System and Methods for Automatic Payload Pickup by UAV

• US 20190185162A1
• Filed: 12/19/2017
• Published: 06/20/2019
• Est. Priority Date: 12/19/2017
• Status: Active Grant

• Current Assignee: Wing Aviation LLC (Alphabet Inc.)
• Original Assignee: Wing Aviation LLC (Alphabet Inc.)
• Inventors: Prager, Andre, Shannon, Trevor, Li, Zhefei
• Granted Patent: US 11,027,843 B2
• Time in Patent Office: Days
• CPC Class Codes: B64C 39/024 of the remote controlled vehicle type, i.e. RPV
• CPC Class Codes: B64D 1/08 the articles being load-carrying devices
• CPC Class Codes: B64D 1/10 Stowage arrangements for the devices in aircraft
• CPC Class Codes: B64D 1/12 Releasing
• CPC Class Codes: B64D 1/22 Taking-up articles from earth's surface
• CPC Class Codes: B64F 1/32 for handling freight
• CPC Class Codes: B64U 10/14 with four distinct rotor axes, e.g. quadcopters
• CPC Class Codes: B64U 10/20 Vertical take-off and landing [VTOL] aircraft flying platforms B64U10/13; helicopters B64U10/17
• CPC Class Codes: B64U 10/25 Fixed-wing aircraft VTOL aircraft B64U10/20
• CPC Class Codes: B64U 2101/60 for transporting passengers; for transporting goods other than weapons
• CPC Class Codes: B64U 2101/66 for retrieving parcels
• CPC Class Codes: B64U 2101/67 the UAVs comprising tethers for lowering the goods
• CPC Class Codes: B64U 2101/69 the UAVs provided with means for airdropping goods, e.g. deploying a parachute during descent
• CPC Class Codes: B64U 2201/10 autonomous, i.e. by navigating independently from ground or air stations, e.g. by using inertial navigation systems [INS]
• CPC Class Codes: B64U 2201/20 Remote controls
• CPC Class Codes: B64U 70/00 Launching, take-off or landing arrangements
• CPC Class Codes: G05D 1/101 specially adapted for aircraft

Abstract

A payload retrieval system including a UAV having a payload receptacle positioned within the UAV, a payload coupling apparatus positioned within the payload receptacle, a tether having a first end secured within the UAV and a second end attached to the payload coupling apparatus, and a payload guiding member positioned on an underside of the UAV for guiding at least part of a payload into the payload receptacle during retrieval of a payload.

Claims

1. A payload retrieval system comprising:

a UAV having a payload receptacle positioned within the UAV;

a payload coupling apparatus positioned within the payload receptacle;

a tether having a first end secured within the UAV and a second end attached to the payload coupling apparatus; and

a payload guiding member positioned on an underside of the UAV for guiding at least part of a payload into the payload receptacle during retrieval of a payload.

2. The payload retrieval system of claim 1, wherein an interior of the payload guiding member tapers inwardly from an open bottom end toward the payload receptacle.

3. The payload retrieval system of claim 2, wherein the payload guiding member is positioned at least in part externally from the underside of the UAV.

4. The payload retrieval system of claim 2, wherein the payload guiding member is positioned at least in part internally within the underside of the UAV.

5. The payload retrieval system of claim 1, wherein the payload coupling apparatus includes a swing arm or latch that is extendable and retractable, the swing arm or latch adapted to secure a handle of a payload within the payload receptacle.

6. The payload retrieval system of claim 5, wherein a switch or sensor is positioned within the payload receptacle operable to determine when the swing arm or latch should be extended through an aperture in the handle of the payload.

7. The payload retrieval system of claim 6, wherein the first end of the tether is secured to a winch positioned within the UAV;

and wherein upon activation of the switch or sensor, the payload coupling apparatus is adapted to move upwardly by the winch, and a cam follower adjacent the payload coupling apparatus is adapted to extend the swing arm or latch through the aperture in the handle of the payload.

8. The payload retrieval system of claim 5, wherein the first end of the tether is secured to a winch positioned within the UAV, and when the winch is operated to lower the payload coupling apparatus having the swing arm or latch extended through the aperture of the handle of the payload, the swing arm or latch is adapted to automatically disengage from the handle of the payload when the payload is lowered to the ground and the payload coupling apparatus is further lowered by the winch.

9. The payload retrieval system of claim 1, wherein the payload guiding member includes inwardly tapered walls on the interior of the payload guiding member that are adapted to engage tapered upper sides of the payload.

10. A method of payload retrieval including the steps of:

providing a payload retrieval system comprising;

a UAV having a payload receptacle positioned within the UAV;

a payload coupling apparatus positioned within the payload receptacle;

a tether having a first end secured within the UAV and a second end attached to the payload coupling apparatus; and

a payload guiding member positioned on an underside of the UAV for guiding at least part of a payload into the payload receptacle during retrieval of a payload;

positioning the UAV over a payload having a handle;

lowering the UAV until a portion of the handle of the payload is positioned within the payload guiding member;

guiding the handle of the payload with the payload guiding member towards the payload receptacle;

further lowering the UAV until the portion of the handle of the payload is in a desired position within the payload receptacle;

securing the handle of the payload to the payload coupling apparatus within the payload receptacle; and

flying the UAV with the payload secured within the payload receptacle.

11. The method of claim 10, wherein the payload coupling apparatus includes a swing arm or latch that is extendable and retractable, and the step of securing the handle of the payload to the payload coupling apparatus includes moving the swing arm or latch through an aperture of the handle to secure the payload within the payload receptacle.

12. The method of claim 11, wherein the step of securing the handle of the payload to the payload coupling apparatus involves having a portion of the handle above the aperture in the handle force the swing or latch inwardly until the portion of the handle above the aperture moves past the swing arm or latch and the swing arm or latch is extended through the aperture in the handle of the payload.

13. The method of claim 11, wherein a switch or sensor is positioned within the payload receptacle that is triggered to cause the swing arm or latch to extend through the aperture in the handle of the payload, and wherein upon activation of the switch or sensor, the payload coupling apparatus is moved upwardly with a winch positioned in the UAV, and a cam follower adjacent the payload coupling apparatus causes the swing arm or latch to extend through the aperture in the handle of the payload, as the payload coupling apparatus is moved upwardly by the winch.

14. The method of claim 11, wherein the first end of the tether is secured to a winch positioned within the UAV, and further including the step of delivering the payload at a payload delivery site wherein the winch is operated to lower the payload coupling apparatus having the swing arm or latch extended through the aperture of the handle of the payload, and the swing arm or latch automatically disengages from the handle of the payload when the payload is lowered to the ground and the payload coupling apparatus is further lowered by the winch.

15. The method of claim 10, wherein the step of guiding the handle toward the payload receptacle includes engaging tapered upper sides of the payload with inwardly tapered walls on the interior of the payload guiding member.

16. A method of payload retrieval including the steps of:

providing a payload retrieval system comprising;

a UAV having a payload receptacle positioned within the UAV;

a payload coupling apparatus positioned within the payload receptacle;

a tether having a first end secured within the UAV and a second end attached to the payload coupling apparatus; and

a payload guiding member positioned on an underside of the UAV for guiding at least a portion of a payload into the payload receptacle during retrieval of a payload;

landing the UAV on a payload loading apparatus at a payload retrieval site, where a payload having a handle is positioned beneath the UAV;

pushing the payload upwardly until the handle of the payload is positioned within the payload guiding member;

guiding the handle of the payload with the payload guiding member towards the payload receptacle;

further pushing the payload upwardly until the handle of the payload is in a desired position within the payload receptacle;

securing the handle of the payload to the payload coupling apparatus within the payload receptacle; and

flying the UAV with the payload secured within the payload receptacle from the payload retrieval site.

17. The method of claim 16, wherein upon landing the UAV on the payload loading apparatus the payload guiding member is positioned within the payload loading apparatus.

18. The method of claim 16, wherein the payload coupling apparatus includes a swing arm or latch that is extendable and retractable, and the step of securing the handle of the payload to the payload coupling apparatus includes moving the swing arm or latch through an aperture of the handle to secure the payload within the payload receptacle.

19. The method of claim 18, the step of securing the handle of the payload to the payload coupling apparatus involves having a portion of the handle above the aperture in the handle force the swing or latch inwardly until the portion of the handle above the aperture moves past the swing arm or latch and the swing arm or latch is extended through the aperture in the handle of the payload.

20. The method of claim 18, wherein a switch or sensor is positioned within the payload receptacle that is triggered to cause the swing arm or latch to extend through the aperture in the handle of the payload, wherein upon activation of the switch or sensor, the payload coupling apparatus is moved upwardly with a winch positioned in the UAV, and a cam follower adjacent the payload coupling apparatus causes the swing arm or latch to extend through the aperture in the handle of the payload, as the payload coupling apparatus is moved upwardly by the winch.

21. The method of claim 18, wherein the first end of the tether is secured to a winch positioned within the UAV, and further including the step of delivering the payload at a payload delivery site wherein the winch is operated to lower the payload coupling apparatus having the swing arm or latch extended through the aperture of the handle of the payload, and the swing arm or latch automatically disengages from the handle of the payload when the payload is lowered to the ground and the payload coupling apparatus is further lowered by the winch.

22. The method of claim 16, wherein the step of guiding the handle toward the payload receptacle includes engaging tapered upper sides of the payload with inwardly tapered walls on the interior of the payload guiding member.