, according to an example.

[0015] FIG. 3 is a simplified block diagram illustrating a UAV system, according to an example.

[0016] FIGS. 4 is a lower perspective view of a UAV carrying a package, according to an example.

[0017] FIG. 5 is a side view of a hanger of a package, according to an example.

[0018] FIG. 6A is a perspective view of a payload retriever, according to an example.

[0019] FIG. 6B is a side view of the payload retriever shown in FIG. 6A.

[0020] FIG. 6C is a front view of the payload retriever shown in FIGS. 6A and 6B.

[0021] FIGS. 7A-7C show decoupling of a payload retriever from a package, according to an example.

[0022] FIG. 8 shows a pair of locking pins extending through a hanger of a package, according to an example.

[0023] FIG. 9 is a perspective view of a package according to an example of the disclosure.

[0024] FIG. 10 is a bottom view of the package of FIG. 9.

[0025] FIG. 11 is a top view of an example of a die-cut material sheet for a container of the package of FIG. 9.

[0026] FIGS. 12A-12C illustrate a method of closing the top flaps of the die-cut material sheet of FIG. 11 to form the container of FIG. 9.

[0027] FIG. 13 is a top view of a portion of an interior of the container of the package of FIG. 9.

[0028] FIG. 14 is a top view of another example of a die-cut material sheet for forming a container.

[0029] FIG. 15A shows a plot of drag coefficient for various container configurations.

[0030] FIG. 15B shows a first configuration of a container included in the data shown in FIG. 15 A.

[0031] FIG. 15C shows a second configuration of a container included in the data shown in FIG. 15 A.

[0032] FIG. 15D shows a third configuration of a container included in the data shown in FIG. 15 A.DETAILED DESCRIPTION

[0033] 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 typically 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

[0034] The present embodiments are related to the use of uncrewed aerial vehicles (UAVs) or uncrewed aerial systems (UASs) (referred to collectively herein as UAVs) that are used to carry a package to be delivered or retrieved. As examples, UAVs may be used to deliver or retrieve a package to or from an individual or business. In operation the package to be delivered is secured to the UAV and the UAV is then flown to the desired delivery site. The package may be secured beneath the UAV, positioned within the UAV, or positioned partially within the UAV, as the UAV flies to the delivery site. Once the UAV arrives at the delivery site, the UAV may land to deliver the package, or may be operated in a hover mode while the package is dropped or lowered from the UAV towards the delivery site using a tether and a winch mechanism positioned within the UAV.

[0035] The package may enclose a payload, such as goods that are to be delivered by the UAV. The package may protect the goods enclosed therein from weather, dirt, impacts, and other adverse conditions. In some instances, the package may be designed with various features that are intended for securing the package to the UAV and for protecting the goods during flight. Described herein are various embodiments of packages that are adapted to be carried and delivered by a UAV.

[0036] The package includes a container and a hanger for securing the container to a UAV. The container has a surprisingly aerodynamic shape with a bottom face that has a perimeter with eight edges and a closable top that has a perimeter with four edges. The side wall of the container extending between the bottom face and closeable top includes angled sections that extend from four of the eight edges of the perimeter of the bottom face. These angled sections direct air around the container thereby reducing drag compared to other containers with similar volumes and sizes.

[0037] Further details and other embodiments of packages according to the disclosure are described in more detail below.II. Illustrative Uncrewed Vehicles

[0038] 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.

[0039] A UAV can take various forms. For example, a UAV may take the form of a fixed-wing aircraft, a glider aircraft, a tail-sitter 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 ornithopter, 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.

[0040] Figure 1A is an isometric view of an example UAV 100. UAV 100 includes wing 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 forward 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, wing 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 battery compartment 112 of fuselage 106. In some embodiments, fuselage 106 also includes an avionics compartment 114, an additional battery compartment (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.

[0041] 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.

[0042] 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 sparmay include pre-drilled holes for horizontal propulsion units 108, and the boom carriers may include pre-drilled holes for vertical propulsion units 110.

[0043] 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 wings 102. The removable attachment of fuselage 106 may improve quality and or modularity of UAV 100. For example, electrical / 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 defective parts / 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.

[0044] 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.

[0045] 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 versatility of 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.

[0046] The power and / or control signals from fuselage 106 may be routed to PCBs 118 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 electroniccomponents 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.

[0047] 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. 1 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 be implemented with more or less of these components. For example, UAV 100 may include four wings 102, four booms 104, and more or less propulsion units (horizontal or vertical).

[0048] 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.

[0049] FIG. 1C 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. 1 A 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.

[0050] 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 allow the 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 allow the tail-sitter UAV 160 to take off and land vertically on its own.

[0051] 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 ahorizontal 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.

[0052] Many variations on the illustrated fixed-wing UAVs are possible. For instance, fixed-wing UAVs may include more or fewer propellers, 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), with fewer wings, or even with no wings, are also possible.

[0053] 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 are possible 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.

[0054] 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.

[0055] 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., preprogrammed 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 UAVs navigation systemautonomously controls more fine-grained 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.

[0056] 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 type of uncrewed aerial vehicle.III. Illustrative UAV Components

[0057] 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.

[0058] 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.

[0059] 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.

[0060] 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.

[0061] 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

[0062] 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 gyroscope measures the rate of rotation around an axis. IMUs are commercially available in low-cost, low-power packages. For instance, an IMU 202 may take the form of or include a miniaturized MicroElectroMechanical System (MEMS) or aNanoElectroMechanical System (NEMS). Other types of IMUs may also be utilized.

[0063] 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 of the 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.

[0064] 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.

[0065] 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.

[0066] 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-coupleddevice (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.

[0067] 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's location, 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

[0068] 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)).

[0069] 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 localization-based 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.

[0070] 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 tomove from waypoint to waypoint, in order to ultimately travel to a final destination (e.g., a final waypoint in a sequence of waypoints).

[0071] 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.

[0072] 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.

[0073] 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.

[0074] 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.

[0075] 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; forexample, 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.

[0076] 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 delivery, 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 “sourcing” 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.

[0077] 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

[0078] 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 network.

[0079] 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.

[0080] 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

[0081] 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

[0082] 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).

[0083] 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 protect its 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.

[0084] 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.

[0085] 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 anincremental 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.

[0086] 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 past difference (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.

[0087] In some embodiments, the tether control module 216 may vary the rate at which the tether 224 and payload 228 are lowered to the ground. For example, the speed controller may change the desired operating rate according to a variable deployment-rate profile 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.

[0088] 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 operate 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 belimited 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.

[0089] In some embodiments, the tether control module 216 may be configured to determine a status of the tether 224 and / or the payload 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 payload 228 or removal of a tether snag), the tether control module 216 may need to decrease the motor current in order to cause the determined rotational speed 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 payload retriever 226 is pressing against the UAV 200 after retracting the tether 224. Other examples are possible as well.

[0090] 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.

[0091] 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 aforce 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 toward the UAV upon delivery of the payload 228.

[0092] 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 sensor detecting 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.

[0093] 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

[0094] UAV systems may be implemented in order to provide various UAV-related services. 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.

[0095] 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.

[0096] 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.

[0097] 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 take control 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.

[0098] 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. 1A-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 a number of types of UAVs, with each type of UAV being configured for a different type or types of payload delivery capabilities.

[0099] 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.

[0100] 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 types of networks may also be utilized.

[0101] 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).

[0102] 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.

[0103] In the illustrated configuration, the central dispatch system 310 may be configured to coordinate the dispatch of UAVs 304 from a number 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.

[0104] 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 system310 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 aUAV-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.

[0105] 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.

[0106] 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.

[0107] 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.

[0108] Yet further, while each local dispatch system 312 is shown as having two associated deployment systems 314, a given local dispatch system 312 may alternatively have more or fewer associated deployment systems 314. Similarly, while the central dispatch system 310 is shown as 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.

[0109] 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.

[0110] 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.).[OHl] 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 be strategically 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.

[0112] 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.

[0113] 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.1

[0114] 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 service 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. Example UAV Packaging

[0115] When a UAV is assigned to transport a payload, securing the payload inside of a package that is specifically configured to be received and carried by a UAV can help reduce the likelihood that the package may be dropped, may break, or may substantially increase the drag on the UAV. FIG. 4 illustrates a package 400 according to an embodiment of the disclosure being carried by a UAV 490. The package 400 includes a hanger 450 that is secured to a payload retriever 800 of the UAV 490. The payload retriever 800 is secured to a distal end of a tether 810, which extends from the UAV 490. The UAV 490 is operable to retract or extend the tether 810 in order to raise or lower the package 400.

[0116] FIG. 5 is a side view of an example hanger 550 which may form part of a package in accordance with the disclosure. The hanger 550 may include a handle 560 formed by a bridge 564 that extends over a handle opening 562. In addition, the hanger 550 may also include a base 552 that extends past the ends of the handle 560 and is configured to couple the hanger 550 to portions of the package that contain or support a payload. The hanger 550 may also include holes 524, 526 that are configured to receive locking pins for securing the package to a component or structure outfitted with such pins. For example, the holes 524 and 526 may be configured to receive locking pins positioned within the fuselage of a UAV to secure the hanger 550 and payload in a secure position during high speed forward flight to a delivery location. In addition, holes 524 and 526 may also be designed for pins of a payload holder to extend therethrough to hold the package in position for retrieval on a payload retrieval apparatus. The hanger may be comprised of a thin, plastic material that is flexible and provides sufficient strength to suspend the package beneath a UAV during forward flight to a delivery site, and during delivery and / or retrieval of the package. In practice, the hanger may be bent to position the handle within a slot of a payload retriever.

[0117] The example hanger 550 shown in FIG. 5 includes a larger handle opening 562 for a payload retriever and two smaller holes 524, 526 for locking pins, as described in more detail below. In other embodiments, however, the hanger may include fewer or more apertures. For example, in some embodiments, the hanger may include only a single larger handleopening that is sized for a payload retriever. In such a case, a payload retriever may be configured to receive the handle in order to raise and lower a package with respect to a UAV, and the payload retriever alone may be used to secure the package to the UAV. Alternatively, the payload retriever may be used in cooperation with other structures, such as clamps or doors, to secure the package to the UAV. Further, in some embodiments, the handle opening may be sized to receive only a locking pin, and the hanger may not include a larger opening for a payload retriever. In such an embodiment, the UAV may be configured to land to receive a package and either land or drop a package for delivery. For example, such an embodiment may have a configuration similar to that of FIG. 5, with two small holes but without the larger opening. Accordingly, either of the holes may form the handle opening and the material extending over the opening may form the bridge of the handle.

[0118] FIG. 6A is a perspective view of a payload retriever 800, according to an example embodiment. Payload retriever 800 includes tether mounting point 802, and a slot 808 to receive a handle of the package coupling apparatus. Lower lip, or hook, 806 is positioned beneath slot 808. Also included is an outer protrusion 804 having helical cam surfaces 804a and 804b that are adapted to mate with corresponding cam mating surfaces within a payload retriever receptacle positioned within a fuselage of a UAV.

[0119] FIG. 6B is a side view of payload retriever 800 shown in FIG. 6A. A slot 808 is shown positioned above a lower lip, or hook, 806. As shown lower lip or hook 806 has an outer surface 806a that is undercut such that it does not extend as far outwardly as an outer surface above slot 805 so that the lower lip or hook 806 will not reengage with the handle of the package coupling apparatus after it has been decoupled, or will not get engaged with power lines or tree branches during retrieval to the UAV.

[0120] FIG. 6C is a front view of payload retriever 800 shown in FIGS. 6A and 6B. Lower lip or hook 806 is shown positioned beneath slot 808 that is adapted for securing a handle of a payload, such as on a package coupling apparatus of the disclosure.

[0121] While the illustrated payload retriever includes a single slot for receiving a package handle, in other examples, the payload retriever may include multiple slots for retrieving a payload. Alternatively, a payload retriever may have another configuration to secure a package, such as a clamp or a hook.

[0122] FIG. 7A shows a side view of a package 500 including a container 590, such as a box, and a hanger 550. The hanger 550 of the package 500 is secured within a payload retriever 800 that is suspended from a tether 810. The package 500 and payload retriever 800 are moving downwardly prior to touching down for delivery. The hanger 550 of the package500 includes a handle opening 562 through which a lower lip or hook of payload retriever 800 extends. The handle sits within a slot of the payload retriever 800, which is suspended from a tether 810 during descent of the package 500 to a landing site.

[0123] FIG. 7B shows a side view of package 500 after package 500 has landed on the ground and the payload retriever 800 has decoupled from hanger 550 of package 500. Once the package 500 touches the ground, the payload retriever 800 continues to move downwardly (as the winch further unwinds) through inertia or gravity and decouples the hanger 550 from the slot 880 of the payload retriever 800 from hanger 550. The payload retriever 800 remains suspended from tether 810, and can be winched back up to the payload coupling receptacle of the UAV.

[0124] FIG. 7C shows a side view of package 500 with payload retriever 800 moving away from hanger 550 of package 500. Here the payload retriever 800 is completely separated from the handle opening 562 of hanger 550. Tether 810 may be used to winch the payload retriever back to a receptacle positioned in the fuselage of the UAV.

[0125] FIG. 8 shows an embodiment where a pair of pins 570, 572 extend through holes 524 and 526 in a hanger 550 of a package 500 to further secure package 500 within the fuselage of a UAV. Pins could similarly be used to engage holes 524 and 526 in a hanger 550 of a package 500 to secure the package 500 to a payload holder of a payload retrieval apparatus (not depicted). In this manner, the package 500 may be secured within the fuselage of a UAV using the hanger 550, with the container 590 of the package adjacent to the fuselage of the UAV. Such pins could similarly be used to secure the package 500 to a payload holder of a payload retrieval apparatus. In this embodiment, the pins 570 and 572 have a conical shape which allows them to be easily inserted into the holes 524 and 526, so that they pull the package up slightly or at least remove any downward slack present when hanger 550 is pulled into fuselage by the tether 810. In some embodiments the pins 570 and 572 may completely plug the holes 524 and 526 of the hanger 550 of package 500, to provide a secure attachment of the handle and top portion of the payload within the fuselage of the UAV, or to secure the payload to a payload retrieval apparatus. Although the pins are shown as conical, in other applications they may have other geometries, such as a cylindrical geometry.

[0126] FIG. 9 shows an example package 900 that is adapted for use with a UAV. The package 900 includes a container 910 with a hollow interior that is configured to hold a payload for delivery by the UAV. The package 900 also includes a hanger 960 secured to the top of the container 910 that is adapted for securing the package 900 to the UAV. The package 900 shown in FIG. 9 is substantially similar to package 400 shown in FIG. 4, and may be raised andlowered with respect to the UAV using a tether. Likewise, the hanger 960 may be received in a receptacle in a UAV, such as a slot, and secured in place with the container 910 positioned below the fuselage of the UAV.

[0127] The illustrated hanger 960 of example package 900 has a similar configuration to hanger 550 shown in FIG. 5 and includes a handle 962 formed by a bridge 964 that extends over a handle opening 966. The hanger 960 also includes a base, similar to hanger 550 that may be used to secure the hanger 960 to the container 910, as described above. As shown in FIG. 9, the base may be secured to the container 910 in a hanger support 972 that extends upward from the closeable top 930. A height of the hanger support 972 may be tailored for compatibility with pickup from a payload coupling apparatus and to reduce package sway as the package 900 is secured under the UAV.

[0128] Further, the illustrated hanger also includes a pair of holes 967, 968 that are configured to receive locking pins for securing the package to a UAV. Other example packages may include hangers having other configurations.

[0129] The container of the disclosure has a shape that produces substantially reduced drag compared to containers of a similar volume with other shapes, as explained in more detail below. Accordingly, when the package of the disclosure is secured under a UAV and exposed to oncoming air, the resulting drag requires less thrust to overcome than packages of similar volume and cross-sectional area. The example package 900 shown in FIG. 9 is one example, and other examples may have different dimensions and aspect ratios.

[0130] The container 910 of example package 900 includes a bottom face 920, a closeable top 930 that is opposite the bottom face 920, and a side wall 940 that extends between the bottom face 920 and the closeable top 930. FIG. 10 shows a bottom view looking up at container 910 from below. Because this example container 910 tapers outward, this view more clearly illustrates the perimeters of both the bottom face 920 and closeable top 930, as well as different portions of the side wall 940. As shown in FIG. 10, the bottom face 920 includes a perimeter 922 that is formed by eight edges 924. In contrast, the closeable top 930, which can be seen surrounding the bottom face because of the outward taper of container 910, has a perimeter 932 that is formed by only four edges 934.

[0131] As a result of the difference in the number of edges 924 that form the perimeter 922 of the bottom face 920 and the number of edges 934 that form the closeable top 930, the side wall 940 includes various sections between the bottom face 920 and closeable top 930. Specifically, the side wall 940 may include a front face 942, a rear face 944, and two lateral faces 946 that correspond to the four edges 934 of the perimeter 932 of the closeable top 930.Each of the front face 942, rear face 944 and lateral faces 946 extend to a respective edge of the bottom face 920. In addition, the side wall 940 also includes angled sections 950, 952 between the faces. For example, the side wall 940 includes two front angled sections 950, each positioned between the front face 942 and a respective one of the lateral faces 946. Likewise, the side wall 940 also includes two rear angled sections 952 that are positioned between the rear face 944 and, respectively, between one of the lateral faces 946.

[0132] The angled sections of containers of the disclosure, such as the angled sections 950, 952 of the example shown in FIGS. 9 and 10, contribute to the aerodynamic aspects of the package. These angled sections allow air to flow around the container while reducing the likelihood of occurrences that may increase drag, such as separation. Further, the angled sections are larger toward the bottom of the container, which is positioned away from the fuselage when the package is secured to a UAV. This allows the angled sections to provide an aerodynamic advantage where it has a greater impact, i.e., further away from the fuselage of the UAV. In contrast, closer to the UAV, the angled sections may be smaller, which can increase the volume of the interior of the container, thus allowing payloads with larger volumes to be carried using the package. Further, angled sections that are smaller at the top of the package also may provide an advantageous shape of the interior of the container, as many commonly delivered items, such as drink cups, are wider at the top than at the bottom.

[0133] In FIG. 9, in view of the angle of the perspective view, only the front face 942, one of the lateral faces 946, and one of the front angled sections 950 of the side wall 940 is visible. The closeable top 930 and hanger 960 are also visible. In contrast, in FIG. 10, the bottom face 920 and the entirety of the side wall 940 is visible, though the side wall 940 is projecting at a steep angle away from the viewer. The side wall 940 of the example container 910 is visible because the container 910 has a slight taper, as described further below.

[0134] In some examples, one or more of the angled sections may be formed as a triangle facet that extends from the first perimeter of the bottom face and between opposing edges of two of the faces of the side wall. Such a facet may be defined by creased edges, folds or joints that form an identifiable triangular shape. For example, in the illustrated embodiment shown in FIGS. 9 and 10, the angled sections 950, 952 are formed by triangular facets that extend up from the bottom face 920 and are also defined by a creased edge of the neighboring faces of the side wall 940. For example, the one angled front section 950 shown in FIG. 9 extends up from the perimeter 922 of the bottom face 920 and is defined by creased edges of the front face 942 and the visible lateral face 946.

[0135] Having the faces and angled sections of the side wall formed as facets may provide various advantages. For example, having distinct edges of the angled sections and side faces may simplify forming the container, as the different facets can be formed by fold lines or joints. Likewise, such facets may also provide easier branding for the container, as the flat surface of one or more of the facets can easily receive printed ink or decals before the container is assembled but maintain its shape upon assembly of the container. Further, as explained in more detail below, the inventors have identified that using a faceted shape for the container surprisingly may not negatively impact aerodynamic performance.

[0136] Alternatively, in some examples, the angled sections may have less distinct boundaries. For instance, in some examples, the angled sections may extend up from the bottom face but be outlined, at least in part, by more rounded edges. For example, the angled sections may have creased edges near the bottom face, but the creases may end midway up the container, such that the upper portion of the angled sections are outlined by more rounded boundaries. Likewise, in other examples, the angled sections may have creases near the top but more rounded boundaries near the bottom. Further, in some examples the various angled sections of a single container may have different configurations. For instance, one or more of the angled sections may be formed as triangular facets, while other angled sections are not formed as triangular facets.

[0137] In some examples that include angled sections formed by triangular facets, the apex of the triangular facets may be disposed at the perimeter of the closable top. For instance, in the example shown in FIG. 9, the triangular facet that forms the visible angled section 950 extends up the entire side wall 940 to the perimeter 932 of the closeable top 930. Accordingly, the cross-sectional perimeter of the container, along its height, has an octagonal shape over the entire height of the container, with the edges formed by the angled sections getting smaller toward the closeable top. At the top of the container, where the angled sections reach their apex, the side wall forms a rectangular perimeter.

[0138] On the other hand, in other examples the triangular facets may extend up only a portion of the height of the container. For instance, in some examples, the angled section may be formed by a triangular facet that extends up to a location between the top and bottom of the container. In such an example, the lower part of the container may have an octagonal perimeter, while the upper part has a rectangular perimeter. It is also possible for the triangular facets of a particular container to have different sizes, with one or more of the angled sections being formed by a triangular facet with an apex at the top of the container, and other angled sectionsbeing formed by a triangular facet with an apex near the middle of the container. Likewise, the widths of the triangular facets may be different.

[0139] The container of the package of the disclosure may be formed of various different materials. For example, the container may be formed of a fiber-based construction, such as paper, paper board, or cardboard. In some examples, the material of the container may be formed with features to increase strength and durability. For instance, is some examples, the container may be formed of a corrugated laminate or reinforced paper board. For weather protection, the material of the container may have a protective coating, such as a polymer film like polyethylene laminate, wax, or other water resistant coating. In other examples, the container may be formed of another material, such as a plastic, metal, reinforced fabric, fiber glass, carbon fiber, or a combination thereof.

[0140] In some examples, the container is formed of a single continuous sheet of material. For instance, in some examples a sheet of material, such as paper board, may be die cut to form the faces and sections of the container in a manner to be folded and secured to one another. As a result, some of the edges of the container may be formed by a folded section of the material sheet and inherently closed. Other edges may be formed by a joint between two parts of the material sheet. Such joints may be formed by securing the two parts together. In some examples this can be accomplished by adhering a flap extending from one of the parts to the other, such as with glue or an adhesive. In other examples, the adjacent parts of the container may be secured to one another with a distinct material, such as tape that extends over the joint.

[0141] For example, FIG. 11 shows a die cut sheet of material that is configured to be folded to form the container 910 shown in FIG. 9. Toward the middle of the die cut sheet is a section that forms the bottom face 920. As illustrated, the perimeter 922 of the bottom face 920 includes eight edges. With respect to the illustrated orientation, the lateral faces 946A. 946B of the side wall extend upward and downward from the bottom face 920. Two bottom attachment flaps 926 are positioned to the right and left of the bottom face 920, again with respect to the illustrated orientation. Each of these bottom attachment flaps 926 extend around three edges of the bottom face as explained in further detail below.

[0142] The four angled sections 950, 952 of the side wall extend from opposing sides of the lateral faces 946A, 946B, with a front angled section 950 on the right and a rear angled section 952 on the left. As illustrated, in this example, the front face 942 and rear face 944 are attached to the lower lateral face 946B via respective angled sections 950, 952. In contrast, the angled sections adjacent to the upper lateral face 946 A include side attachment flaps 948. In this example, the closeable top of the container is formed by four top flaps including an innertop flap 970, an outer top flap 974 and two tabbed side flaps 978, as explained in more detail below.

[0143] To form the container shown in FIG. 9, the bottom attachment flaps are folded inward and the angled sections, front face, and rear face are secured to the bottom attachment flap. Likewise, the front face and rear face are secured to one another using the side attachment flaps 948. The flaps that form the closeable top may be left open until the container is filled.

[0144] While the die lines of the material sheet shown in FIG. 11 have an asymmetrical configuration with the front and rear faces being coupled to the angled sections adjacent one of the lateral faces, other examples may have a different configuration. For example, FIG. 14 shows a material sheet that may form a similar container but has a symmetrical configuration. Specifically, in the material sheet shown in FIG. 14, each of the front face 1442, rear face 1444, and two lateral faces 1446 of the side wall extend from the bottom face 1420. There are various advantages in manufacturing and assembly for choosing particular die lines. The asymmetric pattern shown in FIG. 11 has reduced weight and improved stacking, as explained below.

[0145] As mentioned above, in some examples, the closeable top of the container may be formed by several flaps that fold over to form a closed top. Alternatively, in some examples, the closeable top may be formed by a single piece that extends from one of the faces and is attached to the others, or by a separate piece that is attached to all of the faces of the container. Using several flaps to form the closeable top may provide advantages in structural integrity and balance of the container.

[0146] FIGS. 12A through 12C illustrate steps involved in closing the top flaps shown in FIG. 11 to form the container 920 shown in FIG. 9. Initially, a central portion 971 of the inner top flap 970 (FIG. 11) may be folded over to form a hanger support 972 (FIG. 12A) that holds the hanger 960. The inner top flap 970 may then be folded over to enclose the interior of the container 920, as shown in FIG. 12 A. The outer flap 974 may then be folded over and the hanger 960 and hanger support 972 inserted through a central slot 975 of the outer flap 974, as shown in FIG. 12B. To secure the inner flap 970 to the outer flap 974, a locking tab 976 of the outer flap 974 may be inserted into a locking slot 973 of the inner flap 973. The locking tab 976 may include barbs that extend outward such that the overall width of the locking tab is greater the length of the locking slot 973, such that once the locking tab 976 is inserted removal from the locking slot 973 is hindered.

[0147] To further secure the closeable top, the tabbed side flaps 978 may be folded over and the tabs 979 inserted into the side slots 977 of the outer flap 974, as shown in FIG. 12C. In this example, the side slots 977 of the outer flap 974 are set inward from the perimeter of theclosable top 930. This configuration directs tension along the plane of the tabs rather than through connection where two flaps are connected, thereby improving performance. The illustrated closure thus operates in the manner of a gable closure, but has a flat, rather than lofted, configuration.

[0148] Other examples of the container may include other configurations of closable tops that are formed by multiple flaps. For instance, in some examples, the closeable top may include an outer flap with multiple locking tabs for securing into respective slots in each of the inner flap and side flaps. In other examples, the closeable top may be formed by flaps that are integrally formed around their perimeter but are folded so as to form an enclosure, in a manner similar to a milk carton. Such configurations may have flat or lofted shapes. A flat shape may provide aerodynamic advantages, as the container may be secured close to the UAV and avoid large air paths between the container and the UAV, which may substantially increase drag. The pattern of flaps and tabs may also help reduce tenting, despite relatively large weights in the package, which can help keep drag low.

[0149] The closeable top may also include an edge flap that extends from an exposed free edge of the outer top flap. An example of such an edge flap 938 is shown in FIG. 9 and in the die cut sheet in FIG. 11. The edge flap 938 extends outward from the top flap and prevents a payload retainer from hooking underneath the top flap of the closeable top. Without the edge flap 938, a retainer may hook under the free edge of the top flap and hoist the container upward. For example, the edge flap 938 may prevent a payload retriever from re-attaching to the package after it has been delivered. With the edge flap 938 in place, the retainer cannot move far enough onto the closeable top to lift the container. Instead, the edge flap 938 will simply bend and be removed from the retainer. In various examples, the edge flap may extend between 3mm and 10mm from the top flap of the closeable top, such as around 6 mm.

[0150] To further secure the closure of the closeable top, the package may include tape or sealing stickers to prevent the closeable top from opening. Such elements may also help identify any tampering with the package, and demonstrate that the payload has remained safely secure inside the container.

[0151] In some examples, the container may have a greater length than width. For instance, in some examples the aspect ratio of the length of the container, i.e., from the front face to the rear face, to the width of the container, i.e., from one lateral face to another, may be in a range of 1.8 to 4. The greater length of the container reduces the area of the container facing the wind as the UAV flies. Further, in some examples the container may be taller than it is wide. For instance, in some examples, the aspect ratio of the height of the container to thewidth of the container may be in a range of 1.5 to 3, such as in a range of 1.8 to 2. The increased height compared to width may also provide aerodynamic advantages.

[0152] In some examples, the container may be tapered, such that the closeable top of the container is larger than the bottom face. In other words, the faces of the side wall of the container may be angled outward such that the distance between the front face and the rear face is greater at the perimeter of the top of the container than at the perimeter of the bottom of the container, and the distance between the lateral faces is also greater at the perimeter of the top of the container than at the perimeter of the bottom of the container. Having such a tapered configuration allows empty containers to be stacked, thereby reducing the size of the containers until they are filled. When needed, one of the containers can be removed from the stack and filled with a payload for delivery by a UAV. Such a tapered configuration may also be aerodynamically advantageous, as the part of the container that is furthest from the UAV is smallest. Further, many commonly delivered items also have a tapered shape, such as bowls and drink cups. Accordingly, in many instances, the reduced size at the bottom of the container resulting from the taper will not impact the usable volume of the container.

[0153] In some examples, the container may include a spacer to provide space between the container and a neighboring container when they are stacked. In particular, the spacer may be configured to set the bottom face of the container at a distance from the bottom face of an adjacent container. As a result, this spacing may prevent static energy from holding the adjacent containers together. Likewise, the spacing may also avoid the formation of suction between adjacent containers that causes the containers to stick together.

[0154] In some examples, the spacer may be formed by one or more folds in the material that forms the container. For instance, FIG. 13 shows a portion of the interior of the container shown in FIG. 9 and formed from the die cut sheet of FIG. 11. As illustrated, the two bottom attachment flaps 926 are folded up with one secured against the front face 942 and front angled sections 950 and the other secured against the rear face 944 and rear angled sections 952. To form this curved shape, two folded tabs 928 are formed along each of the bottom attachment flaps 926. These folded tabs 928 are left unrestrained so as to form spacer feet at the bottom of the container. Accordingly, when another container is stacked into the container, the spacer feet 928 hold the other container at a distance that prevents suction or a static connection between the containers.

[0155] In some examples, the container may include an insert to hold a particular item or type of item inside the container. Such an insert may be configured to brace against portions of the side wall and hold the item in a particular orientation and position within the container.For example, the width of a bottom face of the insert may be sized to fit securely at the bottom of the container to prevent movement of the insert within the container. In some examples, the container may include a drink insert. The drink insert may hold one or more drinks in an upright orientation to prevent the drinks from spilling. Likewise, the drink insert may also center the drink or drinks inside the container, which can help keep the container level during retrieval and delivery. Keeping the drink centered avoids a fore or aft center of gravity of the package, which can disrupt package loading and delivery performance. For example, if the container is being raised or lowered on a tether, maintaining the payload in the center of the container can help avoid the container from tilting to one side.

[0156] In various embodiments of the package described herein, the handle opening that is used to secure the package to a UAV may be accompanied by holes, such as those illustrated in FIG. 5 and otherwise, for securing the package within a UAV. For example, as explained above, pins may be inserted through the holes to lock the package in place.

[0157] As mentioned above, the shape of the container of the disclosure provides aerodynamic advantages compared to other container configurations. For example, FIG. 15A shows the drag coefficient for containers of two different widths with three different configurations of similar volumes with similar lengths and heights. The plot includes data for a container in accordance with the disclosure, as shown in FIG. 15B, a container having the form of a bucket with rounded sides but a rectangular top, as shown in FIG. 15C, and a conventional stackable box, as shown in FIG. 15D. As illustrated in the plot in FIG. 15 A, the container formed in accordance with the disclosure (15B) had a substantially reduced drag coefficient compared to the conventional box (15D), and even had reduced drag coefficient compared to the bucket configuration (15C). The reduced drag coefficient of the container formed in accordance with the disclosure was surprisingly lower than that of the bucket configuration, despite the rounded sides of the bucket configuration.VI. Conclusion

[0158] 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.

[0159] 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 arenot 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 which are contemplated herein.

Claims

CLAIMSWhat is claimed is:

1. A package adapted for use with an uncrewed aerial vehicle (UAV), the package comprising:a container including:a bottom face including a first perimeter formed by eight edges,a closable top opposite the bottom face, the closeable top including a second perimeter formed by four edges, anda side wall extending between the bottom face and the closable top, the side wall including a front face, a rear face, two lateral faces, front angled sections between the front face and the lateral faces, and rear angled sections between the rear face and the lateral faces; anda hanger secured to the closable top of the container, the hanger including a handle having a handle opening and a bridge that extends over the handle opening, wherein the bridge is configured to be secured by a component of the UAV.

2. The package of claim 1, wherein each of the angled sections is formed as a triangular facet that extends from the first perimeter of the bottom face and between opposing edges of two of the faces of the side wall.

3. The package of claim 2, wherein an apex of each triangular facet is disposed at the second perimeter of the closeable top.

4. The package of claim 1, wherein the container is formed by a single folded sheet.

5. The package of claim 4, wherein each face of the side wall is connected to the first perimeter of the bottom face along a folded edge.

6. The package of claim 4, wherein the lateral faces of the side wall are connected to the bottom face along respective folded edges, and wherein the front and rear faces of the side wall are connected to one of the lateral faces.

7. The package of claim 1, wherein the hanger includes a base, and wherein the handle extends up from the base.

8. The package of claim 1, wherein the closable top includes a slot, and wherein the hanger is secured through the slot in the closeable top.

9. The package of claim 1, wherein the closable top has a length that extends from the front face to the rear face and a width that extends between the lateral faces, and wherein the length of the closable top is at least 50% greater than the width.

10. A method of transporting a payload, the method comprising:providing the payload in a container of a package, the container including:a bottom face including a first perimeter formed by eight edges,a closable top opposite the bottom face, the closeable top including a second perimeter formed by four edges, anda side wall extending between the bottom face and the closable top, the side wall including a front face, a rear face, two lateral faces, front angled sections between the front face and the lateral faces, and rear angled sections between the rear face and the lateral faces;coupling a hanger of the package to a component of a UAV, the hanger being attached to the closable top of the container;securing the package against the UAV; andoperating the UAV in a forward flight mode with the front face of the package facing the direction of travel such that the angled sections direct airflow around the package.

11. The method of claim 10, wherein the hanger includes a handle having a handle opening and a bridge that extends over the handle opening, and wherein the component of the UAV is a payload retriever that receives the bridge of the handle.

12. The method of claim 10, further comprising lowering the package from the UAV on a tether.

13. The method of claim 10, wherein each of the angled sections is formed as a triangular facet that extends from the first perimeter of the bottom face and between opposing edges of two of the faces of the side wall.

14. The method of claim 13, wherein an apex of each triangular facet is disposed at the second perimeter of the closeable top.

15. The method of claim 10, wherein the container is formed by a single folded sheet.

16. The method of claim 15, wherein each face of the side wall is connected to the first perimeter of the bottom face along a folded edge.

17. The method of claim 15, wherein the lateral faces of the side wall are connected to the bottom face along respective folded edges, and wherein the front and rear faces of the side wall are connected to one of the lateral faces.

18. The method of claim 10, wherein the hanger includes a base, and wherein the handle extends up from the base.

19. The method of claim 10, wherein the closable top includes a slot, and wherein the hanger is secured through the slot in the closeable top.

20. The method of claim 10, wherein the closable top has a length that extends from the front face to the rear face and a width that extends between the lateral faces, and wherein the length of the closable top is at least 50% greater than the width.

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