Ground-based mobile maintenance facilities for unmanned aerial vehicles

• US 9,950,814 B1
• Filed: 07/24/2017
• Issued: 04/24/2018
• 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: Beckman, Brian C., Bjone, Nicholas
• Primary Examiner(s): Randazzo, Thomas
• Application Number:
  US15/658,080
• Time in Patent Office: 274 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 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 method for servicing an aerial vehicle by a maintenance vehicle, wherein the method comprises:

receiving, by a control system, a first message from the aerial vehicle, wherein the first message comprises information regarding a power level of a first battery of the aerial vehicle at a first time, wherein the aerial vehicle is traveling on a first course and at a first speed at the first time, and wherein the aerial vehicle is located at a first position at the first time;

determining, by the control system, that the power level of the first battery of the aerial vehicle is less than a predetermined threshold at the first time based at least in part on the first message;

determining, by the control system, a maximum range of the aerial vehicle with the first battery based at least in part on the power level of the first battery at the first time;

determining, by the control system, that a compartment of the maintenance vehicle includes a second battery, at least one robotic arm and at least one system for launching or retrieving aerial vehicles, wherein the maintenance vehicle is disposed on a well car coupled to a locomotive, wherein the maintenance vehicle is traveling on at least one set of rails at a second speed at the first time, and wherein the maintenance vehicle is located at a second position on the at least one set of rails at the first time;

selecting, by the control system, a rendezvous point on the at least one set of rails based at least in part on the first position, the maximum range and the second position;

selecting, by the control system, a third course and a third speed for the aerial vehicle from approximately the first position to the rendezvous point based at least in part on the first position and the rendezvous point, wherein the third course and the third speed are selected to cause the aerial vehicle to arrive at the rendezvous point at approximately a second time;

selecting, by the control system, a fourth speed for the maintenance vehicle based at least in part on the second position and the rendezvous point, wherein the fourth course and the fourth speed are selected to cause the maintenance vehicle to arrive at the rendezvous point at approximately the second time; and

prior to the second time,

transmitting, by the control system to the aerial vehicle, a second message comprising at least one instruction for causing the aerial vehicle to travel on the third course and at the third speed; and

transmitting, by the control system to the locomotive, a third message comprising at least one instruction for causing the locomotive to travel at the fourth speed.

2. The method of claim 1, wherein the maintenance vehicle comprises at least one intermodal carrier having a steel frame and at least one automatic door at an upper surface of the steel frame, and

wherein the steel frame has a width of approximately eight-and-one-half feet and a length of approximately fifty-three feet.

3. The method of claim 1, further comprising:

receiving, by the control system, a fourth message from the maintenance vehicle, wherein the fourth message comprises information regarding a position of the maintenance vehicle at approximately the second time;

determining, based at least in part on the fourth message, that the maintenance vehicle is at the rendezvous point at approximately the second time;

receiving, by the control system, a fifth message from the aerial vehicle, wherein the fifth message comprises information regarding a position of the aerial vehicle at approximately the second time;

determining that the aerial vehicle has arrived is at the rendezvous point at approximately the second time;

in response to determining that each of the maintenance vehicle and the aerial vehicle is at the rendezvous point at approximately the second time,

transmitting, by the control system to the maintenance vehicle, a sixth message comprising at least one instruction for;

causing the aerial vehicle to be retrieved within the compartment of the maintenance vehicle by the at least one system;

replacing the first battery with the second battery within the compartment by the at least one robotic arm; and

causing the aerial vehicle to launch from the compartment of the maintenance vehicle by the at least one system.

4. The method of claim 3, wherein the maintenance vehicle further comprises an automatic door on an upper face of the maintenance vehicle, and

wherein causing the aerial vehicle to be retrieved within the compartment of the maintenance vehicle by the at least one system further comprises:

operating the automatic door to open the compartment of the maintenance vehicle;

causing the aerial vehicle to enter the compartment via the automatic door;

determining that the aerial vehicle is within the compartment; and

in response to determining that the aerial vehicle is within the compartment,

operating the automatic door to close the compartment of the maintenance vehicle.

5. A method for servicing an unmanned aerial vehicle, the method comprising:

automatically operating at least one automatic door to a compartment of a maintenance vehicle, wherein the maintenance vehicle comprises a frame having a forward face, a left face, a right face and at least one automatic door on at least one of the forward face, the left face or the right face;

automatically causing the unmanned aerial vehicle to enter the compartment of a maintenance vehicle;

automatically conducting a servicing operation on the unmanned aerial vehicle by at least one robotic element within the compartment of the maintenance vehicle; and

automatically causing the unmanned aerial vehicle to depart from the compartment of the maintenance vehicle,

wherein the maintenance vehicle is in motion during at least a portion of at least one of;

the automatically operating the at least one automatic door to the compartment of the maintenance vehicle;

the automatically causing the unmanned aerial vehicle to enter the compartment of the maintenance vehicle;

the automatically conducting the servicing operation on the unmanned aerial vehicle within the compartment of the maintenance vehicle by the at least one robotic element;

or

the automatically causing the unmanned aerial vehicle to depart from the compartment of the maintenance vehicle.

6. The method of claim 5, wherein the servicing operation comprises at least one of:

a battery replacement;

a motor repair;

a motor replacement;

or

a propeller replacement.

7. The method of claim 5, further comprising:

determining, by a control system, a first position of the unmanned aerial vehicle at a first time;

identifying, by the control system, a plurality of maintenance vehicles configured to conduct the servicing operation on the unmanned aerial vehicle at the first time;

determining, by the control system, rendezvous points for the unmanned aerial vehicle and at least some of the plurality of maintenance vehicles;

determining, by the control system, for each of the at least some of the plurality of maintenance vehicles, at least one of;

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

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

or

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

selecting, by the control system, one of the plurality of 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 unmanned aerial vehicle is automatically caused to enter the compartment of the selected one of the plurality of maintenance vehicles at or near a rendezvous point of the selected one of the plurality of maintenance vehicles.

8. The method of claim 5, wherein the maintenance vehicle comprises a frame having a width of approximately eight-and-one-half feet and a length of approximately fifty-three feet.

9. The method of claim 5, wherein automatically causing the unmanned aerial vehicle to depart from the compartment of the maintenance vehicle comprises:

determining that the servicing operation is complete;

in response to determining that the servicing operation is complete,

determining that the unmanned aerial vehicle is not within the compartment of the maintenance vehicle; and

in response to determining that the unmanned aerial vehicle is not within the compartment of the maintenance vehicle,

automatically operating the at least one automatic door to the compartment of the maintenance vehicle.

10. The method of claim 5, wherein the at least one robotic element comprises at least one robotic arm or at least one cable robot.

11. The method of claim 5, wherein automatically causing the unmanned aerial vehicle to enter the compartment of the maintenance vehicle comprises at least one of:

automatically retrieving the unmanned aerial vehicle into the compartment by at least one system disposed within the compartment, wherein the at least one system is configured to retrieve or launch unmanned aerial vehicles;

or

transmitting at least a first instruction by the maintenance vehicle to the unmanned aerial vehicle, wherein the unmanned aerial vehicle is automatically caused to enter the compartment in response to the first instruction, and

wherein automatically causing the unmanned aerial vehicle to depart from the compartment of the maintenance vehicle comprises at least one of;

automatically launching the unmanned aerial vehicle from the compartment by the at least one system;

or

transmitting at least a second instruction by the maintenance vehicle to the unmanned aerial vehicle, wherein the unmanned aerial vehicle is automatically caused to depart from the compartment in response to the second instruction.

12. The method of claim 5, wherein the maintenance vehicle is coupled to at least one powered vehicle.

13. The method of claim 12, wherein the at least one powered vehicle is one of:

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

a container ship, wherein the maintenance vehicle is disposed on the container ship or on another object disposed on the container ship;

or

a road tractor, wherein the maintenance vehicle is disposed on a road trailer coupled to the road tractor.

14. The method of claim 12, wherein automatically causing the unmanned aerial vehicle to automatically enter the compartment of the maintenance vehicle comprises:

determining, by a control system at a first time, that the unmanned aerial vehicle requires the servicing operation;

determining, by the control system, an operational range of the unmanned aerial vehicle at the first time;

determining, by the control system, a first position of the unmanned aerial vehicle at the first time;

determining, by the control system, a second position of the maintenance vehicle at the first time;

selecting, by the control system, a rendezvous point for the servicing operation based at least in part on the first position, the second position and the operational range;

determining, by the control system, at least one of a first course or a first speed from the first position to the rendezvous point;

determining, by the control system, at least one of a second course or a second speed from the second position to the rendezvous point;

transmitting, by the control system, a first message to the unmanned aerial vehicle, wherein the first message comprises at least one instruction for causing the unmanned aerial vehicle to travel at the first course or the first speed from the first position to the rendezvous point; and

transmitting, by the control system, a second message to the unmanned aerial vehicle, wherein the second message comprises at least one instruction for causing the powered vehicle to travel at the second course or the second speed from the second position to the rendezvous point.

15. The method of claim 14, wherein determining, at the first time, that the unmanned aerial vehicle requires the servicing operation comprises:

determining, by the control system, that a power level of a battery aboard the unmanned aerial vehicle is below a predetermined threshold at the first time, and

wherein the operational range is determined based at least in part on the power level of the battery.

16. A repair vehicle comprising:

at least a first intermodal carrier having a compartment defined by an upper face, a forward face, a left face, a right face and an aft face;

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;

a retrieval system mounted within the compartment, wherein the retrieval system comprises 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.

17. The repair vehicle of claim 16, further comprising one of:

a locomotive, wherein the first intermodal carrier 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.

18. The repair vehicle of claim 16, 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, and

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

19. The repair vehicle of claim 16, further comprising:

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

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

20. The repair vehicle of claim 16, 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.