Mechanisms for lowering a payload to the ground from a UAV

• US 9,957,046 B2
• Filed: 09/21/2017
• Issued: 05/01/2018
• 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:
  US15/711,758
• Publication Number:
  US 20180022456A1
• Time in Patent Office: 222 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. An unmanned aerial vehicle (UAV) comprising:

a housing;

a line-deployment mechanism couplable 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 operable to couple the line to a payload, wherein the payload-release mechanism is configured to release the payload from the line; and

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 pre-determined variable deployment-rate profile to lower the payload to or near to the ground, wherein the variable deployment-rate profile specifies for the payload to initially descend at a pre-determined first rate and subsequently, during the descent, to decrease in speed from the first rate to a pre-determined second rate; and

subsequently determine that the payload is touching or is within a threshold distance from the ground, and responsively stop deployment of the line by the line-deployment mechanism and operate the payload-release mechanism to release the payload from the line.

2. The UAV of claim 1, 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.

3. The UAV of claim 1, wherein, before lowering the payload, the control system is configured to determine the variable deployment-rate profile based on one or more of (a) height, (b) wind, (c) environmental factors, and/or (d) payload characteristics.

4. The UAV of claim 3, wherein the determined variable deployment-rate profile indicates a gradual variation in deployment rate such that the implementation of the determined variable deployment-rate profile causes the payload to start a descent at a higher speed, and to gradually decrease in speed during the descent.

5. The UAV of claim 1, wherein the determined variable deployment-rate profile indicates a one or more distances and a deployment rate corresponding to each indicated distance.

6. The UAV of claim 1, 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.

7. The UAV of claim 1, 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.

8. The UAV of claim 1, wherein the control system is disposed within the housing.

9. The UAV of claim 1, wherein the control system is at least partially disposed within the payload.

10. The UAV of claim 1, wherein the line-deployment mechanism comprises a motorized braking system.

11. The UAV of claim 1, wherein the line-deployment mechanism comprises one or more friction pads.

12. 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;

after the variable deployment-rate profile being determined, the computing system causing a line-deployment mechanism to automatically operate according to the determined variable deployment-rate profile to lower the payload towards the ground, wherein the variable deployment-rate profile specifies for the payload to initially descend at a first rate and subsequently, during the descent, to decrease in speed from the first rate to continue descent at a second rate;

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 stopping deployment of the line by the line-deployment mechanism and causing the payload to be released from the line.

13. The method of claim 12, wherein determining the variable deployment-rate profile comprises determining two or more deployment rates and a corresponding line length for each deployment rate, 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.

14. The method of claim 13, wherein each deployment rate corresponds to an amount of friction to be applied to the line by the line-deployment mechanism.

15. The method of claim 12, 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.

16. The method of claim 12, 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.

17. The method of claim 12, wherein detecting the at least one release indication comprises determining that the payload is within a threshold distance from the ground.

18. The method of claim 12, wherein determining the variable deployment-rate profile further comprises determining at least one hovering height for the UAV.

19. 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, 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;

after the variable deployment-rate profile being determined, the computing system causing a line-deployment mechanism to automatically operate according to the determined variable deployment-rate profile to lower the payload towards the ground, wherein the variable deployment-rate profile specifies for the payload to initially descend at a first rate and subsequently, during the descent, to decrease in speed from the first rate to continue descent at a second rate;

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 stopping deployment of the line by the line-deployment mechanism and causing the payload to be released from the line.

20. The non-transitory computer readable medium of claim 19, wherein determining the variable deployment-rate profile comprises determining two or more deployment rates and a corresponding line length for each deployment rate, 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.