Payload-Release Device Position Tracking

Patent metadata

Field	Value
Publication number	US-2020324902-A1
Application number	US-202016893561-A
Country	US
Kind code	A1
Filing date	Jun 5, 2020
Priority date	Aug 28, 2014
Publication date	Oct 15, 2020
Grant date	—

Abstract

An unmanned aerial vehicle (UAV) is disclosed that includes a retractable payload delivery system. The payload delivery system can lower a payload to the ground using a delivery device that secures the payload during descent and releases the payload upon reaching the ground. The location of the delivery device can be determined as it is lowered to the ground using image tracking. The UAV can include an imaging system that captures image data of the suspended delivery device and identifies image coordinates of the delivery device, and the image coordinates can then be mapped to a location. The UAV may also be configured to account for any deviations from a planned path of descent in real time to effect accurate delivery locations of released payloads.

First claim

What is claimed is:

1 . A system comprising:
a payload having a reflector arranged thereon; a tether coupled to an unmanned aerial vehicle (UAV), wherein the tether suspends the payload below the UAV, and wherein the payload is configured to releasably couple to the tether; a retraction system operable to use the tether to lower the payload from the UAV; an imaging system arranged on the UAV such that while the payload is suspended from the UAV via the tether, the imaging system detects light reflected from the reflector on the payload; and a control system configured to: (i) while the payload is suspended from the UAV via the tether, receive image data from the imaging system; (ii) identify, based on the received image data, an image coordinate associated with the reflector situated on the payload; (iii) determine a position of the payload based at least in part on the identified image coordinate; (iv) determine, based at least in part on the position of the payload, flight-control commands to navigate the UAV so as to cause the payload to become closer to a path of descent associated with a delivery location; and (v) cause the UAV to operate in accordance with the determined flight-control commands.

2 . The system of claim 1 , wherein the control system is further configured to:
while the UAV hovers over a delivery location, use the retraction system to initiate a delivery operation, wherein initiating the delivery operation comprises lowering the payload secured thereby toward the ground such that the payload descends from the UAV;
determine that the payload is at or near the ground; and
in response to determining that the payload is at or near the ground, release the payload.

3 . The system of claim 2 , wherein the control system is further configured to:
determine that the determined position of the payload is within a threshold distance of the delivery location; and cause the release of the payload in response to both determining that the payload is at or near the ground and that the determined position of the payload is within the threshold distance of the delivery location.

4 . The system of claim 1 , wherein the control system is further configured to:
determine, based at least in part on the determined position of the payload, flight-control commands to navigate the UAV, in hover mode, so as to cause the suspended payload to become closer to a path of descent associated with a delivery location; and cause the UAV to fly, in hover mode, in accordance with the determined flight-control commands.

5 . The system of claim 4 , wherein the control system is further configured to:
prior to causing the UAV to fly, in hover mode, in accordance with the determined flight-control commands, determine that the determined position of the payload is greater than a threshold distance from the path of descent associated with the target delivery location.

6 . The system of claim 4 , wherein the control system determining the flight-control commands comprises the control system: (a) determining a translational offset of the UAV which compensates for a displacement between the determined position of the payload and the path of descent associated with the target delivery location, wherein the translational offset is based on: the identified image coordinate associated with the reflector, an image coordinate associated with the path of descent, and a current elevation of the UAV, and (b) using a navigational module to determine the flight-control commands which cause the UAV to traverse the determined translational offset in hover mode.

7 . The system of claim 1 , wherein the imaging system comprises a downward-facing camera mounted to the UAV via a gimbal mount so as to substantially maintain an orientation of the point of view of the camera.

8 . The system of claim 1 , wherein the reflector is a first reflector and a second reflector is also situated on the payload such that, while the payload is suspended from the UAV via the tether, both the first and second reflectors are arranged to reflect light toward the UAV, and
wherein the control system is further configured to: identify a pattern in the received image data that corresponds to light received from both the first and second reflectors; identify, in the pattern, respective image coordinates associated with the first and second reflectors, and determine the position of the payload based at least in part on both the image coordinate associated with the first reflector and the image coordinate associated with the second reflector.

9 . The system of claim 8 , wherein the first and second reflectors are situated at respective positions on the payload, and wherein the control system identifying the pattern within the received image data comprises the control system identifying a pattern in which light from the first and second reflectors are received from respective reflection locations that are spatially separated from one another.

10 . The system of claim 9 , wherein the control system is further configured to determine an orientation of the payload while the payload is suspended from the UAV based on the image coordinates associated with the first and second reflectors.

11 . A method comprising:
while a payload is suspended from an unmanned aerial vehicle (UAV) via a tether, receiving image data from an imaging sensor system, wherein the imaging sensor system comprises an image sensor mounted on the UAV such that, while the payload is suspended from the UAV via the tether, a field of view of the image sensor includes a reflector that is situated on the payload and arranged to reflect light toward the UAV; identifying, by a computing system, based on the received image data, an image coordinate associated with the reflector situated on the payload; determining, by the computing system, based at least in part on the identified image coordinate, a position of the payload; determining, by the computing system, based at least in part on the position of the payload, flight-control commands to navigate the UAV, such that movement of the UAV causes the suspended payload to become closer to a path of descent associated with a delivery location; and causing, by the computing system the UAV to fly, in accordance with the determined flight-control commands.

12 . The method of claim 11 , wherein the payload is configured to be releasably coupled to the tether, the method further comprising:
while the UAV hovers over a delivery location, using a retractable delivery system to initiate a delivery operation, wherein initiating the delivery operation comprises lowering the payload toward the ground such that the payload descends from the UAV; determining that the payload is at or near the ground; determining that the determined position of the payload is within a threshold distance of the delivery location; and causing the payload to be released in response to both determining that the payload is at or near the ground and that the determined position of the payload is within the threshold distance of the delivery location.

13 . The method of claim 11 , further comprising:
determining, based at least in part on the determined position of the payload, flight-control commands to navigate the UAV, in hover mode, so as to cause the payload to become closer to a path of descent associated with a delivery location; and causing the UAV to fly, in hover mode, in accordance with the determined flight-control commands.

14 . The method of claim 13 , wherein determining the flight-control commands comprises:
determining a translational offset of the U

Assignees

• Wing Aviation Llc

Inventors

• Burgess James Ryan
• Cohen Joanna

Classifications

• G05D1/46

  Control of position or course in three dimensions [3D] · CPC title

• G05D1/689

  Pointing payloads towards fixed or moving targets (positioning towed, pushed or suspended implements G05D1/672) · CPC title

• B64U2101/30

  for imaging, photography or videography · CPC title

• B64U2201/104

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

• B64U2101/67

  the UAVs comprising tethers for lowering the goods · CPC title