In flight transfer of packages between aerial drones

• US 9,889,933 B2
• Filed: 01/09/2017
• Issued: 02/13/2018
• Est. Priority Date: 01/04/2016
• Status: Active Grant

• Current Assignee: Maplebear Inc.
• Original Assignee: International Business Machines Corporation
• Inventors: Beaman, Brian S., Kline, Eric V., Rakshit, Sarbajit K.
• Primary Examiner(s): Black, Thomas G
• Assistant Examiner(s): HUYNH, LUAT T
• Application Number:
  US15/401,475
• Publication Number:
  US 20170190422A1
• Time in Patent Office: 400 Days
• Field of Search: 701 3, 701 11, 244 2, 244 5, 244 121, 2441371, 244135 A
• 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 1/00 Dropping, ejecting, releasing, or receiving articles, liquids, or the like, in flight with respect to weapon sights devices F41G takes precedence, parachutes per se B64D17/00; ejectable seats B64D25/10; ejectable capsules B64D25/12; refuelling during flight B64D39/00; launching apparatus for projecting projectiles or missiles F41F1/00, F41F7/00; rocket or torpedo launchers F41F3/00
• CPC Class Codes: B64U 10/10 Rotorcrafts
• 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 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 2201/102 adapted for flying in formations
• CPC Class Codes: B64U 30/20 Rotors; Rotor supports
• CPC Class Codes: B64U 50/13 using external fans or propellers

Abstract

Aspects include a system for transferring a payload between drones. The system includes a first drone having a first member and a first controller, the first member having a first coupling device on one end, the first member being configured to carry a payload, the first controller being configured to change a first altitude and orientation of the first drone. A second drone includes a second member and controller, the second member having a second coupling device on one end, the second member being configured to receive the payload, the second controller being configured to change a second altitude and orientation of the second drone. The controllers cooperate to change at least one of first and second orientations to operably engage the first coupling device to the second coupling device for transferring the payload from the first member to the second member.

Claims

1. A system comprising:

a first aerial drone having a first transfer member and a first controller, the first transfer member having a first coupling device on one end, the first transfer member being configured to carry a payload, the first controller including a processor configured to change a first altitude and first orientation of the first aerial drone;

a second aerial drone having a second transfer member and a second controller, the second transfer member having a second coupling device on one end, the second transfer member being configured to receive the payload, the second controller including a processor configured to change a second altitude and a second orientation of the second aerial drone; and

wherein the first controller and the second controller cooperate to change at least one of the first orientation and the second orientation to operably engage the first coupling device to the second coupling device for transferring the payload from the first transfer member to the second transfer member while the first aerial drone and second drone are in-flight.

2. The system of claim 1 wherein the first transfer member is a first arm extending from the first aerial drone and the second transfer member is a second arm extending from the second aerial drone.

3. The system of claim 2 further comprising a first tether slidably coupled on a first end to the first arm and coupled on an opposing end to the payload, wherein the first end is configured to slide from the first arm to the second arm when the first arm is engaged with the second arm.

4. The system of claim 3 wherein the first controller is further configured to change the first orientation and the second controller is further configured to change the second orientation to slide the first tether from the first arm to the second arm under an influence of gravity.

5. The system claim 2 wherein:

the first coupling device is a first electromagnet and the second coupling device is a second electromagnet; and

the first controller and the second controller cooperate to change a first polarity of the first electromagnet and a second polarity of the second electromagnet to engage and disengage the first electromagnet and the second electromagnet.

6. The system of claim 1 wherein:

the first aerial drone includes a movable first counterbalance member;

the second aerial drone includes a movable second counterbalance member;

the first controller is operably coupled to change a first position of the first counterbalance member in response to the payload transferring from the first aerial drone to the second aerial drone to maintain the first aerial drone at a first predetermined orientation; and

the second controller is operably coupled to change a second position of the second counterbalance member in response to the payload transferring from the first aerial drone to the second aerial drone to maintain the second aerial drone at a second predetermined orientation.

7. The system of claim 6 wherein the first counterbalance member is moveable between a first retracted position and a first extended position, wherein the first retracted position is closer to a center of the first aerial drone than the first extended position.

8. The system of claim 7 wherein the second counter balance member is movable between a second retracted position and a second extended position, wherein the second retracted position is closer to a center of the second aerial drone than the second extended position.

9. The system of claim 6, wherein the first counterbalance member includes a first plurality of ballast tanks and a first fluid disposed in at least one of the first plurality of ballast tanks.

10. The system of claim 9, wherein the second counterbalance member includes a second plurality of ballast tanks and a second fluid disposed in at least one of the second plurality of ballast tanks.

11. An aerial drone comprising:

a fuselage;

a plurality of thrust producing devices coupled to the fuselage;

a transfer member coupled to the fuselage, the transfer member configured to move a payload to a second aerial drone; and

a controller operably coupled to the plurality of thrust producing devices, the controller including a processor that is responsive to executable computer instructions to adjust the plurality of thrust producing devices to change an orientation of the transfer member to move the payload to a second aerial drone.

12. The system of claim 11 further comprising:

a movable counterbalance member; and

wherein the controller is operably coupled to change a position of the counterbalance member in response to the payload moving to the second aerial drone to maintain the aerial drone at a predetermined orientation.

13. The system of claim 12 wherein the counterbalance member is moveable between a retracted and an extended position, wherein the retracted position is closer to a center of the aerial drone than the extended position.

14. The system of claim 11, wherein the counterbalance member includes a plurality of ballast tanks and a fluid disposed in at least one of the plurality of ballast tanks.

15. A method of in-flight transferring of a payload between aerial drones, the method comprising:

providing a first aerial drone having a first transfer member;

providing a second aerial drone having a second transfer member;

changing at an orientation of at least one of the first aerial drone and the second aerial drone to position the first transfer member adjacent the second transfer member; and

moving the payload from the first aerial drone to the second aerial drone.

16. The method of claim 15, wherein:

the first aerial drone includes a movable first counterbalance member;

the second aerial drone includes a movable second counterbalance member.

17. The method of claim 16, further comprising:

changing a first position of the first counterbalance member to maintain the first aerial drone at a first predetermined orientation in response to the payload transferring from the first aerial drone to the second aerial drone; and

changing a second position of the second counterbalance member to maintain the second aerial drone at a second predetermined orientation in response to the payload transferring from the first aerial drone to the second aerial drone.

18. The method of claim 17, wherein the changing of the first position includes moving the counterbalance between a first retracted and a first extended position, wherein the first retracted position is closer to a center of the first aerial drone than the first extended position.

19. The method of claim 18, wherein the changing of the second position includes moving the second counter balance member between a second retracted position and a second extended position, wherein the second retracted position is closer to a center of the second aerial drone than the second extended position.

20. The method of claim 17, further comprising:

wherein the changing of a first position includes moving a first fluid between a first plurality of ballast tanks operably coupled to the first aerial drone; and

wherein the changing of the second position includes moving a second fluid between a second plurality of ballast tanks operably coupled to the second aerial drone.