TETHER COMPENSATED AIRBORNE DELIVERY

• US 20170197718A1
• Filed: 03/28/2017
• Published: 07/13/2017
• Est. Priority Date: 03/27/2015
• Status: Active Grant

• Current Assignee: Amazon Technologies, Inc. (Amazon.com, Inc.)
• Original Assignee: Amazon Technologies, Inc. (Amazon.com, Inc.)
• Inventors: Buchmueller, Daniel
• Granted Patent: US 10,647,427 B2
• Time in Patent Office: Days
• CPC Class Codes: B64C 17/00 Aircraft stabilisation not otherwise provided for
• CPC Class Codes: B64C 27/08 with two or more rotors
• 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: B64D 1/12 Releasing
• CPC Class Codes: B64D 1/22 Taking-up articles from earth's surface
• CPC Class Codes: B64D 47/08 Arrangements of cameras
• CPC Class Codes: B64U 10/10 Rotorcrafts
• CPC Class Codes: B64U 10/13 Flying platforms
• CPC Class Codes: B64U 10/14 with four distinct rotor axes, e.g. quadcopters
• 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 2201/00 UAVs characterised by their flight controls
• CPC Class Codes: B64U 30/20 Rotors; Rotor supports
• CPC Class Codes: B64U 50/13 using external fans or propellers
• CPC Class Codes: G05D 1/0094 involving pointing a payload, e.g. camera, weapon, sensor, towards a fixed or moving target
• CPC Class Codes: G05D 1/0204 to counteract a sudden perturbation, e.g. cross-wind, gust

Abstract

A tether compensated unmanned aerial vehicle (UAV) is described. In one embodiment, the UAV includes a winch with a tether to lower an item from the UAV for delivery, a tether compensation mechanism configured to contact the tether as it extends from the winch, and a flight controller to control a flight path of the UAV. The flight controller is also configured to direct the tether compensation mechanism to clamp the tether based on the flight path of the UAV. Further, based on movement identified in the tether using a sensor, a tether response controller can determine a complementary response and direct the tether compensation mechanism to brace the tether against the movement. Thus, the tether compensation mechanism can help stabilize sway or movement in the tether, which can help prevent the tether from undesirable swinging.

Claims

1. An Unmanned Aerial Vehicle (UAV), comprising:

a winch secured to the UAV, the winch including a tether to lower an item from the UAV for delivery;

a tether compensation mechanism secured to the UAV and configured to contact the tether as it extends from the winch; and

a flight controller configured to;

control a flight path of the UAV; and

direct the tether compensation mechanism to clamp the tether based on the flight path of the UAV.

2. The UAV according to claim 1, further comprising a sensor configured to identify at least one component of movement in the tether.

3. The UAV according to claim 2, wherein the flight controller comprises a tether response controller, the tether response controller being configured to:

determine a complementary response to the movement; and

direct the tether compensation mechanism to contact and counterbalance the tether against the movement according to the complementary response.

4. The UAV according to claim 3, wherein the tether response controller is further configured to:

receive an indication of change in the flight path of the UAV; and

determine the complementary response based further on the indication of change in the flight path of the UAV.

5. The UAV according to claim 3, wherein the flight controller is further configured to adjust the flight path of the UAV based on the complementary response.

6. The UAV according to claim 1, wherein:

the tether compensation mechanism comprises an aperture mechanism; and

the tether passes through the aperture mechanism.

7. The UAV according to claim 6, wherein the aperture mechanism comprises a number of rollers, and the tether extends through a clearance between the number of rollers.

8. The UAV according to claim 7, wherein the tether compensation mechanism further comprises a sensor configured to identify at least one component of movement in the tether based on contact between the tether and the aperture mechanism.

9. A method to compensate for tether movement in an Unmanned Aerial Vehicle (UAV), comprising:

controlling, by at least one computing device of the UAV, a flight path of the UAV;

controlling, by the at least one computing device of the UAV, extension of a tether from a winch secured to the UAV; and

directing, by the at least one computing device of the UAV, a tether compensation mechanism to clamp the tether based on the flight path of the UAV.

10. The method according to claim 9, further comprising sensing at least one component of movement in the tether using a sensor.

11. The method according to claim 10, further comprising:

determining, by the at least one computing device, a complementary response to the movement; and

directing, by the at least one computing device, the tether compensation mechanism to contact and counterbalance the tether against the movement according to the complementary response.

12. The method according to claim 11, further comprising determining, by the at least one computing device, the complementary response based further on whether the tether is extending or retracting from the winch.

13. The method according to claim 11, further comprising determining, by the at least one computing device, the complementary response based further on a length of extension of the tether from the winch.

14. The method according to claim 9, wherein:

the tether compensation mechanism comprises an aperture mechanism; and

the tether passes through the aperture mechanism.

15. The method according to claim 14, wherein the aperture mechanism comprises a number of rollers, and the tether extends through a clearance between the number of rollers.

16. An Unmanned Aerial Vehicle (UAV), comprising:

a winch secured to the UAV, the winch including a tether;

a tether compensation mechanism secured to the UAV and configured to contact the tether as it extends from the winch;

a sensor configured to identify at least one component of movement in the tether; and

a flight controller configured to direct the tether compensation mechanism to clamp the tether based on at least one of a flight path of the UAV or the movement.

17. The UAV according to claim 16, wherein the flight controller comprises a tether response controller, the tether response controller being configured to:

determine a complementary response to the movement; and

direct the tether compensation mechanism to contact and counterbalance the tether against the movement according to the complementary response.

18. The UAV according to claim 17, wherein the tether response controller is further configured to:

receive an indication of change in the flight path of the UAV; and

determine the complementary response based further on the indication of change in the flight path of the UAV.

19. The UAV according to claim 16, wherein:

the tether compensation mechanism comprises an aperture mechanism; and

the tether passes through the aperture mechanism.

20. The UAV according to claim 19, wherein the aperture mechanism comprises a number of rollers, and the tether extends through a clearance between the number of rollers.