Systems and methods for transporting products via unmanned aerial vehicles

• US 10,538,327 B2
• Filed: 05/02/2017
• Issued: 01/21/2020
• Est. Priority Date: 05/04/2016
• Status: Active Grant

• Current Assignee: Walmart Apollo, LLC (WalMart Inc.)
• Original Assignee: Walmart Apollo, LLC (WalMart Inc.)
• Inventors: High, Donald R., Jones, Nathan G., Hicks, Gregory A.
• Primary Examiner(s): Hayes, Bret
• Application Number:
  US15/584,322
• Publication Number:
  US 20170320572A1
• Time in Patent Office: 994 Days
• Field of Search: 244 171, 2441181, 2441374
• CPC Class Codes: B64C 39/024 of the remote controlled vehicle type, i.e. RPV
• CPC Class Codes: B64D 1/02 Dropping, ejecting, or releasing articles jettisonable fuel reservoirs B64D37/12
• 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 2201/104 using satellite radio beacon positioning systems, e.g. GPS
• CPC Class Codes: B64U 60/50 with landing legs
• CPC Class Codes: B64U 70/90 Launching from or landing on platforms
• CPC Class Codes: B64U 70/92 Portable platforms
• CPC Class Codes: B64U 70/95 Means for guiding the landing UAV towards the platform, e.g. lighting means
• CPC Class Codes: G05D 1/0011 associated with a remote control arrangement
• CPC Class Codes: G06Q 10/0832 Special goods or special handling procedures, e.g. handling of hazardous or fragile goods

Abstract

In some embodiments, methods and systems of facilitating movement of product-containing pallets include at least one forklift unit configured to lift and move the product-containing pallets, at least one motorized transport unit configured to mechanically engage and disengage a respective forklift unit, and a central computer system in communication with the at least one motorized transport unit. The central computer system is configured to transmit at least one signal to the at least one motorized transport unit. The signal is configured to cause the at least one motorized transport unit to control the at least one forklift unit to move at least one of the product-containing pallets.

Claims

1. An unmanned aerial system for transporting at least one product, the system comprising:

an unmanned aerial vehicle including a body, a processor-based control circuit coupled to the body, and a receptacle coupled to the body, the receptacle including;

an interior configured to retain the at least one product, the interior having an opening configured to permit the at least one product to pass therethrough;

a cover movable from a first position, where the cover covers at least a portion of the opening to restrict the at least one product from passing through the opening, to a second position, where the cover does not cover at least a portion of the opening to permit the at least one product to pass through the opening; and

an actuator coupled to the cover, the actuator configured to move the cover from the second position to the first position by forcing the cover to slide under the at least one product positioned partially in the interior of the receptacle and partially in the opening of the interior, and wherein the at least one product is supported on the cover and fully enclosed in the interior of the receptacle when the cover is in the first position.

2. The system of claim 1, wherein the unmanned aerial vehicle further comprises at least one of:

a track configured to permit movement of the cover thereon;

a cable coupled to the actuator and the cover and configured to move the cover between the first and second positions; and

at least one pulley coupled to at least one of the body and the receptacle and configured to be operatively coupled to at least one cable configured to move the cover between the first and second positions.

3. The system of claim 1, wherein the unmanned aerial vehicle further comprises a plurality of support legs extending from the body, and wherein the receptacle is made from a material extending around the support legs or a material located between the support legs.

4. The system of claim 1, further comprising a landing pad configured to support the at least one product thereon, the unmanned aerial vehicle further including at least one first sensor configured to recognize the landing pad and at least one second sensor configured to detect whether the at least one product is present on the landing pad.

5. The system of claim 4, wherein the unmanned aerial vehicle further includes at least one third sensor configured to detect a distance from the body of the unmanned aerial vehicle to at least one of the landing pad and the at least one product on the landing pad, the control circuit being programmed to determine, based on data indicating the distance from the body of the unmanned aerial vehicle to at least one of the landing pad and the at least one product on the landing pad received from the at least one third sensor, when to open the cover of the receptacle.

6. The system of claim 4, further comprising a central computer system in communication with the control circuit of the unmanned aerial vehicle, wherein the unmanned aerial vehicle is configured to transmit to the central computer system at least one signal indicating that the at least one product has been picked up from the landing pad, and wherein the central computer system is configured to transmit at least one signal to the unmanned aerial vehicle indicating a location where the at least one product picked up from the landing pad is to be transported.

7. An unmanned aerial system for transporting at least one product, the system comprising:

an unmanned aerial vehicle including a body, a processor-based control circuit coupled to the body, and a receptacle coupled to the body, the receptacle including;

an interior configured to retain the at least one product, the interior having an opening configured to permit the at least one product to pass therethrough;

a cover movable from a first position, where the cover covers at least a portion of the opening to restrict the at least one product from passing through the opening, to a second position, where the cover does not cover at least a portion of the opening to permit the at least one product to pass through the opening; and

a landing pad configured to support the at least one product thereon, the unmanned aerial vehicle further including at least one first sensor configured to recognize the landing pad and at least one second sensor configured to detect whether the at least one product is present on the landing pad;

wherein the unmanned aerial vehicle includes at least one third sensor configured to detect a size of the at least one product on the landing pad, the control circuit being programmed to determine, based on data indicating the size of the at least one product on the landing pad received from the at least one third sensor, whether to open the cover of the receptacle for picking up the at least one product on the landing pad, or to abort pick up of the at least one product on the landing pad.

8. An unmanned aerial system for transporting at least one product, the system comprising:

an unmanned aerial vehicle including a body, a processor-based control circuit coupled to the body, and a receptacle coupled to the body, the receptacle including;

an interior configured to retain the at least one product, the interior having an opening configured to permit the at least one product to pass therethrough;

a cover movable from a first position, where the cover covers at least a portion of the opening to restrict the at least one product from passing through the opening, to a second position, where the cover does not cover at least a portion of the opening to permit the at least one product to pass through the opening; and

a landing pad configured to support the at least one product thereon, the unmanned aerial vehicle further including at least one first sensor configured to recognize the landing pad and at least one second sensor configured to detect whether the at least one product is present on the landing pad;

wherein the unmanned aerial vehicle includes at least one third sensor configured to detect whether the at least one product is present in the interior of the receptacle when the unmanned aerial vehicle is positioned such that at least a part of the at least one product on the landing pad passes through the opening of the receptacle into the interior of the receptacle.

9. The system of claim 8, wherein the at least one third sensor is configured to transmit a signal indicating a presence of the at least one product in the interior of the receptacle, and the control circuit, after receipt of the signal, is programmed to cause the cover move from the second position to the first position to fully enclose the at least one product in the interior of the receptacle when the cover is in the first position, and further comprising at least one fourth sensor configured to detect that the cover is in the first position and to transmit a signal indicating that the cover is in the first position, and the control circuit, after receipt of the signal indicating that the cover is in the first position, is programmed to cause the unmanned aerial vehicle to lift up from the landing pad.

10. A method of transporting at least one product via an unmanned aerial system, the method comprising:

providing an unmanned aerial vehicle including a body, a processor-based control circuit coupled to the body, and a receptacle coupled to the body, the receptacle including an interior configured to retain the at least one product, the interior having an opening configured to permit the at least one product to pass therethrough and a cover;

moving the cover from a first position, where the cover covers at least a portion of the opening to restrict the at least one product from passing through the opening, to a second position, where the cover does not cover at least a portion of the opening to permit the at least one product to pass through the opening; and

providing an actuator coupled to the cover and moving the cover, via the actuator, from the second position to the first position by forcing the cover to slide under the at least one product positioned partially in the interior of the receptacle and partially in the opening of the interior, and further comprising supporting the at least one product on the cover and fully enclosing the at least one product in the interior of the receptacle when the cover is in the first position.

11. The method of claim 10, further comprising providing the unmanned aerial vehicle with at least one of:

a track configured to permit movement of the cover thereon;

a cable coupled to the actuator and the cover and configured to move the cover between the first and second positions; and

at least one pulley coupled to at least one of the body and the receptacle and configured to be operatively coupled to at least one cable configured to move the cover between the first and second positions.

12. The method of claim 10, further comprising providing the unmanned aerial vehicle with a plurality of support legs extending from the body, wherein the receptacle is made from a material extending around the support legs or a material located between the support legs.

13. The method of claim 10, further comprising providing a landing pad configured to support the at least one product thereon, and further comprising providing the unmanned aerial vehicle with at least one first sensor configured to recognize the landing pad and at least one second sensor configured to detect whether the at least one product is present on the landing pad.

14. The method of claim 13, further comprising detecting, via at least one third sensor coupled to the unmanned aerial vehicle, a distance from the body of the unmanned aerial vehicle to at least one of the landing pad and the at least one product on the landing pad, and determining, via the control circuit and based on data received from the at least one third sensor and indicating the distance from the body of the unmanned aerial vehicle to at least one of the landing pad and the at least one product on the landing pad, when to open the cover of the receptacle.

15. The method of claim 14, further comprising transmitting a signal indicating presence of the at least one product in the interior of the receptacle via the at least one third sensor, and causing, via the control circuit and after receipt of the signal, the cover to move from the second position to the first position to fully enclose the at least one product in the interior of the receptacle when the cover is in the first position, and further comprising transmitting, via at least one fourth sensor configured to detect that the cover is in the first position, a signal indicating that the cover is in the first position, and causing, via the control circuit and after receipt of the signal from the indicating that the cover is in the first position, the unmanned aerial vehicle to lift up from landing pad.

16. The method of claim 13, further comprising:

providing a central computer system in communication with the control circuit of the unmanned aerial vehicle;

transmitting, from the unmanned aerial vehicle to the central computer system, at least one signal indicating that the at least one product has been picked up from the landing pad; and

transmitting, from the central computer system to the unmanned aerial vehicle, at least one signal indicating a location where the at least one product picked up from the landing pad is to be transported.

17. A method of transporting at least one product via an unmanned aerial system, the method comprising:

providing an unmanned aerial vehicle including a body, a processor-based control circuit coupled to the body, and a receptacle coupled to the body, the receptacle including an interior configured to retain the at least one product, the interior having an opening configured to permit the at least one product to pass therethrough and a cover;

moving the cover from a first position, where the cover covers at least a portion of the opening to restrict the at least one product from passing through the opening, to a second position, where the cover does not cover at least a portion of the opening to permit the at least one product to pass through the opening;

providing a landing pad configured to support the at least one product thereon, and further comprising providing the unmanned aerial vehicle with at least one first sensor configured to recognize the landing pad and at least one second sensor configured to detect whether the at least one product is present on the landing pad; and

detecting, via at least one third sensor coupled to the unmanned aerial vehicle, a size of the at least one product on the landing pad, and determining, via the control circuit and based on data received from the at least one third sensor and indicating the size of the at least one product on the landing pad, whether to open the cover of the receptacle for picking up the at least one product on the landing pad, or to abort pick up of the at least one product on the landing pad.

18. A method of transporting at least one product via an unmanned aerial system, the method comprising:

providing an unmanned aerial vehicle including a body, a processor-based control circuit coupled to the body, and a receptacle coupled to the body, the receptacle including an interior configured to retain the at least one product, the interior having an opening configured to permit the at least one product to pass therethrough and a cover;

moving the cover from a first position, where the cover covers at least a portion of the opening to restrict the at least one product from passing through the opening, to a second position, where the cover does not cover at least a portion of the opening to permit the at least one product to pass through the opening;

providing a landing pad configured to support the at least one product thereon, and further comprising providing the unmanned aerial vehicle with at least one sensor configured to recognize the landing pad and at least one second sensor configured to detect whether the at least one product is present on the landing pad; and

positioning the unmanned aerial vehicle such that at least a part of the at least one product on the landing pad passes through the opening of the receptacle into the interior of the receptacle, and detecting, via at least one third sensor coupled to the unmanned aerial vehicle, whether the at least one product is present in the interior of the receptacle.