Mechanisms for lowering a payload to the ground from a UAV

• US 10,106,257 B2
• Filed: 03/28/2018
• Issued: 10/23/2018
• Est. Priority Date: 08/26/2013
• Status: Active Grant

• Current Assignee: Wing Aviation LLC (Alphabet Inc.)
• Original Assignee: X Development LLC (Alphabet Inc.)
• Inventors: Patrick, William Graham, Burgess, James Ryan, Conrad, Andrew
• Primary Examiner(s): O'Hara, Brian M
• Application Number:
  US15/939,093
• Publication Number:
  US 20180222585A1
• Time in Patent Office: 209 Days
• CPC Class Codes: B64D 1/12 Releasing
• CPC Class Codes: B64D 1/22 Taking-up articles from earth's surface
• CPC Class Codes: B64U 10/14 with four distinct rotor axes, e.g. quadcopters
• CPC Class Codes: B64U 10/20 Vertical take-off and landing [VTOL] aircraft flying platforms B64U10/13; helicopters B64U10/17
• CPC Class Codes: B64U 2101/55 for life-saving or rescue operations; for medical use
• CPC Class Codes: B64U 2101/60 for transporting passengers; for transporting goods other than weapons
• CPC Class Codes: B64U 2101/67 the UAVs comprising tethers for lowering the goods
• CPC Class Codes: B64U 2201/10 autonomous, i.e. by navigating independently from ground or air stations, e.g. by using inertial navigation systems [INS]
• CPC Class Codes: B64U 2201/104 using satellite radio beacon positioning systems, e.g. GPS
• CPC Class Codes: B64U 30/10 Wings
• CPC Class Codes: B64U 30/26 Ducted or shrouded rotors
• CPC Class Codes: B64U 50/14 ducted or shrouded
• CPC Class Codes: B64U 70/90 Launching from or landing on platforms

Abstract

Embodiments described herein may help to provide medical support via a fleet of unmanned aerial vehicles (UAVs). An illustrative UAV may include a housing, a payload, a line-deployment mechanism coupled to the housing and a line, and a payload-release mechanism that couples the line to the payload, wherein the payload-release mechanism is configured to release the payload from the line. The UAV may further include a control system configured to determine that the UAV is located at or near a delivery location and responsively: operate the line-deployment mechanism according to a variable deployment-rate profile to lower the payload to or near to the ground, determine that the payload is touching or is within a threshold distance from the ground, and responsively operate the payload-release mechanism to release the payload from the line.

Claims

1. An unmanned aerial vehicle (UAV) comprising:

a housing;

a line-retraction mechanism couplable to the housing and a line, wherein the line-retraction mechanism is controllable to vary a retraction rate of the line;

a payload-release mechanism operable to releasably couple the line to a payload; and

a control system configured to;

lower the line without a payload attached thereto;

determine that the payload-release mechanism is coupled to a payload; and

responsively operate the line-retraction mechanism according to a pre-determined variable retraction-rate profile to retract the line towards the UAV, wherein the variable retraction-rate profile specifies for the line to retract and lift the payload at a pre-determined first rate, and subsequently increase ascent rate from the first rate to a pre-determined second rate.

2. The UAV of claim 1, wherein the line-retraction mechanism is operable to secure the line during a flight to a delivery location, such that the payload is held at or near the housing during the flight.

3. The UAV of claim 1, wherein the line-retraction mechanism is further operable as a line-deployment mechanism.

4. The UAV of claim 1, wherein, before lifting the payload, the control system is configured to determine the variable retraction-rate profile based on one or more of (a) height, (b) wind, (c) environmental factors, and/or (d) payload characteristics.

5. The UAV of claim 4, wherein the determined variable retraction-rate profile indicates a gradual variation in retraction rate such that the implementation of the determined variable retraction-rate profile causes the payload to start an ascent at a lower speed, and to gradually increase in speed during the ascent.

6. The UAV of claim 1, wherein the determined variable retraction-rate profile indicates a one or more distances and a retraction rate corresponding to each indicated distance.

7. The UAV of claim 1, wherein the UAV further comprises a line-tension sensor, and wherein the control system is configured to:

determine a measure of tension on the line based on data from the line-tension sensor; and

determine that the payload is coupled to the line based at least in part on determination that the measure of tension on the line is greater than a threshold.

8. The UAV of claim 1, wherein the payload comprises at least one proximity sensor arranged on the payload so as to provide data that is indicative of a distance between the payload and the ground, and wherein the control system is configured to:

determine that the payload is coupled to the line based at least in part on the data provided by the at least one proximity sensor on the payload.

9. The UAV of claim 1, wherein the control system is disposed within the housing.

10. The UAV of claim 1, wherein the control system is at least partially disposed within the payload.

11. The UAV of claim 1, wherein the line-retraction mechanism comprises a motorized braking system.

12. The UAV of claim 1, wherein the line-retraction mechanism comprises one or more friction pads.

13. A method comprising:

determining, by a computing system, a variable retraction-rate profile for lifting of a payload to an unmanned aerial vehicle (UAV), wherein the UAV comprises a line-retraction mechanism and a payload-release mechanism operable to releasably couple a line to a payload;

operating, by the computing system, the line-retraction mechanism to lower the line without a payload attached thereto;

determining, by the computing system, that the payload-release mechanism is coupled to a payload; and

responsively operating the line-retraction mechanism according to a determined variable retraction-rate profile to retract the line towards the UAV, wherein the variable retraction-rate profile specifies for the line to initially retract and lift the payload at a pre-determined first rate, and subsequently increase ascent rate from the first rate to a pre-determined second rate.

14. The method of claim 13, wherein determining the variable retraction-rate profile comprises determining two or more retraction rates and a corresponding line length for each retraction rate, wherein the variable retraction-rate profile indicates, for each of the two or more retraction rates, how much friction should be applied to the line when the line has been retracted to the corresponding line length.

15. The method of claim 13, wherein each retraction rate corresponds to an amount of friction to be applied to the line by the line-retraction mechanism.

16. The method of claim 13, wherein determining the variable retraction-rate profile comprises determining the variable retraction-rate profile based on one or more of (a) a height of the UAV, (b) wind data, (c) environmental data, and/or (d) payload characteristics.

17. The method of claim 13, wherein determining that the payload-release mechanism is coupled to a payload comprises:

determining that the payload-release mechanism is located at or near the ground and that the payload-release mechanism is coupled to a payload.

18. The method of claim 13, wherein determining the variable retraction-rate profile further comprises determining at least one hovering height for the UAV.

19. A non-transitory computer readable medium having stored therein instructions executable by a computing device to cause the computing device to perform functions comprising:

determining a variable retraction-rate profile for lifting of a payload to an unmanned aerial vehicle (UAV), wherein the UAV comprises a line-retraction mechanism and a payload-release mechanism operable to releasably couple a line to a payload;

operating the line-retraction mechanism to lower the line without a payload attached thereto;

determining the payload-release mechanism is coupled to a payload; and

responsively operating the line-retraction mechanism according to a determined variable retraction-rate profile to retract the line towards the UAV, wherein the variable retraction-rate profile specifies for the line to initially retract and lift the payload at a pre-determined first rate, and subsequently increase ascent rate from the first rate to a pre-determined second rate.

20. The non-transitory computer readable medium of claim 19, wherein determining the variable retraction-rate profile comprises determining two or more retraction rates and a corresponding line length for each retraction rate, wherein the variable retraction-rate profile indicates how much friction should be applied to the line when the line has been retracted to the corresponding line length.