Tether compensated airborne delivery

• US 9,676,481 B1
• Filed: 03/27/2015
• Issued: 06/13/2017
• 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
• Primary Examiner(s): Tran, Khoi
• Assistant Examiner(s): Rink, Ryan
• Application Number:
  US14/671,343
• Time in Patent Office: 809 Days
• Field of Search: None
• 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 flight controller to control a flight path of the UAV, a tether compensation mechanism through which the tether extends, at least one sensor to identify movement in the tether, and a tether response controller. Based on movement identified in the tether, the tether response controller may determine a complementary response and direct the tether compensation mechanism to brace the tether against the movement. Thus, the tether compensation mechanism may stabilize sway or movement in the tether by moving against the sway or movement, which may help prevent the tether from undesirable swinging when lowering the item from the UAV for delivery, for example, or at other times.

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;

an attachment mechanism to releasably secure the item to the tether;

a flight controller configured to control a flight path of the UAV and extension of the tether from the winch;

a tether compensation mechanism secured to the UAV;

a sensor configured to identify at least one component of movement in the tether when the tether is extended from the winch; and

a tether response controller configured to;

determine a complementary response to the movement in the tether; and

direct the tether compensation mechanism to contact and counterbalance the tether against the movement in the tether according to the complementary response, wherein

the flight controller is further configured to adjust the flight path of the UAV based on the complementary response.

2. The UAV according to claim 1, wherein the tether compensation mechanism comprises:

at least one extension arm actuator mounted to the UAV at one end; and

an aperture mechanism positioned proximate to another end of the at least one extension arm actuator to contact the tether, the tether passing through the aperture mechanism.

3. The UAV according to claim 1, 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.

4. 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 for delivery of an item;

identifying, by at least one sensor, at least one component of movement in the tether;

determining, by the at least one computing device of the UAV, a complementary response to the movement in the tether;

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

adjusting, by the at least one computing device, the flight path of the UAV based on the complementary response.

5. The method according to claim 4, wherein the tether compensation mechanism comprises:

at least one extension arm actuator mounted to the UAV at one end; and

an aperture mechanism positioned proximate to another end of the extension arm actuator, the tether passing through the aperture mechanism.

6. The method according to claim 5, further comprising directing the aperture mechanism to clamp the tether based at least in part on the flight path of the UAV.

7. The method according to claim 4, further comprising determining the complementary response based at least in part on the flight path of the UAV.

8. The method according to claim 4, further comprising:

receiving, by the at least one computing device of the UAV, an indication of change in the flight path of the UAV; and

determining, by the at least one computing device of the UAV, the complementary response based further on the indication of change in the flight path of the UAV.

9. The method according to claim 4, further comprising determining, by the at least one computing device of the UAV, the complementary response based upon whether the tether is extending or retracting from the winch and a length of extension of the tether from the winch.

10. The method according to claim 4, wherein adjusting the flight path of the UAV comprises adjusting, by the at least one computing device, the flight path based further on the movement in the tether.

11. The method according to claim 4, further comprising actuating, by the at least one computing device of the UAV, an attachment mechanism to release the item based on a magnitude of tension in the tether.

12. 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 flight controller configured to control flight of the UAV and extension of the tether from the winch;

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

a tether response controller configured to;

determine a complementary response to the movement in the tether; and

direct a tether compensation mechanism to contact and counterbalance the tether against the movement according to the complementary response, wherein

the flight controller is further configured to adjust the flight of the UAV based on the complementary response.

13. The UAV according to claim 12, wherein the movement comprises at least one of lateral movement and vertical tension components.

14. The UAV according to claim 12, wherein the tether compensation mechanism comprises:

at least an extension arm actuator mounted to the UAV at one end; and

an aperture mechanism positioned proximate to another end of the extension arm actuator, the tether passing through the aperture mechanism.

15. The UAV according to claim 14, wherein the tether response controller is further configured to direct the aperture mechanism to clamp the tether based at least in part on a flight path of the UAV.

16. The UAV according to claim 12, wherein the tether response controller is further configured to determine the complementary response based at least in part on the flight of the UAV.

17. The UAV according to claim 12, wherein the tether response controller is further configured to:

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

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

18. The UAV according to claim 12, wherein the tether response controller is further configured to determine the complementary response based upon whether the flight controller is extending or retracting the tether from the winch and a length of extension of the tether from the winch.

19. The UAV according to claim 12, wherein the flight controller is further configured to adjust the flight of the UAV based further on the movement in the tether.

20. The UAV according to claim 12, further comprising an attachment mechanism to releasably secure the item to the tether, wherein the flight controller is further configured to actuate the attachment mechanism to release the item based on a magnitude of tension in the tether.