Ground-based mobile maintenance facilities for unmanned aerial vehicles

• US 9,718,564 B1
• Filed: 03/16/2017
• Issued: 08/01/2017
• Est. Priority Date: 03/16/2017
• Status: Active Grant

• Current Assignee: Amazon Technologies, Inc. (Amazon.com, Inc.)
• Original Assignee: Amazon Technologies, Inc. (Amazon.com, Inc.)
• Inventors: Bjone, Nicholas, Beckman, Brian C.
• Primary Examiner(s): Randazzo, Thomas
• Application Number:
  US15/461,038
• Time in Patent Office: 138 Days
• CPC Class Codes: B60L 2200/10 Air crafts
• CPC Class Codes: B60L 53/80 Exchanging energy storage elements, e.g. removable batteries
• CPC Class Codes: B61D 3/16 adapted for carrying special loads
• CPC Class Codes: B61L 15/0027 Radio-based, e.g. using GSM-R
• CPC Class Codes: B61L 2205/04 Satellite based navigation systems, e.g. global positioning system [GPS]
• CPC Class Codes: B61L 23/00 Control, warning or like safety means along the route or between vehicles or trains
• CPC Class Codes: B61L 23/04 for monitoring the mechanical state of the route
• CPC Class Codes: B61L 25/025 Absolute localisation, e.g. providing geodetic coordinates
• CPC Class Codes: B64D 2045/0085 Devices for aircraft health monitoring, e.g. monitoring flutter or vibration
• CPC Class Codes: B64F 1/22 for handling aircraft
• CPC Class Codes: B64F 5/40 Maintaining or repairing aircraft
• CPC Class Codes: B64U 10/13 Flying platforms
• CPC Class Codes: B64U 2101/60 for transporting passengers; for transporting goods other than weapons
• CPC Class Codes: B64U 2101/64 for parcel delivery or retrieval
• CPC Class Codes: B64U 80/70 in containers B64U80/60 takes precedence
• CPC Class Codes: B64U 80/84 Waterborne vehicles
• CPC Class Codes: B64U 80/86 Land vehicles
• CPC Class Codes: G06Q 10/0832 Special goods or special handling procedures, e.g. handling of hazardous or fragile goods
• CPC Class Codes: G08G 5/0069 specially adapted for an unmanned aircraft
• CPC Class Codes: Y02P 70/50 Manufacturing or production processes characterised by the final manufactured product
• CPC Class Codes: Y02T 10/70 : Energy storage systems for electromobility, e.g. batteries
• CPC Class Codes: Y02T 10/7072 : Electromobility specific charging systems or methods for batteries, ultracapacitors, supercapacitors or double-layer capacitors
• CPC Class Codes: Y02T 30/00 : Transportation of goods or passengers via railways, e.g. energy recovery or reducing air resistance

Abstract

Intermodal vehicles may be loaded with items and an aerial vehicle, and directed to travel to areas where demand for the items is known or anticipated. The intermodal vehicles may be coupled to locomotives, container ships, road tractors or other vehicles, and equipped with systems for loading one or more items onto the aerial vehicle, and for launching or retrieving the aerial vehicle while the intermodal vehicles are in motion. The areas where the demand is known or anticipated may be identified on any basis, including but not limited to past histories of purchases or deliveries to such areas, or events that are scheduled to occur in such areas. Additionally, intermodal vehicles may be loaded with replacement parts and/or inspection equipment, and configured to conduct repairs, servicing operations or inspections on aerial vehicles within the intermodal vehicles, while the intermodal vehicles are in motion.

Claims

1. A mobile system comprising:

a locomotive;

a first well car, wherein the first well car is coupled to the locomotive;

a first intermodal maintenance vehicle disposed on the first well car, wherein the first intermodal maintenance vehicle comprises a plurality of batteries, at least one robotic arm and at least one system for launching an aerial vehicle or retrieving the aerial vehicle within a compartment of the first intermodal maintenance vehicle;

at least one computer system in communication with at least the locomotive, the first intermodal maintenance vehicle and a first aerial vehicle, wherein the at least one computer system is configured to execute a method comprising;

causing the locomotive and the first well car to travel in a predetermined direction on a first set of rails;

determining that a power level of a first battery aboard the first aerial vehicle is below a predetermined threshold at a first time, wherein the locomotive and the first well car are traveling in the predetermined direction on the first set of rails at the first time;

determining a position of the first aerial vehicle;

determining a rendezvous point for the first aerial vehicle and the first intermodal maintenance vehicle on the first set of rails based at least in part on at least one of the position of the first aerial vehicle or the power level;

determining a first course and a first speed for the first aerial vehicle based at least in part on the power level and the rendezvous point;

causing the first aerial vehicle to travel to the rendezvous point at the first course and the first speed;

causing the locomotive and the first well car to travel to the rendezvous point at a second speed on the first set of rails;

retrieving the first aerial vehicle within the compartment of the first intermodal maintenance vehicle by the at least one system while the locomotive is in motion on the first set of rails;

removing the first battery from the first aerial vehicle within the compartment of the first intermodal maintenance vehicle by the at least one robotic arm; and

installing a second battery into the first aerial vehicle within the compartment of the first intermodal maintenance vehicle by the at least one robotic arm.

2. The mobile system of claim 1, wherein the method further comprises:

after installing the second battery into the first aerial vehicle,

launching the first aerial vehicle from the compartment of the first intermodal maintenance vehicle by the at least one system.

3. The mobile system of claim 1, further comprising:

a second well car, wherein the second well car is coupled to at least one of the locomotive or the first well car; and

a first intermodal carrier disposed on the second well car, wherein the first intermodal carrier vehicle comprises a plurality of items, at least one robotic arm and at least one system for launching an aerial vehicle or retrieving the aerial vehicle within a compartment of the first intermodal carrier,

wherein the at least one computer system is in communication with at least the first intermodal carrier, and

wherein the method further comprises;

receiving, at a second time, a request for a delivery of one of the plurality of items to a location, wherein the second time precedes the first time, wherein the locomotive, the first well car and the second well car are traveling in the predetermined direction on the first set of rails at the second time, and wherein the first aerial vehicle is releasably disposed within the first intermodal carrier at the second time;

loading the one of the plurality of items into the aerial vehicle within the first intermodal carrier;

launching the aerial vehicle from the first intermodal carrier;

causing the aerial vehicle to travel to the location with the item loaded therein; and

causing the aerial vehicle to deposit the item at the location prior to the first time.

4. A method comprising:

determining, by at least one server at a first time, that a first aerial vehicle requires a first servicing operation;

determining, by the at least one server;

a first position of the aerial vehicle at the first time;

identifying, by the at least one server, a first intermodal maintenance vehicle configured to perform the first servicing operation on the first aerial vehicle, wherein the first intermodal maintenance vehicle comprises at least one of a replacement part and a robotic arm within a first compartment;

determining, by the at least one server, a second position of the first intermodal maintenance vehicle at the first time;

selecting, by the at least one server, a first rendezvous point for the first aerial vehicle and the first intermodal maintenance vehicle;

causing the first aerial vehicle to travel to the first rendezvous point;

causing the first intermodal maintenance vehicle to travel to the first rendezvous point;

causing the first aerial vehicle to be received within the first compartment of the first intermodal maintenance vehicle; and

performing the servicing operation on the first aerial vehicle within the first compartment.

5. The method of claim 4, further comprising:

determining a maximum range of the first aerial vehicle at the first time, wherein the maximum range of the first aerial vehicle is determined with respect to the first position;

identifying a plurality of intermodal maintenance vehicles within the maximum range of the first aerial vehicle at the first time; and

selecting one of the plurality of intermodal maintenance vehicles,

wherein the first intermodal maintenance vehicle is the selected one of the plurality of intermodal maintenance vehicles.

6. The method of claim 5, wherein selecting the one of the plurality of intermodal maintenance vehicles further comprises:

determining, for each of the plurality of intermodal maintenance vehicles, a rendezvous point for the intermodal maintenance vehicle and the first aerial vehicle;

determining, for each of the plurality of intermodal maintenance vehicles, at least one of;

a net distance between the first position and the rendezvous point of the intermodal maintenance vehicle;

a net time for the performance of the first servicing operation by the intermodal maintenance vehicle;

or

a net cost for the performance of the first servicing operation by the intermodal maintenance vehicle; and

selecting the one of the plurality of intermodal maintenance vehicles based at least in part on the at least one of the net distance, the net time, or the net cost,

wherein the second position is the position of the selected one of the plurality of intermodal maintenance vehicles.

7. The method of claim 6, wherein determining the second position comprises:

determining, for each of the plurality of intermodal maintenance vehicles, a position of the intermodal maintenance vehicle,

wherein determining the rendezvous point comprises;

determining a maximum speed of the first aerial vehicle;

determining, for each of the plurality of intermodal maintenance vehicles, a maximum speed of the intermodal maintenance vehicle; and

determining, for each of the plurality of intermodal maintenance vehicles, the rendezvous point based at least in part on the first position, the position of the intermodal maintenance vehicle, the maximum speed of the first aerial vehicle and the maximum speed of the intermodal maintenance vehicle,

wherein each of the rendezvous points is selected according to at least one of Dijkstra'"'"'s Algorithm, Bellman-Ford Algorithm, Floyd-Warshall Algorithm, Johnson'"'"'s Algorithm or a hub labeling technique.

8. The method of claim 6, wherein selecting the one of the plurality of intermodal maintenance vehicles further comprises:

identifying a subset of the plurality of intermodal maintenance vehicles, wherein each of the intermodal maintenance vehicles of the subset is configured to perform the first servicing operation on an aerial vehicle; and

selecting the one of the subset of the plurality of intermodal maintenance vehicles based at least in part on the distance between the first position and the position of the selected one of the plurality of intermodal maintenance vehicles,

wherein the first intermodal maintenance vehicle is the selected one of the subset of the plurality of intermodal maintenance vehicles.

9. The method of claim 4, wherein determining that the first aerial vehicle requires the first servicing operation comprises:

receiving, over a network, at least one electronic message from the first aerial vehicle, wherein the at least one electronic message comprises information regarding a status of the first aerial vehicle; and

determining, based at least in part on the at least one electronic message, that the first aerial vehicle requires the first servicing operation.

10. The method of claim 4, wherein the first intermodal maintenance vehicle is coupled to at least one powered vehicle, and

wherein causing the first intermodal maintenance vehicle to travel to the rendezvous point further comprises:

causing the at least one powered vehicle to transport the first intermodal vehicle to the rendezvous point.

11. The method of claim 4, wherein the at least one powered vehicle is one of:

a locomotive, wherein the first intermodal maintenance vehicle is disposed on a well car coupled to the locomotive;

a container ship, wherein the first intermodal carrier is disposed on the container ship;

or

a road tractor, wherein the first intermodal carrier is disposed on a road trailer coupled to the road tractor.

12. The method of claim 4, wherein the first servicing operation is one of:

a battery replacement;

a motor repair;

a motor replacement;

or

a propeller replacement.

13. The method of claim 4, wherein the first intermodal maintenance vehicle comprises a steel frame having at least one automatic door at an upper surface of the steel frame,

wherein the steel frame has a height of at least nine feet, a width of approximately eight-and-one-half feet and a length of approximately fifty-three feet, and

wherein causing the first aerial vehicle to be received within the first compartment of the first intermodal maintenance vehicle comprises:

operating the at least one automatic door to open the first compartment of the first intermodal carrier.

14. The method of claim 13, wherein the at least one automatic door is at least one slidable door forming at least a portion of the upper surface of the steel frame, and

wherein the at least one slidable door is configured to translate along the upper surface of the steel frame between an open position and a closed position.

15. The method of claim 4, wherein the first intermodal maintenance vehicle further comprises a retrieval apparatus within the first compartment,

wherein the retrieval apparatus comprises a landing surface configured to be raised or lowered along a vertical axis and rotated about the vertical axis, and

wherein causing the first aerial vehicle to be received within the first compartment of the first intermodal maintenance vehicle comprises:

determining at least one of an elevation or an orientation of the landing surface for receiving the first aerial vehicle; and

causing the landing surface to be placed in the at least one of the elevation or the orientation.

16. The method of claim 15, further comprising:

prior to the first time,

receiving, over a network, an order for a delivery of a first item to a location;

determining that the first item is stored within a second compartment of a first intermodal carrier in motion, wherein the first intermodal carrier is coupled to at least one powered vehicle, and wherein the first intermodal carrier includes at least the first aerial vehicle within the second compartment;

causing the first item to be loaded into the first aerial vehicle within the second compartment;

opening the second compartment of the first intermodal carrier; and

causing the first aerial vehicle to perform the delivery of the first item from the first intermodal carrier to the location,

wherein that the first aerial vehicle requires the first servicing operation is determined after the item is deposited at the location.

17. The method of claim 15, wherein the first intermodal maintenance vehicle is coupled to at least one of the first intermodal carrier or the at least one powered vehicle.

18. A repair vehicle comprising:

a first intermodal container having an upper face, a forward face, a left face, a right face and an aft face;

a second intermodal container stacked atop the first intermodal container, wherein the second intermodal container has a forward face, a left face, a right face, an aft face and a lower face, and wherein the first intermodal container and the second intermodal container define a compartment;

a slidable door provided on the upper face of the first intermodal container, wherein the slidable door is configured for motion along a longitudinal axis between at least an open position and a closed position, wherein the slidable door has a free end in contact with the aft face of the first intermodal container when the slidable door is in the closed position, and wherein the free end is configured to translate in the longitudinal direction toward the forward face when the slidable door is moved from the closed position to the open position;

an intake duct provided on at least one of the forward face of the first intermodal container or the forward face of the second intermodal container, wherein the intake duct extends between an exterior of the compartment and an interior of the compartment;

an outlet duct provided on at least one of the aft face of the first intermodal container or the aft face of the second intermodal container, wherein the outlet duct extends between an exterior of the compartment and an interior of the compartment;

a retrieval system comprising at least one conveyor, wherein the retrieval system is mounted to the lower face of the second intermodal container, and wherein the retrieval system is configured for motion along a vertical axis with respect to the upper face of the first intermodal container and the lower face of the second intermodal container; and

a robotic arm mounted within the compartment, wherein the robotic arm is configured to automatically perform at least one servicing operation on an aerial vehicle disposed within the compartment.

19. The repair vehicle of claim 18, wherein each of the left face of the second intermodal container and the right face of the second intermodal container has a length of approximately fifty-three feet,

wherein each of the forward face and the aft face of the second intermodal container has a width of approximately eight-and-one-half feet,

wherein each of the left face of the second intermodal container, the right face of the second intermodal container, the forward face of the second intermodal container and the aft face of the second intermodal container has a height of approximately nine-and-one-half feet,

wherein the lower face of the second intermodal container is coupled to a well car,

wherein the well car is coupled to a locomotive, and

wherein each of the locomotive and the well car is configured for travel on a common pair of rails.

20. The repair vehicle of claim 18, wherein the at least one servicing operation is at least one of:

a battery replacement;

a motor repair;

a motor replacement;

or

a propeller replacement.