Using multirotor lifters to rendezvous with fixed wing aircraft

• US 10,173,777 B1
• Filed: 03/16/2017
• Issued: 01/08/2019
• Est. Priority Date: 09/23/2015
• Status: Active Grant

• Current Assignee: Amazon Technologies, Inc. (Amazon.com, Inc.)
• Original Assignee: Amazon Technologies, Inc. (Amazon.com, Inc.)
• Inventors: Carmack, Scott Gerard, Lakkakula, Narasimha Rao, Mehr, Nima Sharifi
• Primary Examiner(s): Beaulieu, Yonel
• Application Number:
  US15/461,209
• Time in Patent Office: 663 Days
• CPC Class Codes: B64C 11/00 Propellers, e.g. of ducted type; Features common to propellers and rotors for rotorcraft
• CPC Class Codes: B64C 37/02 Flying units formed by separate aircraft towing B64D3/00; aircraft transported by aircraft B64D5/00; air-refuelling B64D39/00
• CPC Class Codes: B64D 5/00 Aircraft transported by aircraft, e.g. for release or reberthing during flight flying units formed by separate aircraft B64C37/02
• CPC Class Codes: B64U 10/25 Fixed-wing aircraft VTOL aircraft B64U10/20
• CPC Class Codes: B64U 2101/64 for parcel delivery or retrieval
• CPC Class Codes: B64U 2201/20 Remote controls
• CPC Class Codes: B64U 30/14 detachable
• CPC Class Codes: B64U 50/13 using external fans or propellers
• CPC Class Codes: B64U 50/34 In-flight charging photovoltaics B64U50/31
• CPC Class Codes: B64U 80/82 Airborne vehicles
• CPC Class Codes: G05D 1/0011 associated with a remote control arrangement
• CPC Class Codes: G05D 1/0661 specially adapted for take-off

Abstract

This disclosure describes systems and processes using multirotor lifter to deploy and/or engage fixed wing aircraft. For example, one or more unmanned multirotor lifters may engage an unmanned fixed wing aircraft, aerially navigate the fixed wing aircraft vertically to a desired altitude, and then release the fixed wing aircraft so that the fixed wing aircraft can initiate a flight plan. In some implementations, multirotor lifter may also be configured to engage fixed wing aircraft while both the multirotor lifters and the fixed wing aircraft are in flight.

Claims

1. A system, comprising:

an unmanned fixed wing aircraft, including;

a fixed wing;

a thrusting motor and corresponding thrusting propeller;

a payload; and

an engagement receiver to receive an engagement mechanism of an unmanned multirotor aircraft;

the unmanned multirotor aircraft, including;

a plurality of motors and corresponding propellers;

the engagement mechanism configured to selectively engage or disengage the engagement receiver of the unmanned fixed wing aircraft; and

a communication component to wirelessly communicate with the unmanned fixed wing aircraft; and

a computing system, including;

a processor; and

a memory coupled to the processor and storing program instructions that when executed by the processor cause the processor to at least;

determine that the unmanned fixed wing aircraft and the unmanned multirotor aircraft have reached an engagement location;

send an engagement authorization;

confirm that the unmanned multirotor aircraft has engaged the engagement mechanism with the engagement receiver of the unmanned fixed wing aircraft; and

send a post engagement instruction to at least one of the unmanned multirotor aircraft or the unmanned fixed wing aircraft.

2. The system of claim 1, wherein the program instructions when executed by the processor further cause the processor to at least:

monitor a flight plan of the unmanned fixed wing aircraft prior to the unmanned fixed wing aircraft reaching the engagement location.

3. The system of claim 1, wherein information associated with the engagement location may include at least one of an airspace, a heading, a ground speed, an air speed, an altitude, or a flight path.

4. The system of claim 1, wherein the program instructions when executed by the processor further cause the processor to at least:

responsive to the unmanned multirotor aircraft being engaged to the unmanned fixed wing aircraft, cause the unmanned fixed wing aircraft to power down the thrusting motor and corresponding thrusting propeller.

5. The system of claim 1, wherein the post engagement instruction includes at least one of:

an instruction to at least one of remove, replace, or add a power module to the unmanned fixed wing aircraft, an instruction to detach the payload from the unmanned fixed wing aircraft, an instruction to attach a second payload to the unmanned fixed wing aircraft, an instruction to change at least one of a heading, an altitude, or a speed of the unmanned fixed wing aircraft, or an instruction to disengage the engagement mechanism from the engagement receiver of the unmanned fixed wing aircraft.

6. A multirotor aircraft to selectively engage or disengage a fixed wing aircraft, the multirotor aircraft comprising:

a plurality of propulsion components to aerially maneuver the multirotor aircraft and at least a portion of the fixed wing aircraft;

an engagement mechanism to engage or disengage the fixed wing aircraft; and

a control system configured to at least;

cause the multirotor aircraft to maneuver to an engagement location associated with the fixed wing aircraft; and

engage, using the engagement mechanism, the fixed wing aircraft at the engagement location.

7. The multirotor aircraft of claim 6, wherein the control system is further configured to at least:

monitor a flight plan of the fixed wing aircraft; and

determine the engagement location associated with the fixed wing aircraft based at least in part on the flight plan.

8. The multirotor aircraft of claim 6, wherein information associated with the engagement location may include at least one of an airspace, a heading, a ground speed, an air speed, an altitude, or a flight path.

9. The multirotor aircraft of claim 6, further comprising a second multirotor aircraft that engages the fixed wing aircraft to aerially maneuver at least a second portion of the fixed wing aircraft.

10. The multirotor aircraft of claim 6, further comprising:

a tether coupled between the multirotor aircraft and a ground station, the tether providing at least one of power or communication to the multirotor aircraft.

11. The multirotor aircraft of claim 6, wherein the engagement mechanism comprises at least one of an electromagnet, a permanent magnet, or a mechanical engagement mechanism movable from a first disengaged position to a second engaged position.

12. The multirotor aircraft of claim 6, wherein the control system is further configured to at least:

identify the fixed wing aircraft at the engagement location based at least in part on at least one of a visually unique identifier on the fixed wing aircraft or an identifier transmitted by the fixed wing aircraft.

13. The multirotor aircraft of claim 6, further comprising:

an attachment mechanism; and

wherein the control system is further configured to at least;

cause, responsive to the multirotor aircraft and the fixed wing aircraft being engaged, the attachment mechanism to at least one of;

attach at least one of a payload or a power module to the fixed wing aircraft, or detach at least one of a payload or a power module from the fixed wing aircraft.

14. The multirotor aircraft of claim 6, wherein the control system is further configured to at least one of:

modify, responsive to the multirotor aircraft and the fixed wing aircraft being engaged, at least one of a heading, an altitude, or a speed of the fixed wing aircraft;

or

cause the engagement mechanism to disengage the fixed wing aircraft such that the fixed wing aircraft can initiate a flight path.

15. A method, comprising:

determining an engagement location associated with a fixed wing aircraft;

causing navigation of a multirotor aircraft to the engagement location; and

causing engagement, at the engagement location, between the multirotor aircraft and the fixed wing aircraft.

16. The method of claim 15, wherein determining the engagement location associated with the fixed wing aircraft includes receiving from the fixed wing aircraft at least one of a heading, an altitude, an air speed, a ground speed, or a flight path.

17. The method of claim 15, further comprising:

sending, prior to the causing engagement, position instructions that indicate at least one of a heading, an altitude, an air speed, or a ground speed that is to be maintained by at least one of the multirotor aircraft or the fixed wing aircraft.

18. The method of claim 15, further comprising:

identifying, prior to the causing engagement, at least one of the multirotor aircraft or the fixed wing aircraft at the engagement location.

19. The method of claim 18, further comprising:

receiving, subsequent to the identifying and prior to the causing engagement, from a remote computing resource an engagement authorization indicating that the multirotor aircraft is authorized to engage with the fixed wing aircraft.

20. The method of claim 15, further comprising:

causing transfer, responsive to the multirotor aircraft and the fixed wing aircraft being engaged, of at least one of a payload or a power supply between the multirotor aircraft and the fixed wing aircraft.

21. The method of claim 15, further comprising:

causing modification, by the multirotor aircraft and responsive to the multirotor aircraft and the fixed wing aircraft being engaged, to at least one of a heading, an altitude, or a speed of the fixed wing aircraft; and

causing disengagement of the fixed wing aircraft from the multirotor aircraft such that the fixed wing aircraft can initiate a flight path based at least in part on the modified at least one of the heading, the altitude, or the speed.