Maneuvering a package following in-flight release from an unmanned aerial vehicle (UAV)

• US 9,567,081 B1
• Filed: 06/26/2015
• Issued: 02/14/2017
• Est. Priority Date: 06/26/2015
• Status: Active Grant

• Current Assignee: Amazon Technologies, Inc. (Amazon.com, Inc.)
• Original Assignee: Amazon Technologies, Inc. (Amazon.com, Inc.)
• Inventors: Haskin, Menashe, Rolnik, Michael, Vule, Yan, Beckman, Brian C.
• Primary Examiner(s): Davis, Richard G
• Application Number:
  US14/752,671
• Time in Patent Office: 599 Days
• US Class Current: 1/1
• CPC Class Codes: B64C 1/22 Other structures integral with fuselages to facilitate loading , e.g. cargo bays, cranes
• CPC Class Codes: B64D 1/10 Stowage arrangements for the devices in aircraft
• CPC Class Codes: B64D 1/12 Releasing
• CPC Class Codes: B64D 17/00 Parachutes non canopied parachutes B64D19/00
• CPC Class Codes: B64U 2101/60 for transporting passengers; for transporting goods other than weapons
• CPC Class Codes: G05D 1/105 specially adapted for unpowered flight, e.g. glider, parachuting, forced landing parachutes per se B64D17/00
• CPC Class Codes: G05D 1/106 Change initiated in response to external conditions, e.g. avoidance of elevated terrain or of no-fly zones

Abstract

A package delivery system can be implemented to forcefully propel a package from an unmanned aerial vehicle (UAV), while the UAV is in motion. The UAV can apply a force onto the package that alters its descent trajectory from a parabolic path to a vertical descent path. The package delivery system can apply the force onto the package in a number of different ways. For example, pneumatic actuators, electromagnets, spring coils, and parachutes can generate the force that establishes the vertical descent path of the package. Further, the package delivery system can also monitor the package during its vertical descent. The package can be equipped with one or more control surfaces. Instructions can be transmitted from the UAV via an RF module that cause the one or more controls surfaces to alter the vertical descent path of the package to avoid obstructions or to regain a stable orientation.

Claims

1. An Unmanned Aerial Vehicle (UAV) to launch a package during flight, the UAV comprising:

a launch mechanism coupled to the UAV, the launch mechanism configured to apply a predetermined force to a package, the predetermined force to cause the package to be released from the UAV in a second direction that is opposite a first direction of travel of the UAV and commence a vertical descent path to a delivery destination;

a coupling structure that is coupled to the launch mechanism, the coupling structure configured to selectively couple the package to the launch mechanism during transport from ground level to a launch altitude and a launch geo-location, and to selectively uncouple from the launch mechanism when the UAV reaches the launch altitude and at the launch geo-location; and

a package launch and control system communicatively coupled to at least the launch mechanism of the UAV, the package launch and control system further comprising;

one or more processors;

memory to store instructions executable by the one or more processors;

one or more sensors to determine flight data and geo-location data of the UAV and the package, wherein the flight data and location data of the package is determined at a time after the package is released from the UAV;

a radio frequency (RF) module configured to transmit data to the package;

a package launch module stored in the memory and executable on the one or more processors, the package launch module configured to determine the predetermined force that causes the package to follow the vertical descent path to the delivery destination based at least in part on data from the one or more sensors; and

a package control surface module stored in the memory and executable on the one or more processors, the package control surface module configured to;

determine a control to deploy one or more control surfaces on the package that alter the vertical descent path of the package after the package is released from the UAV, wherein the one or more control surfaces are independently deployable; and

transmit, via the RF module to the package, a signal indicating the control to deploy the one or more control surfaces on the package.

2. The UAV of claim 1, wherein the launch mechanism includes at least one of a pneumatic actuator, a spring coil, or a drogue parachute to pull the package from the UAV.

3. The UAV of claim 1, wherein the one or more sensors include at least one optical sensor and wherein the package control surface module is further configured to:

monitor the vertical descent path of the package based at least in part on data from the at least one optical sensor;

determine an obstruction between the vertical descent path and a landing location; and

determine the control for deploying the one or more control surfaces to adjust the vertical descent path of the package in response to determining that the package is likely to pass through the obstruction without the deploying.

4. The UAV of claim 1, wherein the one or more control surfaces include at least one of a sidewall control surface, a top side control surface, or a vertical fin.

5. A package launch assist apparatus comprising:

a launch mechanism coupled to an Unmanned Aerial Vehicle (UAV), the launch mechanism configured to apply a predetermined force to a package while the UAV is in-flight, the predetermined force to cause the package to be released from the UAV and commence a substantially vertical descent to a delivery destination;

a package launch controller coupled to the UAV, the package launch controller comprising;

one or more processors;

memory to store instructions executable by the one or more processors;

one or more sensors to determine flight data and location data of the UAV and the package;

a radio frequency (RF) module configured to transmit data to the package;

a package control surface module stored in the memory and executable on the one or more processors, the package control surface module configured to;

determine a control for deploying one or more control surfaces on the package that alter a vertical descent path of the package, wherein the one or more control surfaces are independently deployable; and

transmit, via the RF module to the package, a signal indicating the control for deploying the one or more control surfaces on the package.

6. The package launch assist apparatus of claim 5, wherein the predetermined force is applied to the package while the UAV is in flight;

and

wherein a magnitude of the predetermined force is substantially equivalent to an acceleration of the UAV at a particular point in time when the package is released from the UAV.

7. The package launch assist apparatus of claim 5, wherein the one or more control surfaces move from a first position to a second position after deployment, the first position being a stowed position where the one or more control surfaces are oriented to nestle alongside a surface of the package, and the second position being a deployed position where the one or more control surfaces protrude into an airstream.

8. The package launch assist apparatus of claim 5, wherein the one or more control surfaces include one or more parachutes that move from a first position to a second position after deployment, the first position being a stowed position where the one or more parachutes are concealed, and the second position being a deployed position where the one or more parachutes are deployed by a string.

9. The package launch assist apparatus of claim 5, wherein the one or more sensors include at least one optical sensor, and wherein the package control surface module is further configured to identify an orientation of the package during the substantially vertical descent by capturing images of unique marks on different surfaces of the package.

10. The package launch assist apparatus of claim 5, wherein the launch mechanism includes a coupling structure that is coupled to the launch mechanism, the coupling structure configured to selectively couple the package to the launch mechanism during transport from ground level to a launch altitude and a launch geo-location, and to uncouple from the launch mechanism at the launch altitude and at the launch geo-location.

11. The package launch assist apparatus of claim 10, wherein the launch mechanism further comprising at least one of a pneumatic actuator or a spring coil to cause the coupling structure to traverse along a guide rail.

12. The package launch assist apparatus of claim 10, wherein the launch mechanism further comprises a parachute that is coupled to the package, a deployment of the parachute to cause the coupling structure to traverse along a guide rail;

and wherein

the parachute is configured to uncouple from the package at a same point in time that the coupling structure is configured to uncouple from the launch mechanism.

13. A package comprising:

a top side, a bottom side, and a plurality of sidewalls that span between the top side and the bottom side to create a cavity;

a mounting mechanism configured to selectively couple the top side to a coupling structure of an unmanned aerial vehicle (UAV), the mounting mechanism to couple to the coupling structure of the UAV during transport to a launch altitude and a geo-location and to selectively uncouple from the coupling structure of the UAV when the UAV reaches the launch altitude and the geo-location;

a radio frequency (RF) receiver located inside of the package, the RF receiver configured to receive data from an UAV; and

one or more control surfaces that are coupled to an exterior surface of at least one of the plurality of sidewalls of the package, the one or more control surfaces configured to deploy to cause a change in trajectory of the package at a point in time after the package is released from the UAV, wherein the one or more control surfaces are independently deployable.

14. The package of claim 13, further comprising:

at least one top side control surface that is coupled to the top side of the package by multiple cords, the multiple cords having different lengths;

multiple release mechanisms that are secured onto the top side of the package, individual ones of the multiple release mechanisms selectively coupling to individual ones of the multiple cords; and

wherein the RF receiver is further configured to receive data from the UAV to selectively unlatch one or more of the multiple release mechanisms causing the at least one control surface to deploy at a predetermined angle, the predetermined angle being determined by an unlatching of individual ones of the multiple cords of different length.

15. The package of claim 13, wherein the one or more control surfaces include at least one of aerodynamic flaps or slats that when deployed cause drag that alters a trajectory of the package during descent.

16. The package of claim 13, further comprising:

a plurality of locking mechanisms that secure individual ones of the one or more control surfaces in a stowed position that is nestled alongside a surface of the package; and

a controller that causes at least some locking mechanisms of the plurality of locking mechanisms to unlatch in response to receiving an RF signal from the UAV, the unlatching to cause individual ones of the one or more control surfaces to extend outward from the package to deploy.

17. The package of claim 13, wherein an external surface of individual ones of the plurality of sidewalls are designated with a unique marking that provide a visible indication of an orientation of the package to an optical sensor of the UAV.

18. The package of claim 17, wherein the unique marking on the individual ones of the plurality of sidewalls comprise of different colors.

19. The package of claim 13, wherein an RF signal received from the UAV, via the RF receiver, causes some, but not all of individual ones of the one or more control surfaces to deploy.

20. The package of claim 13, wherein the one or more control surfaces comprise compressed air canisters that are coupled to the plurality of sidewalls of the package;

and

wherein a RF signal received from the UAV, via the RF receiver, causes a control of individual ones of the compressed air canisters to release compressed air.