Unmanned aerial vehicle delivery systems

Patent metadata

Field	Value
Publication number	US-11884397-B2
Application number	US-202217726021-A
Country	US
Kind code	B2
Filing date	Apr 21, 2022
Priority date	Apr 14, 2022
Publication date	Jan 30, 2024
Grant date	Jan 30, 2024

Abstract

Certain embodiments of the present application relate to a method for releasing a parcel from an unmanned aerial vehicle (UAV). The parcel is engaged with a hook attached to a line suspended from the UAV. The method includes lowering the hook such that the parcel is at least partially supported by a target surface, thereby performing an attempt to release the parcel from the hook, performing at least one iteration of an iterative procedure. The iterative procedure includes raising the hook, and determining whether the line remains loaded. The iterative procedure further includes lowering the hook an additional time in response to a determination that the line remains loaded, thereby performing an additional attempt to release the parcel from the hook. The iterative procedure further includes performing an additional iteration of the iterative procedure in response to the number of attempts failing to satisfy a threshold number of attempts.

First claim

What is claimed is:

1. An unmanned aerial vehicle, comprising:
a control system;
at least one rotor operable to generate lift under control of the control system;
a line including a free portion hanging from the unmanned aerial vehicle;
a hook attached to the free portion of the line, wherein the hook is operable to engage a parcel to be delivered by the unmanned aerial vehicle; and
a load sensor operable to detect a loaded/unloaded state of the line, wherein the loaded/unloaded state is a loaded state when the parcel is suspended from the line, and wherein the loaded/unloaded state is an unloaded state when the parcel is disengaged from the hook;
wherein the control system is configured to cause lowering of the hook to a position in which the parcel is supported by a target surface, and to subsequently cause raising of the hook and determine the loaded/unloaded state of the line based upon information transmitted by the load sensor; and
wherein the control system is further configured to cause lowering of the hook an additional time in response to determining that the line remains in the loaded state.

2. The unmanned aerial vehicle of claim 1 , wherein the control system is further configured to count a number of attempts to release the parcel from the hook, each attempt comprising a lowering of the hook.

3. The unmanned aerial vehicle of claim 2 , further comprising a severing mechanism operable to sever the line in response to receiving a severing signal from the control system;
wherein the control system is further configured to transmit the severing signal to the severing mechanism in response to the number of attempts meeting or exceeding a threshold number of attempts.

4. The unmanned aerial vehicle of claim 1 , further comprising:
a spool, wherein a wound portion of the line is wound about the spool; and
a motor operable to rotate the spool in a line-raising direction in response to receiving a raise signal from the control system;
wherein to cause raising of the hook comprises transmitting the raise signal.

5. The unmanned aerial vehicle of claim 4 , further comprising a hook sensor;
wherein the control system is further configured to cause raising of the hook to a raised position in response to determining that the line is in the unloaded state; and
wherein to cause raising of the hook to the raised position comprises to transmit the raise signal, and to cease transmitting the raise signal in response to information generated by the hook sensor indicates that the hook has reached the raised position.

6. The unmanned aerial vehicle of claim 1 , further comprising:
a spool, wherein a wound portion of the line is wound about the spool; and
a motor operable to rotate the spool in a line-lowering direction in response to receiving a lower signal from the control system;
wherein to cause lowering of the hook comprises transmitting the lower signal.

7. The unmanned aerial vehicle of claim 1 , wherein the load sensor comprises a mechanical snap-action switch comprising an actuating arm, the actuating arm having a projected position and a depressed position.

8. The unmanned aerial vehicle of claim 7 , wherein the actuating arm is engaged with the line;
wherein the line places the actuating arm in the depressed position when the parcel is supported by the line; and
wherein the line permits the actuating arm to adopt the projected position when the parcel is not supported by the line.

9. The unmanned aerial vehicle of claim 7 , wherein the actuating arm is engaged with the line;
wherein the line places the actuating arm in the depressed position when tension in the line exceeds a threshold tension; and
wherein the line permits the actuating arm to adopt the projected position when the tension in the line is below the threshold tension.

10. A method of operating an unmanned aerial vehicle (UAV), the method comprising:
lowering a hook attached to a free portion of a line suspended from the UAV, wherein lowering the hook causes a parcel engaged with the hook to rest on a target surface;
with the parcel supported by the target surface, raising the hook and determining a loaded/unloaded state of the line; and
in response to determining that the line remains loaded, lowering the hook an additional time.

11. The method of claim 10 , further comprising:
counting a number of attempts to release the parcel from the hook, each attempt comprising a corresponding lowering of the hook; and
severing the line in response to the number of attempts satisfying a threshold number of attempts.

12. The method of claim 11 , further comprising lowering the hook a further time in response to the number of attempts failing to satisfy the threshold number of attempts.

13. The method of claim 10 , further comprising:
in response to determining that the line does not remain loaded, moving the hook to a raised position relative to the UAV.

14. The method of claim 13 , wherein moving the hook to the raised position comprises rotating a spool of the UAV in a winding direction to thereby decrease a length of a free portion of the line.

15. A method for releasing a parcel from an unmanned aerial vehicle (UAV), wherein the parcel is engaged with a hook that is attached to a line suspended from the UAV, the method comprising:
lowering the hook such that the parcel is at least partially supported by a target surface, thereby performing an attempt to release the parcel from the hook; and
performing at least one iteration of an iterative procedure, the iterative procedure comprising:
raising the hook;
determining whether the line remains loaded;
in response to a determination that the line remains loaded, lowering the hook an additional time, thereby performing an additional attempt to release the parcel from the hook; and
in response to the number of attempts failing to satisfy a threshold number of attempts, performing an additional iteration of the iterative procedure.

16. The method of claim 15 , wherein the iterative procedure further comprises:
in response to the number of attempts satisfying the threshold number of attempts, severing the line.

17. The method of claim 15 , wherein the iterative procedure further comprises:
in response to a determination that the line does not remain loaded, raising the hook to a raised position relative to the UAV.

18. The method of claim 17 , wherein raising the hook to the raised position comprises rotating a spool of the UAV in a winding direction to thereby wind the line further onto the spool.

19. The method of claim 18 , wherein raising the hook to the raised position further comprises ceasing rotation of the spool in response to a sensor of the UAV transmitting information indicating that the hook has reached the raised position.

20. The method of claim 15 , wherein lowering the hook comprises rotating a spool of the UAV in an unwinding direction to thereby increase a length of a free portion of the line.

Assignees

• Workhorse Group Inc

Inventors

• Parraga Rich
• Wagner James
• Mcdermott Phil
• Trovato Gianfranco
• Sams Joseph
• Beaulieu Mark
• Wei Wei

Classifications

• B64U10/13

  Flying platforms · CPC title

• B64U2101/60

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

• B64U30/20

  Rotors; Rotor supports · CPC title

• B64D1/22 Primary

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

• B64C39/024

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