Robotic vehicle separated payload detection and response

Patent metadata

Field	Value
Publication number	US-10948910-B2
Application number	US-201816115934-A
Country	US
Kind code	B2
Filing date	Aug 29, 2018
Priority date	Sep 7, 2017
Publication date	Mar 16, 2021
Grant date	Mar 16, 2021

Abstract

Various embodiments include methods, devices, and systems of transporting a payload using a robotic vehicle. The methods may determine whether a payload has separated from the robotic vehicle and take a corrective action in response to determining that the payload is not securely held by the robotic vehicle.

First claim

What is claimed is:

1. A method of transporting a payload using a robotic vehicle, comprising:
determining, by a processor, during a navigation of the robotic vehicle to a destination, whether the payload has separated from the robotic vehicle; and
taking, by the processor, during the navigation of the robotic vehicle to the destination, a corrective action in response to determining that the payload has separated from the robotic vehicle,
wherein the determining of whether the payload has separated from the robotic vehicle and the taking of the corrective action in response to the determining are performed by the processor repeatedly until a landing of the robotic vehicle at the destination.

2. The method of claim 1 , wherein taking the corrective action includes activating, by the processor, a weight adjustment device that changes a position of at least one payload that has not separated from the robotic vehicle.

3. The method of claim 1 , wherein taking the corrective action includes activating, by the processor, a payload adjustment mechanism to adjust a position of other payload carried by the robotic vehicle.

4. The method of claim 1 , wherein taking the corrective action includes changing, by the processor, a navigation plan of the robotic vehicle.

5. The method of claim 4 , wherein the navigation plan controls at least one flight characteristic selected from a group including slowing-down, reducing maneuverability, reducing top speed, limiting acceleration, reducing altitude, avoiding dangerous recovery zones, avoiding impractical recovery zones, avoiding a route through or over an occupied area, and avoiding one or more properties.

6. The method of claim 1 , wherein taking the corrective action comprises:
transmitting, by the processor, a message indicating the payload has separated.

7. The method of claim 6 , wherein the message indicating the payload has separated identifies a last known location the robotic vehicle was confirmed to be just before the payload was determined to have separated therefrom.

8. The method of claim 6 , wherein the message indicating the payload has separated identifies a location of the robotic vehicle when the payload was determined to have separated therefrom.

9. The method of claim 6 , wherein the message indicating the payload has separated includes a request for assistance.

10. The method of claim 1 , wherein taking the corrective action comprises:
activating, by the processor, at least one sensor for finding the payload that has separated from the robotic vehicle.

11. The method of claim 1 , wherein taking the corrective action comprises:
controlling, by the processor, the robotic vehicle to initiate a search pattern for finding the payload that has separated from the robotic vehicle.

12. The method of claim 1 , wherein taking the corrective action comprises:
determining, by the processor, a parking location for the robotic vehicle to park within a predetermined range of the payload that has separated from the robotic vehicle; and
directing, by the processor, the robotic vehicle to park at the determined parking location.

13. The method of claim 1 , wherein taking the corrective action comprises:
parking, by the processor, the robotic vehicle as an indicator of a location of the payload determined to have separated therefrom.

14. The method of claim 13 , wherein parking the robotic vehicle includes parking on or near the payload determined to have separated therefrom.

15. The method of claim 1 , wherein taking the corrective action comprises:
controlling, by the processor, the robotic vehicle to hover or navigate within line-of-sight of the payload determined to have separated from the robotic vehicle.

16. The method of claim 1 , wherein taking the corrective action comprises:
initiating, by the processor, a search pattern to locate the payload determined to have separated from the robotic vehicle.

17. The method of claim 1 , wherein taking the corrective action comprises:
activating, by the processor, a sensor to provide surveillance of the separated payload or an area in which the payload is determined to have separated from the robotic vehicle.

18. The method of claim 1 , wherein the robotic vehicle is an aerial robotic vehicle.

19. A robotic vehicle, comprising:
a payload securing mechanism; and
a processor coupled to the payload securing mechanism and configured with processor-executable instructions to:
determine, during a navigation of the robotic vehicle to a destination, whether a payload has separated from the robotic vehicle; and
take, during the navigation of the robotic vehicle to the destination, a corrective action in response to the determination that the payload has separated from the robotic vehicle,
wherein the processor is further configured with processor-executable instructions to repeatedly determine whether the payload has separated from the robotic vehicle and take the corrective action in response to the determination until a landing of the robotic vehicle at the destination.

20. The robotic vehicle of claim 19 , wherein the processor is further configured with processor-executable instructions to take a corrective action that includes the processor activating a weight adjustment device that changes a position of at least one payload that has not separated from the robotic vehicle.

21. The robotic vehicle of claim 19 , wherein the processor is further configured with processor-executable instructions to take a corrective action that includes the processor activating a payload adjustment mechanism to adjust a position of other payload carried by the robotic vehicle.

22. The robotic vehicle of claim 19 , wherein the processor is further configured with processor-executable instructions to take a corrective action that includes changing a navigation plan of the robotic vehicle.

23. The robotic vehicle of claim 22 , wherein the processor is further configured with processor-executable instructions such that the navigation plan controls at least one navigation characteristic selected from a group including slowing-down, reducing maneuverability, reducing top speed, limiting acceleration, reducing altitude, avoiding dangerous recovery zones, avoiding impractical recovery zones, avoiding a route through or over an occupied area, and avoiding one or more properties.

24. The robotic vehicle of claim 19 , wherein the processor is further configured with processor-executable instructions to take a corrective action that includes transmitting a message indicating the payload has separated.

25. The robotic vehicle of claim 19 , wherein the processor is further configured with processor-executable instructions to take a corrective action that includes parking the robotic vehicle as an indicator of a location of the payload determined to have separated therefrom.

26. The robotic vehicle of claim 19 , wherein the processor is further configured with processor-executable instructions to take a corrective action that includes controlling the robotic vehicle to hover or navigate within line-of-sight of the payload determined to have separated from the robotic vehicle.

27. The robotic vehicle of claim 19 , wherein the processor is further configured with processor-executable instructions to take a corrective action that includes initiating a search pattern to locate the payload determined to have separated

Assignees

• Qualcomm Inc

Inventors

• Taveira Michael Franco
• Maheshwari Ankit
• Maheshwari Ankur
• Agrawal Shruti

Classifications

• B64U2201/10

  autonomous, i.e. by navigating independently from ground or air stations, e.g. by using inertial navigation systems [INS] · CPC title

• B64U2101/60

  for transporting passengers; for transporting goods other than weapons · CPC title

• B64U10/13

  Flying platforms · CPC title

• B64U40/20

  for in-flight adjustment of the base configuration · CPC title

• B64C17/02

  by gravity or inertia-actuated apparatus · CPC title