UAV autoloader systems and methods

Patent metadata

Field	Value
Publication number	US-12524017-B2
Application number	US-202318208167-A
Country	US
Kind code	B2
Filing date	Jun 9, 2023
Priority date	Jun 9, 2022
Publication date	Jan 13, 2026
Grant date	Jan 13, 2026

Abstract

A method includes determining, by an unmanned aerial vehicle (UAV), a position of an autoloader device for the UAV; based on the determined position of the autoloader device, causing the UAV to follow a descent trajectory in which the UAV moves from a starting position to a first nudged position in order to deploy a tethered pickup component of the UAV to a payout position on an approach side of the autoloader device; deploying the tethered pickup component of the UAV to the payout position; causing the UAV to follow a side-step trajectory in which the UAV moves laterally to a second nudged position in order to cause the tethered pickup component of the UAV to engage the autoloader device; and retracting the tethered pickup component of the UAV to pick up a payload from the autoloader device.

First claim

What is claimed is:

1 . A method comprising:
determining, by an unmanned aerial vehicle (UAV), a position of an autoloader device for the UAV; based on the determined position of the autoloader device, causing the UAV to follow a descent trajectory in which the UAV moves from a starting position to a first nudged position in order to deploy a tethered pickup component of the UAV to a payout position on an approach side of the autoloader device; deploying the tethered pickup component of the UAV to the payout position; causing the UAV to follow a side-step trajectory in which the UAV moves laterally to a second nudged position in order to cause the tethered pickup component of the UAV to engage the autoloader device; retracting the tethered pickup component of the UAV to pick up a payload from the autoloader device; and causing the UAV to follow a return trajectory in which the UAV moves in a lateral direction from the second nudged position toward the first nudged position to reverse the change in lateral position resulting from the descent trajectory and the side-step trajectory.

2 . The method of claim 1 , further comprising causing the UAV to follow an ascent trajectory in which the UAV moves from the second nudged position back to the starting position.

3 . The method of claim 1 , further comprising after causing the UAV to follow the side-step trajectory and before retracting the tethered pickup component, causing the UAV to linger in place to allow the tether pickup component to settle.

4 . The method of claim 1 , wherein determining the position of the autoloader device is based on predetermined position information from a prior survey which is sent to the UAV.

5 . The method of claim 1 , wherein determining the position of the autoloader device is based on detecting a fiducial positioned at a predetermined position relative to the autoloader device.

6 . The method of claim 5 , wherein the fiducial is fixed on the ground on the approach side of the autoloader device.

7 . The method of claim 5 , wherein the fiducial is fixed on the autoloader device.

8 . The method of claim 1 , wherein determining the position of the autoloader device is based on applying a machine learned model to one or more images of the autoloader device captured by a camera on the UAV.

9 . The method of claim 1 , wherein determining the position of the autoloader device is based on applying a point cloud matching algorithm to a depth image captured by one of a depth camera, a lidar sensor, or an ultrasonic sensor on the UAV.

10 . The method of claim 1 , wherein determining the position of the autoloader device is based on detecting a light pattern from a beacon on the autoloader device.

11 . The method of claim 1 , wherein determining the position of the autoloader device is based on detecting radio signals emitted by the autoloader device.

12 . The method of claim 1 , wherein determining the position of the autoloader device is based on detecting one or more retro-reflective surfaces of the autoloader device using an infrared sensor and illuminator on the UAV.

13 . The method of claim 1 , wherein determining the position of the autoloader device is based on detecting a plurality of retro-reflective points of the autoloader device using an infrared sensor and illuminator on the UAV.

14 . The method of claim 2 , wherein each of the descent trajectory, the side-step trajectory, and the ascent trajectory has a respective slew rate.

15 . The method of claim 1 , wherein the first nudged position is directly above the payout position.

16 . The method of claim 1 , wherein the first nudged position is positioned relative to the payout position based on a wind model.

17 . The method of claim 1 , wherein the first nudged position is at one of a predetermined altitude above ground level or a level of the autoloader device.

18 . The method of claim 1 , wherein the first nudged position is at an altitude which is determined based on a wind model.

19 . The method of claim 1 , wherein the tethered pickup component of the UAV is deployed by a payout length determined based on a wind model.

20 . The method of claim 1 , wherein each of the first nudged position and the second nudged position is based on respective predetermined lateral offsets.

21 . The method of claim 1 , further comprising causing the UAV to follow an ascent trajectory after fully retracting the tethered pickup component or after a predetermined amount of time.

22 . The method of claim 1 , further comprising causing the UAV to follow an ascent trajectory to initially pick up the payload before retracting the tethered pickup component.

23 . The method of claim 1 , further comprising:
during the side-step trajectory, determining that the tethered pickup component is wrapped around the autoloader device or otherwise stuck; providing slack to retry winching the tethered pickup component one or more times; and if the tethered pickup component is not freed, disconnect the tethered pickup component from the UAV.

24 . An unmanned aerial vehicle (UAV), comprising:
a tethered pickup component; and a control system configured to perform operations comprising:
determining a position of an autoloader device for the UAV;
based on the determined position of the autoloader device, causing the UAV to follow a descent trajectory in which the UAV moves from a starting position to a first nudged position in order to deploy the tethered pickup component of the UAV to a payout position on an approach side of the autoloader device;
deploying the tethered pickup component of the UAV to the payout position;
causing the UAV to follow a side-step trajectory in which the UAV moves laterally to a second nudged position in order to cause the tethered pickup component of the UAV to engage the autoloader device;
retracting the tethered pickup component of the UAV to pick up a payload from the autoloader device; and
causing the UAV to follow a return trajectory in which the UAV moves in a lateral direction from the second nudged position toward the first nudged position to reverse the change in lateral position resulting from the descent trajectory and the side-step trajectory.

25 . A non-transitory computer readable medium comprising program instructions executable by one or more processors to cause the one or more processors to perform operations comprising:
determining a position of an autoloader device for an unmanned aerial vehicle (UAV); based on the determined position of the autoloader device, causing the UAV to follow a descent trajectory in which the UAV moves from a starting position to a first nudged position in order to deploy a tethered pickup component of the UAV to a payout position on an approach side of the autoloader device; deploying the tethered pickup component of the UAV to the payout position; causing the UAV to follow a side-step trajectory in which the UAV moves laterally to a second nudged position in order to cause the tethered pickup component of the UAV to engage the autoloader device; and retracting the tethered pickup component of the UAV to pick up a payload from the autoloader device; and causing the UAV to follow a return trajectory in which the UAV moves in a lateral direction from the second nudged position toward the first nudged position to reverse the change in lateral position resulting from the descent traje

Assignees

• Wing Aviation Llc

Inventors

• Prager André
• Hammond Marcus
• Jenkins Kevin
• Qiu Ivan
• Lewin Jasper

Classifications

• G05D2107/17

  Spaces with priority for humans, e.g. populated areas, pedestrian ways, parks or beaches · CPC title

• G05D2109/254

  Flying platforms, e.g. multicopters · CPC title

• G05D1/667

  Delivering or retrieving payloads · CPC title

• G05D2105/285

  postal packages · CPC title

• B64U2101/60

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