Systems and methods to interchangeably couple tool systems with unmanned vehicles

Patent metadata

Field	Value
Publication number	US-10246187-B2
Application number	US-201715699919-A
Country	US
Kind code	B2
Filing date	Sep 8, 2017
Priority date	Sep 9, 2016
Publication date	Apr 2, 2019
Grant date	Apr 2, 2019

Abstract

In some embodiments, unmanned aerial task systems are provided that include a plurality of unmanned aerial vehicles (UAV) each comprising: a UAV control circuit; a motor; propulsion system; and a universal coupler configured to interchangeably couple with and decouple from one of multiple different tool systems each having different functions to be put into use while carried by a UAV, wherein a coupling system of the universal coupler is configured to secure a tool system with the UAV and enable a communication connection between a communication bus and the tool system, and wherein the multiple different tool systems comprise at least a package securing tool system configured to retain and enable transport of a package while being delivered, and a sensor tool system configured to sense a condition and communicate sensor data of the sensed condition to the UAV control circuit over the communication bus.

First claim

What is claimed is:

1. An unmanned aerial task system, comprising: a plurality of unmanned aerial vehicles (UAV) each comprising: a UAV control circuit; a motor; and propulsion system coupled with the motor and configured to enable the UAV to move; a universal coupler comprising a communication bus communicatively coupled with the UAV control circuit and a coupling system, wherein the universal coupler is configured to interchangeably couple and decouple between two or more of multiple different tool systems that are each configured to perform at least a different one of multiple different functions configured to be put into use while carried by a first UAV, wherein the coupling system is configured to secure one of the multiple tool systems with the first UAV and enable a communication connection between the communication bus and the one of the multiple tool systems, wherein the UAV control circuit is configured to implement control to enable the coupling system to engage and disengage any one of the multiple different tool systems to enable the first UAV to switch between the two or more of the multiple different tool systems and enable implementation of the respective one of the different functions provided by the two or more of the multiple different tools systems, and wherein the multiple different tool systems comprise at least a package securing tool system configured to retain and enable transport of a package while being delivered, and a sensor tool system configured to sense a condition and communicate sensor data of the sensed condition to the UAV control circuit over the communication bus.

2. The system of claim 1 , wherein the universal coupler of at least the first UAV of the multiple UAVs further comprises:
a first set of permanent magnets positioned to interact with a second set of permanent magnets of a first tool system, of the multiple tool systems, being cooperated with the universal coupler and configured to align the first tool system with the universal coupler; and
a set of at least one electromagnet positioned relative to at least a first permanent magnet of the first set of permanent magnets, wherein the UAV control circuit is configured to activate the set of at least one electromagnet to overcome a magnetic force relative to at a first permanent magnet and decouple the first tool system from the first UAV.

3. The system of claim 1 , wherein the universal coupler of at least the first UAV of the multiple UAVs further comprises at least a first alignment structure configured to engage and cooperate with at least a second alignment structure of a first tool system, of the multiple tool systems, as at least one of the first tool system and the first UAV is moved to cause the secure coupling between the first UAV and the first tool system.

4. The system of claim 3 , wherein the first alignment structure comprises a generally cone shaped cavity, and the second alignment structure comprises a generally cone shaped protrusion.

5. The system of claim 1 , wherein the first UAV further comprises a gripping system that is configured to be extended to cooperate with a grip feature of a first tool system, of the multiple tool systems, and configured to be retracted to secure and couple the first tool system with the UAV.

6. The system of claim 5 , wherein the universal coupler of at least the first UAV of the multiple UAVs further comprises at least a first extension configured to engage a stop element formed in a mating surface of the first tool system aligning and inhibiting rotation of the first tool system while the gripping system is retracted a threshold distance.

7. The system of claim 1 , further comprising:
multiple mounting stations each configured to support at least one of the multiple tool systems at least while being cooperated with a UAV, wherein the universal coupler of at least the first UAV further comprises at least a first alignment structure, and each of the multiple mounting stations comprises at least a second alignment structure configured to cooperate with at least the first alignment structure of the universal coupler as at least one of the first UAV and a first mounting station is moved to cause the cooperation between the first alignment structure and the second alignment structure to align the first tool system enabling secure coupling between the first UAV and the first tool system.

8. The system of claim 1 , wherein the universal coupler of the first UAV is further configured to temporarily couple with another universal coupler of a second UAV and maintain a position of the first UAV relative to the second UAV while the first UAV and second UAV are in motion.

9. A method of performing multiple different tasks through multiple unmanned aerial vehicles (UAV) each comprising a UAV control circuit and a universal coupler, comprising:
a UAV control circuit of a first UAV performing the following:
implementing, through the UAV control circuit of the first UAV of a plurality of UAVs, an instruction to cause the first UAV to align with and temporarily couple with a first tool system of multiple different tool systems that are each configured to perform a different function of multiple different functions configured to be put into use while carried by one of the plurality of UAVs, wherein the first tool system comprises one of a package securing tool system configured to retain and enable transport of a package while being delivered, and a sensor tool system configured to sense a condition and communicate sensor data of the sensed condition to the UAV control circuit;
controlling, in accordance with the instruction to cause the UAV to align with and temporarily couple with the first UAV, a propulsion system of the first UAV and aligning a universal coupler of the first UAV with the first tool system, wherein the universal coupler is configured to repeatedly and interchangeably couple and decouple from one between two or more of the multiple different tool systems to enable the first UAV to switch between the two or more of the multiple different tool systems and enable implementation of the respective one of the different functions provided by the two or more of the multiple different tool systems; and
causing a coupling system of the universal coupler to securely couple with the first tool system and enable a communication connection between a communication bus of the universal coupler and the first tool system.

10. The method of claim 9 , wherein the aligning the universal coupler with the first tool system comprises controlling the movement of the first UAV such that a first set of permanent magnets of the first UAV are in a threshold distance of a second set of permanent magnets of the first tool system and enabling a magnetic interaction between the first set of permanent magnets and the second set of permanent magnets; and
causing a decoupling the first UAV from the first tool system comprising activating a set of at least one electromagnet positioned relative to a first permanent magnet of the first set of permanent magnets to overcome a magnetic force relative to at least the first permanent magnet.

11. The method of claim 9 , wherein the aligning of the universal coupler with the first tool system comprises engaging at least a first alignment structure with at least a second alignment structure of the first tool system as at least one of the first tool system and the first UAV is moved, and causing the coupling between the first UAV and the first tool system.

12. The method of claim 11 , wherein the engaging the first alignment structure with the second alignment structure further comprises causing a generally cone shaped cavity of the first alig

Assignees

• Walmart Apollo Llc

Inventors

• Cantrell Robert L
• Thompson John P
• Winkle David C
• Atchley Michael D
• High Donald R
• Mattingly Todd D
• Mchale Brian G
• O'Brien John J
• Simon John F
• Jones Nathan G
• Taylor Robert C

Classifications

• B64D1/10

  Stowage arrangements for the devices in aircraft · CPC title

• B64F1/12

  for anchoring aircraft · CPC title

• B64U2201/104

  using satellite radio beacon positioning systems, e.g. GPS · CPC title

• B64D1/22 Primary

  Taking-up articles from earth's surface · CPC title

• B64C39/024 Primary

  of the remote controlled vehicle type, i.e. RPV · CPC title