Unmanned aerial vehicle sling load

Patent metadata

Field	Value
Publication number	US-11459103-B2
Application number	US-202016784908-A
Country	US
Kind code	B2
Filing date	Feb 7, 2020
Priority date	Feb 7, 2020
Publication date	Oct 4, 2022
Grant date	Oct 4, 2022

Abstract

Example methods and systems for coupling and controlling transport of cargo using an unmanned aerial vehicle (UAV) are provided, comprising coupling at least one electronically-controllable attachment device positioned on an underside of the UAV to a sling cable, the sling cable being secured to the cargo. The UAV flies to a predetermined area above the cargo, and responsive to determining that the UAV is positioned within the predetermined area, the UAV elevates above the initial operating height to lift the cargo and navigates to a target location.

First claim

What is claimed is:

1. A method for transporting sling-loaded cargo using an unmanned aerial vehicle (UAV), the method comprising:
receiving instructions at the UAV to transport the cargo to a target location;
coupling at least one electronically-controllable attachment device positioned below an underside of the UAV to a first portion of a sling cable, the sling cable having a predetermined length and a second portion of the sling cable being secured to the cargo;
operating at least four laterally-arranged rotors to cause the UAV to take-off and navigate to (i) a position within a predetermined area above the cargo and (ii) an initial operating height, the initial operating height being less than the predetermined length of the cable such that the UAV does not support the cargo;
determining that the UAV is positioned within the predetermined area above the cargo; and
responsive to determining that the UAV is positioned within the predetermined area, operating the at least four laterally-arranged rotors to elevate the UAV above the initial operating height to lift the cargo and controlling the UAV to navigate to the target location.

2. The method of claim 1 , further comprising:
determining that the cargo is at the target location;
responsive to the determination that the cargo is at the target location, releasing the first portion of the cable from the at least one attachment device; and
proceeding to fly to and land at the target location.

3. The method of claim 1 , further comprising:
defining a mission profile that comprises a plurality of predetermined contingent landing sites along a travel path to the target location, wherein the predetermined contingent landing sites each comprise a cargo recovery system.

4. The method of claim 3 , further comprising:
determining to execute a contingent landing at one of the plurality of predetermined contingent landing sites; and
responsive to the determination, actuating the at least one attachment device to open a closure on the at least one attachment device, thereby decoupling the first portion of the cable from the at least one attachment device; and
proceeding to fly to and land at the contingent landing site.

5. The method of claim 1 , further comprising:
receiving information from the at least one attachment device indicating whether the at least one attachment device is open or closed.

6. The method of claim 1 , further comprising:
detecting, via at least one sensor, an angular position of the cargo relative to the underside of the UAV, wherein the at least one sensor comprises a rotary variable inductance transducer (RVIT).

7. The method of claim 6 , further comprising:
calculating an angular position of the cargo relative to the UAV based on an angle of the cable.

8. The method of claim 1 , wherein the UAV is initially adjacent the cargo on land, and wherein operating the at least four laterally-arranged rotors to elevate the UAV to an initial operating height comprises elevating the UAV initially vertically in an upward direction followed by flying the UAV in a horizontal or angled direction toward the cargo, such that the UAV hovers above the cargo at the initial operating height.

9. The method of claim 1 , wherein the predetermined length of the sling cable is at least 25 feet.

10. A transport system comprising:
a UAV having at least four laterally-arranged rotors;
one or more sensors on the UAV configured to detect an angular position of cargo relative to an underside of the UAV;
an attachment device affixed to the underside of the UAV and configured to releasably couple to a first portion of a cable having a predetermined length and being secured to the cargo at a second portion of the cable; and
one or more processors configured to execute instructions stored in memory to perform functions of:
opening a retaining latch on the attachment device to receive the first portion of the cable; and
closing the retaining latch to couple the first portion of the cable to the attachment device;
operating the at least four laterally-arranged rotors to cause the UAV to elevate to an initial operating height, the initial operating height being less than the predetermined length of the cable such that that UAV does not support the cargo;
determining, via the one or more sensors, that the UAV is positioned within a predetermined region above the cargo; and
responsive to determining that the UAV is positioned within the predetermined region above the cargo, operating the at least four laterally-arranged rotors to elevate the UAV to a second height that is greater than the initial operating height and controlling the UAV to navigate to a target location.

11. The transport system of claim 10 , wherein the one or more sensors comprises a rotary variable inductance transducer (RVIT).

12. The transport system of claim 11 , wherein a position of the cargo is calculated relative to the UAV based on an angular position of the cable.

13. The transport system of claim 10 , the functions further comprising:
determining that the UAV is at the target location and receiving a release command; and
responsive to the determination that the UAV is at the target location and receiving the release command, releasing the first portion of the cable from the attachment device.

14. The transport system of claim 10 , the functions further comprising:
defining a mission profile that comprises a plurality of predetermined contingent landing sites along a travel path to the target location, wherein the predetermined contingent landing sites each comprise a cargo recovery system.

15. The transport system of claim 14 , the functions further comprising:
determining to execute a contingent landing at one of the plurality of predetermined contingent landing sites;
responsive to the determination, releasing the cargo; and
proceeding to fly to and land at a contingent landing site of the plurality of predetermined contingent landing sites.

16. The transport system of claim 10 , wherein the predetermined length is at least 25 feet.

17. The transport system of claim 10 , wherein the attachment device is configured to send signals to the one or more processors indicating whether the attachment device is open or closed.

18. The transport system of claim 10 , wherein the attachment device is coupled to one or more legs that are attached to the underside of the UAV.

19. The transport system of claim 10 , wherein the cable is a sling cable comprising a plurality of lateral arresting cable portions between the first portion and the second portion which serve to connect to another cable to prevent interference of the sling cable with a landing gear of the UAV.

20. A control system for controlling transport of a cargo, the control system comprising one or more processors configured to execute instructions stored in memory to perform functions of:
coupling at least one electronically-controllable attachment device positioned below an underside of a UAV to a first portion of a sling cable;
operating at least four laterally-arranged rotors to cause the UAV to take-off and navigate to (i) a position within a predetermined area above the cargo, and (ii) an initial operating height, the initial operating height being less than a predetermined length of the sling cable such that the UAV does not support the cargo;
determining that the UAV is positioned within a predetermined area above the cargo; and
responsive to determining that the UAV is positioned within a predetermined ar

Assignees

• Boeing Co

Inventors

• Jarvis Joshua B
• Lacy Roger W
• Gray Brian Charles
• Mason David H
• Mikita Douglas
• Rogers Justin Fowler
• Brown Brandon
• Hathaway Eric
• Schulze Eric J
• Seidel Corey

Classifications

• B64D1/12

  Releasing · CPC title

• B64D9/00 Primary

  Equipment for handling freight; Equipment for facilitating passenger embarkation or the like · CPC title

• B64D1/22 Primary

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

• G08G5/0069

  Physics · mapped topic

• B64C2201/128

  Operations & Transport · mapped topic