Mechanisms for lowering a payload to the ground from a UAV

• US 9,783,297 B2
• Filed: 05/05/2016
• Issued: 10/10/2017
• Est. Priority Date: 08/26/2013
• Status: Active Grant

• Current Assignee: Wing Aviation LLC (Alphabet Inc.)
• Original Assignee: X Development LLC (Alphabet Inc.)
• Inventors: Patrick, William Graham, Burgess, James Ryan, Conrad, Andrew
• Primary Examiner(s): O'Hara, Brian M
• Application Number:
  US15/147,766
• Publication Number:
  US 20160244165A1
• Time in Patent Office: 523 Days
• CPC Class Codes: B64C 39/024 of the remote controlled vehicle type, i.e. RPV
• CPC Class Codes: B64D 1/12 Releasing
• CPC Class Codes: B64D 1/22 Taking-up articles from earth's surface
• 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 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 2201/10 autonomous, i.e. by navigating independently from ground or air stations, e.g. by using inertial navigation systems [INS]
• CPC Class Codes: B64U 2201/104 using satellite radio beacon positioning systems, e.g. GPS
• CPC Class Codes: B64U 30/10 Wings
• CPC Class Codes: B64U 30/26 Ducted or shrouded rotors
• CPC Class Codes: B64U 50/14 ducted or shrouded
• CPC Class Codes: B64U 70/90 Launching from or landing on platforms

Abstract

Embodiments described herein may help to provide medical support via a fleet of unmanned aerial vehicles (UAVs). An illustrative UAV may include a housing, a payload, a line-deployment mechanism coupled to the housing and a line, and a payload-release mechanism that couples the line to the payload, wherein the payload-release mechanism is configured to release the payload from the line. The UAV may further include a control system configured to determine that the UAV is located at or near a delivery location and responsively: operate the line-deployment mechanism according to a variable deployment-rate profile to lower the payload to or near to the ground, determine that the payload is touching or is within a threshold distance from the ground, and responsively operate the payload-release mechanism to release the payload from the line.

Claims

1. A method comprising:

determining, by a computing system, a variable deployment-rate profile for deployment of a payload from an unmanned aerial vehicle (UAV), wherein a line couples the payload to the UAV;

the computing system causing a line-deployment mechanism to operate according to the determined variable deployment-rate profile to lower the payload towards the ground, wherein the variable deployment-rate profile is such that the deployment rate of the line varies while the payload is being lowered to the ground;

detecting, by the computing system, at least one release indication that indicates that the payload is at or near to the ground; and

in response to detecting the at least one release indication, the computing system causing the payload to be released from the line.

2. The method of claim 1, wherein determining the variable deployment-rate profile comprises determining two or more deployment rates and a corresponding line length for each deployment rate.

3. The method of claim 2, wherein each deployment rate corresponds to an amount of friction to be applied to the line by the line-deployment mechanism,

wherein each friction level indicates how much friction should be applied to the line when the line has been deployed to the corresponding line length.

4. The method of claim 1, wherein determining the variable deployment-rate profile comprises determining the variable deployment-rate profile based on one or more of (a) a height of the UAV, (b) wind data, (c) environmental data, and/or (d) payload characteristics.

5. The method of claim 1, wherein detecting the at least one release indication that the payload has been lowered to a release point comprises determining that the payload is touching the ground.

6. The method of claim 1, wherein detecting the at least one release indication comprises determining that the payload is within a threshold distance from the ground.

7. The method of claim 1, wherein detecting the at least one release indication comprises determining that the payload is touching the ground.

8. The method of claim 1, wherein determining the variable deployment-rate profile further comprises determining at least one hovering height for the UAV.

9. The method of claim 1, further comprising:

while the payload is being lowered towards the ground, receiving additional data from one or more sensors of the UAV; and

determining, based on the additional data, wherein to adjust or deviate from the determined variable deployment-rate profile.

10. A non-transitory computer readable medium having stored therein instructions executable by a computing device to cause the computing device to perform functions comprising:

determining a variable deployment-rate profile for deployment of a payload from an unmanned aerial vehicle (UAV), wherein a line couples the payload to the UAV;

causing a line-deployment mechanism to operate according to the determined variable deployment-rate profile to lower the payload towards the ground, wherein the variable deployment-rate profile is such that the deployment rate of the line varies while the payload is being lowered to the ground;

detecting at least one release indication that indicates that the payload is at or near to the ground; and

in response to detecting the at least one release indication, causing the payload to be released from the line.

11. The non-transitory computer readable medium of claim 10, wherein determining the variable deployment-rate profile comprises determining two or more deployment rates and a corresponding line length for each deployment rate.

12. The non-transitory computer readable medium of claim 11, wherein detecting the at least one release indication comprises determining that the payload is within a threshold distance from the ground, wherein each friction level indicates how much friction should be applied to the line when the line has been deployed to the corresponding line length.

13. The non-transitory computer readable medium of claim 10, wherein detecting the at least one release indication comprises determining that the payload is touching the ground.

14. An unmanned aerial vehicle (UAV) comprising:

a housing;

a payload;

a line-deployment mechanism coupled to the housing and a line, wherein the line-deployment mechanism is controllable to vary a deployment rate of the line;

a payload-release mechanism that releasably couples the line to the payload; and

a control system configured to determine that the UAV is hovering above a delivery location and responsively;

automatically operate the line-deployment mechanism according to a variable deployment-rate profile to lower the payload to or near to the ground, wherein operation according to the variable deployment-rate profile causes a deployment rate of the line to vary while the payload is being lowered to the ground; and

determine that the payload is touching or is within a threshold distance from the delivery location; and

responsively operate the payload-release mechanism to release the payload from the line.

15. The UAV of claim 14, wherein the line-deployment mechanism is operable to secure the line during a flight to a delivery location, such that the payload is held at or near the housing during the flight.

16. The UAV of claim 14, wherein the control system is further configured to determine a variable deployment-rate profile before operating the line-deployment mechanism to lower the payload to the ground.

17. The UAV of claim 14, wherein, before lowering the payload, the control system is configured to determine the variable deployment-rate profile based on at least one or more of (a) height, (b) wind, (c) environmental factors, and (d) payload characteristics.

18. The UAV of claim 14, wherein the variable deployment-rate profile specifies one or more distances and a deployment rate corresponding to each of said one or more distances.

19. The UAV of claim 14, wherein the UAV further comprises a line-tension sensor, and wherein the control system is configured to:

determine a measure of tension on the line based on data from the line-tension sensor; and

determine that the payload is touching the ground based at least in part on determination that the measure of tension on the line is less than a threshold.

20. The UAV of claim 14, wherein the payload comprises at least one proximity sensor arranged on the payload so as to provide data that is indicative of a distance between the payload and the ground, and wherein the control system is configured to:

determine that the payload is touching the ground based at least in part on the data provided by the at least one proximity sensor.