Autonomous Cargo Delivery System

• US 20170371355A1
• Filed: 08/16/2017
• Published: 12/28/2017
• Est. Priority Date: 11/27/2013
• Status: Active Grant

• Current Assignee: Aurora Flight Sciences Corporation (The Boeing Co.)
• Original Assignee: Aurora Flight Sciences Corporation (The Boeing Co.)
• Inventors: Paduano, James D., Wissler, John B., Piedmonte, Michael D., Mindell, David A.
• Granted Patent: US 9,958,875 B2
• Time in Patent Office: Days
• CPC Class Codes: G05D 1/0202 specially adapted to aircraft
• CPC Class Codes: G05D 1/042 specially adapted for aircraft
• CPC Class Codes: G05D 1/0676 specially adapted for landing
• CPC Class Codes: G05D 1/102 specially adapted for vertical take-off of aircraft
• CPC Class Codes: G06Q 10/00 Administration; Management
• CPC Class Codes: G06Q 10/08 Logistics, e.g. warehousing, loading or distribution; Inventory or stock management
• CPC Class Codes: G06Q 50/265 Personal security, identity or safety

Abstract

An autonomous aerial system for delivering a payload to a waypoint. The autonomous aerial system may comprise an aerial vehicle to transport the payload to the waypoint and an onboard supervisory control system operatively coupled with the aerial vehicle. The aerial vehicle may be configured to navigate to the waypoint and to land at a designated touchdown zone within a landing zone at the waypoint. The onboard supervisory control system having a processor operatively coupled with a non-volatile memory device and a sensor package. The processor may be configured to generate flight control signal data based at least in part on data received via the sensor package, the sensor package configured to (1) dynamically sense and avoid obstacles along a flight route to the waypoint, and (2) perceive physical characteristics of the landing zone. The processor may be configured to autonomously navigate the aerial vehicle to the waypoint and to determine whether to touchdown at the designated touchdown zone based at least in part on physical characteristics of the designated touchdown zone perceived via said sensor package.

Claims

1. An autonomous aerial system for delivering a payload to a waypoint, the autonomous aerial system comprising:

an aerial vehicle to transport the payload to the waypoint, the aerial vehicle configured to navigate to the waypoint and to land at a designated touchdown zone within a landing zone at the waypoint; and

an onboard supervisory control system operatively coupled with the aerial vehicle, the onboard supervisory control system having a processor operatively coupled with a non-volatile memory device and a sensor package,

wherein the processor is configured to generate flight control signal data based at least in part on data received via the sensor package, the sensor package configured to (1) dynamically sense and avoid obstacles along a flight route to the waypoint, and (2) perceive physical characteristics of the landing zone, and

wherein the processor is configured to autonomously navigate the aerial vehicle to the waypoint and to determine whether to touchdown at the designated touchdown zone based at least in part on physical characteristics of the designated touchdown zone perceived via said sensor package.

2. The autonomous aerial system of claim 1, wherein processor is configured to identify one or more alternate touchdown zones within said landing zone if the processor determines not to touchdown at the designated touchdown zone, wherein the one or more alternate touchdown zones are identified based at least in part on physical characteristics of the landing zone perceived via said sensor package.

3. The autonomous aerial system of claim 2, wherein the autonomous aerial system further comprises a human-system interface (HSI) device to facilitate communication with the aerial vehicle, wherein the HSI device is remote from the aerial vehicle and includes a second processor, a second communication transceiver, a user input device, and a display device.

4. The autonomous aerial system of claim 3, wherein said one or more alternate touchdown zones are communicated to a human operator at the waypoint for approval via a user interface.

5. The autonomous aerial system of claim 2, wherein the processor is configured to receive from a human-system interface (HSI) device one or more alternate touchdown zones within said landing zone if the processor determines not to touchdown at the designated touchdown zone.

6. The autonomous aerial system of claim 1, wherein the sensor package includes a light detection and ranging device.

7. The autonomous aerial system of claim 6, wherein the sensor package further includes a radio detection and ranging device and a global positioning system device.

8. The autonomous aerial system of claim 1, wherein said aerial vehicle is a vertical take-off and landing aerial vehicle.

9. The autonomous aerial system of claim 8, wherein said vertical take-off and landing aerial vehicle is a rotorcraft.

10. The autonomous aerial system of claim 1, wherein the onboard supervisory control system is a modular open architecture sensor suite and configured to be removably coupled to the aerial vehicle.

11. The autonomous aerial system of claim 1, wherein the sensor package is configured to detect one or more gestures by human personnel at the waypoint.

12. The autonomous aerial system of claim 11, wherein the one or more gestures includes a wave off gesture.

13. The autonomous aerial system of claim 3, wherein the processor is configured to receive a wave off command from a human operator via the HSI device.

14. A method of delivering a payload to a waypoint using an autonomous aerial vehicle equipped with a flight control system having a processor coupled to a sensor package, the method comprising:

receiving, at the flight control system, a designated touchdown zone within a landing zone at the waypoint;

determining, via the processor, a flight route to the waypoint;

generating, via the processor, flight control signal data based at least in part on the flight route and data received from the sensor package, wherein the sensor package is coupled to the autonomous aerial vehicle and configured to sense obstacles along the flight route;

autonomously navigating the aerial vehicle with the payload to the waypoint via the flight control system based at least in part on the flight control signal data;

perceiving physical characteristics of the landing zone at the waypoint using the sensor package; and

determining whether to touchdown at the designated touchdown zone based at least in part on physical characteristics of the designated touchdown zone perceived via said sensor package.

15. The method of claim 14, further comprising the step of identifying one or more alternate touchdown zones within said landing zone if the processor determines not to touchdown at the designated touchdown zone, wherein the one or more alternate touchdown zones are identified based at least in part on physical characteristics of the landing zone perceived via said sensor package.

16. The method of claim 14, further comprising the step of receiving, from a human-system interface (HSI) device, one or more alternate touchdown zones within said landing zone if the processor determines not to touchdown at the designated touchdown zone.

17. The method of claim 14, wherein the sensor package includes a light detection and ranging device.

18. The method of claim 14, wherein said vertical take-off and landing aerial vehicle is a rotorcraft.

19. An autonomous aerial system comprising:

an vertical take-off and landing (VTOL) aerial vehicle to navigate to a top of descent point; and

an onboard supervisory control system operatively coupled with the VTOL aerial vehicle, the onboard supervisory control system having a processor operatively coupled with a non-volatile memory device, wherein the onboard supervisory control system is configured to;

scan, via the sensor package, a first touchdown zone from the top of descent point to perceive physical characteristics of the first touchdown zone;

identify, via the processor, an obstacle at the first touchdown zone based at least in part on the perceived physical characteristics;

determine, via the processor, a path from the top of descent point to the first touchdown zone to avoid any identified obstacles; and

generate, via the processor, flight control signal data to cause the VTOL aerial vehicle to land at the first touchdown zone.

20. The autonomous aerial system of claim 19, wherein the onboard supervisory control system is further configured to:

identify, via the processor, a second touchdown zone based at least in part on the perceived physical characteristics; and

determine, via the processor, a second path from the top of descent point to the second touchdown zone; and

generate, via the processor, flight control signal data to cause the VTOL aerial vehicle to land at the second touchdown zone.