Systems and methods of delivering products with unmanned delivery aircrafts

• US 10,301,020 B2
• Filed: 09/21/2016
• Issued: 05/28/2019
• Est. Priority Date: 09/23/2015
• Status: Active Grant

• Current Assignee: Walmart Apollo, LLC (WalMart Inc.)
• Original Assignee: Walmart Apollo, LLC (WalMart Inc.)
• Inventors: Jones, Nathan G., Hicks, Gregory A., High, Donald R.
• Primary Examiner(s): Collins, Timothy D
• Assistant Examiner(s): Abell, Tye William
• Application Number:
  US15/271,784
• Publication Number:
  US 20170081028A1
• Time in Patent Office: 979 Days
• CPC Class Codes: B64C 39/024 of the remote controlled vehicle type, i.e. RPV
• CPC Class Codes: B64D 1/00 Dropping, ejecting, releasing, or receiving articles, liquids, or the like, in flight with respect to weapon sights devices F41G takes precedence, parachutes per se B64D17/00; ejectable seats B64D25/10; ejectable capsules B64D25/12; refuelling during flight B64D39/00; launching apparatus for projecting projectiles or missiles F41F1/00, F41F7/00; rocket or torpedo launchers F41F3/00
• CPC Class Codes: B64U 10/13 Flying platforms
• CPC Class Codes: B64U 2101/60 for transporting passengers; for transporting goods other than weapons
• CPC Class Codes: B64U 2101/64 for parcel delivery or retrieval
• CPC Class Codes: B64U 2101/67 the UAVs comprising tethers for lowering the goods
• CPC Class Codes: B64U 30/20 Rotors; Rotor supports

Abstract

In some embodiments, systems, apparatuses and methods are provided to enhance delivery of packages. Some embodiments provide an unmanned delivery system comprising: a rotational drive shaft; a crane motor cooperated with the drive shaft that is rotated by the crane motor; a first crane system with a first cord fixed with the first crane system, wherein the first crane system is configured to cooperate with the drive shaft to control the first crane system in controlling the spooling and retraction of the first cord; a control circuit coupled with the crane motor; and a stop switch electrically coupled with the control circuit and positioned to be contacted by a package release hanger secured with the first cord when the first cord is retracted to a first threshold; wherein the control circuit is configured to stop the crane motor in response to receiving a signal from the stop switch.

Claims

1. An unmanned delivery system, comprising:

a rotational drive shaft;

a crane motor fixed to an unmanned delivery aircraft, wherein the crane motor is further cooperated with a drive shaft that is rotated by the crane motor;

a first crane system with a first cord fixed with the first crane system, wherein the first crane system is configured to cooperate with the drive shaft to control the first crane system in controlling the spooling and retraction of the first cord;

a control circuit coupled with the crane motor;

a stop switch electrically coupled with the control circuit and secured with the unmanned delivery aircraft in a position to be contacted by a package release hanger secured with the first cord when the first cord is retracted to a first threshold relative to the unmanned delivery aircraft;

wherein the control circuit is configured to stop the crane motor in response to receiving a signal from the stop switch;

a second crane system with a second cord fixed with the second crane system; and

a transmission cooperated between the crane motor and the rotational drive shaft and configured to selectively cooperate the drive shaft through the transmission with one of the first crane system and the second crane system;

wherein the control circuit is coupled with the transmission and controls the transmission to selectively cooperate the drive shaft with one of the first crane system and the second crane system, and controls the crane motor to drive the drive shaft to rotate the one of the first crane system and the second crane system cooperated with the drive shaft in performing one of retracting and unspooling one of the first cord and the second cord.

2. The unmanned delivery system of claim 1, further comprising:

a release detector secured on the package release hanger configured to detect a release of a package supported by the package release hanger and transmit a release signal in response to detecting the release of the package, wherein the control circuit is configured to receive the release signal and initiate a retraction of the one of the first cord and the second cord in response to receiving the release signal.

3. The unmanned delivery system of claim 1, further comprising:

a sonar height detection system secured with the unmanned delivery aircraft and coupled with the control circuit, wherein the sonar height detection system is configured to provide height information corresponding to a height the unmanned delivery aircraft is above a delivery surface to the control circuit;

wherein the control circuit is further configured to control the crane motor based on a height the unmanned delivery aircraft is above the delivery surface.

4. The unmanned delivery system of claim 3, wherein the control circuit is further configured to control the crane motor to induce variable speeds as the first crane system is being unspooled such that the speed of unspooling is initiated at a first speed, the speed of unspooling is increased between a first length and a second length of the first cord, and subsequently decreased between a third length and a fourth length of the first cord.

5. The unmanned delivery system of claim 4, wherein the control circuit in controlling the crane motor to induce the variable speed further controls changes in speed as a function of a predicted height of a package above the delivery surface determined based on the height information obtained from the sonar height detection system.

6. The unmanned delivery system of claim 4, further comprising:

a plurality of propeller motors each cooperated with a propeller and configured to drive the propellers to control the movement of the unmanned delivery aircraft;

wherein the control circuit is further coupled with the plurality of propeller motors and configured to, based at least in part on the height information, further direct the propeller motors to maintain a stable position of the unmanned delivery aircraft at a stable threshold delivery height relative to the delivery surface while controlling the crane motor in unspooling the first cord.

7. A method of delivering packages, comprising:

by a control circuit cooperated with an unmanned delivery aircraft;

controlling a crane motor fixed to the unmanned delivery aircraft and further cooperated with a drive shaft to drive the drive shaft to rotate a first crane system having the first cord fixed to the first crane system in extending and retracting the first cord;

controlling a transmission to selectively cooperate through the transmission the drive shaft with one of the first crane system and a second crane system having a second cord fixed with the second crane system; and

controlling the crane motor to drive the drive shaft to rotate the one of the first crane system and the second crane system cooperated with the drive shaft in performing one of retracting and unspooling one of the first cord and the second cord.

8. The method claim 7, further comprising:

detecting, through a release detector secured on the package release hanger, a release of a package supported by the package release hanger; and

receiving, at the control circuit, a release signal in response to the detection of the release of the package.

9. The method of claim 7, further comprising:

receiving, through a sonar height detection system secured with the unmanned delivery aircraft, height information corresponding to a height the unmanned delivery aircraft is above a delivery surface; and

controlling the crane motor based on the height the unmanned delivery aircraft is above the delivery surface.

10. The method of claim 9, wherein the controlling the crane motor further comprises controlling the crane motor to induce variable speeds as the first crane system is being unspooled, comprising:

initiating unspooling at a first speed;

increasing the speed of unspooling between a first length and a second length of the first cord; and

subsequently decreasing a speed of unspooling between a third length and a fourth length of the first cord.

11. The method of claim 10, wherein the controlling the crane motor further comprises controlling the crane motor and changing an unspooling speed as a function of a predicted height of a package above the delivery surface determined based on the height information obtained from the sonar height detection system.

12. The method of claim 10, further comprising:

directing, through the control circuit and based at least in part on the height information, propeller motors of the unmanned delivery aircraft to maintain a stable position of the unmanned delivery aircraft at a stable threshold delivery height relative to the delivery surface while controlling the crane motor in unspooling the first cord.