Using multirotor lifters to deploy fixed wing aircraft

• US 9,630,712 B1
• Filed: 09/23/2015
• Issued: 04/25/2017
• Est. Priority Date: 09/23/2015
• Status: Active Grant

• Current Assignee: Amazon Technologies, Inc. (Amazon.com, Inc.)
• Original Assignee: Amazon Technologies, Inc. (Amazon.com, Inc.)
• Inventors: Carmack, Scott Gerard, Lakkakula, Narasimha Rao, Mehr, Nima Sharifi
• Primary Examiner(s): Beaulieu, Yonel
• Application Number:
  US14/863,025
• Time in Patent Office: 580 Days
• CPC Class Codes: B64C 11/00 Propellers, e.g. of ducted type; Features common to propellers and rotors for rotorcraft
• CPC Class Codes: B64C 27/08 with two or more rotors
• CPC Class Codes: B64C 37/02 Flying units formed by separate aircraft towing B64D3/00; aircraft transported by aircraft B64D5/00; air-refuelling B64D39/00
• CPC Class Codes: B64C 39/024 of the remote controlled vehicle type, i.e. RPV
• CPC Class Codes: B64D 5/00 Aircraft transported by aircraft, e.g. for release or reberthing during flight flying units formed by separate aircraft B64C37/02
• CPC Class Codes: B64U 10/10 Rotorcrafts
• CPC Class Codes: B64U 10/25 Fixed-wing aircraft VTOL aircraft B64U10/20
• CPC Class Codes: B64U 2101/00 UAVs specially adapted for particular uses or applications
• CPC Class Codes: B64U 2101/64 for parcel delivery or retrieval
• CPC Class Codes: B64U 30/10 Wings
• CPC Class Codes: B64U 30/14 detachable
• CPC Class Codes: B64U 30/20 Rotors; Rotor supports
• CPC Class Codes: B64U 50/13 using external fans or propellers
• CPC Class Codes: B64U 50/34 In-flight charging photovoltaics B64U50/31
• CPC Class Codes: B64U 80/82 Airborne vehicles
• CPC Class Codes: G05D 1/0011 associated with a remote control arrangement
• CPC Class Codes: G05D 1/0661 specially adapted for take-off

Abstract

This disclosure describes systems and processes using multirotor lifter to deploy and/or engage fixed wing aircraft. For example, one or more unmanned multirotor lifters may engage an unmanned fixed wing aircraft, aerially navigate the fixed wing aircraft vertically to a desired altitude, and then release the fixed wing aircraft so that the fixed wing aircraft can initiate a flight plan. In some implementations, multirotor lifter may also be configured to engage fixed wing aircraft while both the multirotor lifters and the fixed wing aircraft are in flight.

Claims

1. A system, comprising:

an unmanned fixed wing aircraft, including;

a fixed wing;

a thrusting motor and corresponding thrusting propeller;

a payload; and

an engagement receiver to receive an engagement mechanism of an unmanned multirotor lifter;

the unmanned multirotor lifter, including;

a plurality of motors and corresponding propellers of a size sufficient to vertically lift the unmanned fixed wing aircraft and the unmanned multirotor lifter;

the engagement mechanism configured to selectively engage or disengage the engagement receiver of the unmanned fixed wing aircraft; and

a communication component to wirelessly communicate with the unmanned fixed wing aircraft;

a computing system, including;

a processor; and

a memory coupled to the processor and storing program instructions that when executed by the processor cause the processor to at least;

determine that the multirotor lifter is at a desired altitude with the unmanned fixed wing aircraft engaged by the engagement mechanism;

send a disengagement authorization;

confirm that the multirotor lifter has disengaged the engagement mechanism from the engagement receiver of the unmanned fixed wing aircraft; and

confirm that the unmanned fixed wing aircraft has initiated a flight from the desired altitude.

2. The system of claim 1, wherein the program instructions that when executed by the processor further cause the processor to at least:

send a flight plan to the unmanned fixed wing aircraft prior to the unmanned fixed wing aircraft being disengaged from the unmanned multirotor lifter.

3. The system of claim 1, wherein the desired altitude is at least high enough to enable the unmanned fixed wing aircraft to reach a minimum speed necessary to maintain flight.

4. The system of claim 1, wherein the payload includes at least one of an unmanned aerial vehicle (“

UAV”

) that can be detached from the unmanned fixed wing aircraft with an item ordered by a user for delivery to a destination.

5. The system of claim 4, wherein the UAV has sufficient power to control a descent of the item to the destination when detached from the unmanned fixed wing aircraft.

6. A multirotor lifter to selectively engage or disengage a fixed wing aircraft, the multirotor lifter comprising:

a plurality of lifting propulsion components to aerially lift the multirotor lifter and at least a portion of the fixed wing aircraft;

an engagement mechanism to engage or disengage the fixed wing aircraft; and

a control system configured to at least;

cause the multirotor lifter to aerially lift the fixed wing aircraft to a determined altitude; and

disengage, at the determined altitude, the fixed wing aircraft such that the fixed wing aircraft can initiate flight without aid from the multirotor lifter.

7. The multirotor lifter of claim 6, wherein the control system is further configured to at least:

determine a desired heading of the fixed wing aircraft; and

prior to disengaging the fixed wing aircraft, orient the fixed wing aircraft based at least in part on the desired heading.

8. The multirotor lifter of claim 7, wherein the desired heading is determined based at least in part on a wind speed, a wind direction, or a flight plan associated with the fixed wing aircraft.

9. The multirotor lifter of claim 6, further comprising a second multirotor lifter coupled to the fixed wing aircraft to aerially lift at least a second portion of the fixed wing aircraft.

10. The multirotor lifter of claim 6, further comprising:

a tether coupled between the multirotor lifter and a ground station, the tether providing at least one of power or communication to the multirotor lifter.

11. The multirotor lifter of claim 6, wherein the engagement mechanism comprises at least one of an electromagnet, a permanent magnet, or a mechanical engagement mechanism movable from a first disengaged position to a second engaged position.

12. The multirotor lifter of claim 6, wherein the control system is further configured to at least:

cause the multirotor lifter to engage a second fixed wing aircraft while both the multirotor lifter and the second fixed wing aircraft are airborne.

13. The multirotor lifter of claim 12, further comprising:

an attachment mechanism; and

wherein the control system is further configured to at least;

cause the attachment mechanism to attach at least one of a payload or a power module to the second fixed wing aircraft while both the multirotor lifter and the second fixed wing aircraft are engaged and airborne.

14. The multirotor lifter of claim 12, wherein the control system is further configured to at least:

cause the engagement mechanism to disengage, while airborne, the second fixed wing aircraft such that the second fixed wing aircraft can initiate a second flight path.

15. A method, comprising:

engaging, at a first altitude and with a multirotor lifter, a fixed wing aircraft;

lifting the fixed wing aircraft from the first altitude to a second altitude; and

releasing, at the second altitude and from the multirotor lifter, the fixed wing aircraft such that the fixed wing aircraft can initiate a flight without aid from the multirotor lifter.

16. The method of claim 15, further comprising:

transferring from the multirotor lifter to the fixed wing aircraft, while the multirotor lifter and the fixed wing aircraft are engaged and flying, at least one of a payload or a power supply such that the at least one of the payload or the power supply are attached to the fixed wing aircraft.

17. The method of claim 15, further comprising:

determining, prior to engaging, an engagement position of the fixed wing aircraft; and

navigating, prior to engagement, the multirotor lifter to the engagement position such that the multirotor lifter is in a position to engage the fixed wing aircraft.

18. The method of claim 17, wherein determining the engagement position of the fixed wing aircraft includes receiving from the fixed wing aircraft at least one of a heading, a current altitude, an air speed, or a ground speed.

19. The method of claim 17, further comprising:

sending, prior to engagement, from the multirotor lifter and to the fixed wing aircraft, position instructions that indicate at least one of a heading, an altitude, a ground speed, or an air speed that is to be maintained by the fixed wing aircraft.

20. The method of claim 15, further comprising:

receiving from a remote computing resource an engagement authorization indicating that the multirotor lifter is authorized to engage with the fixed wing aircraft.

21. The method of claim 15, wherein the first altitude comprises at least one of a ground station or an intermediate altitude between the ground station and the second altitude.