In flight transfer of packages between aerial drones

Patent metadata

Field	Value
Publication number	US-9561852-B1
Application number	US-201614987155-A
Country	US
Kind code	B1
Filing date	Jan 4, 2016
Priority date	Jan 4, 2016
Publication date	Feb 7, 2017
Grant date	Feb 7, 2017

Abstract

Aspects include a system for transferring a payload between drones. The system includes a first drone having a first member and a first controller, the first member having a first coupling device on one end, the first member being configured to carry a payload, the first controller being configured to change a first altitude and orientation of the first drone. A second drone includes a second member and controller, the second member having a second coupling device on one end, the second member being configured to receive the payload, the second controller being configured to change a second altitude and orientation of the second drone. The controllers cooperate to change at least one of the first and second altitude, and the first and second orientation to operably engage the first coupling device to the second coupling device for transferring the payload from the first member to the second member.

First claim

What is claimed is:

1. A system comprising:
a first aerial drone having a first transfer member and a first controller, the first transfer member having a first coupling device on one end, the first transfer member being configured to carry a payload, the first controller including a processor configured to change a first altitude and first orientation of the first aerial drone;
a second aerial drone having a second transfer member and a second controller, the second transfer member having a second coupling device on one end, the second transfer member being configured to receive the payload, the second controller including a processor configured to change a second altitude and a second orientation of the second aerial drone; and
wherein the first controller and the second controller cooperate to change at least one of the first altitude, the second altitude, the first orientation and the second orientation to operably engage the first coupling device to the second coupling device for transferring the payload from the first transfer member to the second transfer member while the first aerial drone and second drone are in-flight.

2. The system of claim 1 wherein the first transfer member is a first arm extending from the first aerial drone and the second transfer member is a second arm extending from the second aerial drone.

3. The system of claim 2 further comprising a first tether slidably coupled on a first end to the first arm and coupled on an opposing end to the payload, wherein the first end is configured to slide from the first arm to the second arm when the first arm is engaged with the second arm.

4. The system of claim 3 wherein the first controller is configured to change the first orientation and the second controller is configured to change the second orientation to slide the first tether from the first arm to the second arm under an influence of gravity.

5. The system claim 2 wherein:
the first coupling device is a first electromagnet and the second coupling device is a second electromagnet; and
the first controller and the second controller cooperate to change polarities of the first electromagnet and the second electromagnet to engage and disengage the first electromagnet and the second electromagnet.

6. The system of claim 1 wherein:
the first aerial drone includes a movable first counterbalance member;
the second aerial drone includes a movable second counterbalance member;
the first controller is operably coupled to change a first position of the first counterbalance member in response to the payload transferring from the first aerial drone to the second aerial drone to maintain the first aerial drone at a first predetermined orientation; and
the second controller is operably coupled to change a second position of the second counterbalance member in response to the payload transferring from the first aerial drone to the second aerial drone to maintain the second aerial drone at a second predetermined orientation.

7. The system of claim 1 wherein the first transfer member includes a guide plate and a plurality transfer posts, the guide plate being movable between an open position and a closed position, the plurality of transfer posts being movable between a raised position and a lowered position.

8. The system of claim 1 wherein:
the first aerial drone includes a first plurality of thrust devices arranged to provide lift to the first aerial drone;
the second aerial drone includes a second plurality of thrust devices arrange to provide lift to the second aerial drone;
the first controller is operably coupled to the first plurality of thrust devices producing devices, the first controller being configured to change a first operation of at least one of the first plurality of thrust devices in response to the payload transferring from the first aerial drone to the second aerial drone to maintain the first aerial drone at a first predetermined orientation; and
the second controller is operably coupled to the second plurality of thrust devices, the second controller being configured to change a second operation of at least one of the second plurality of thrust devices in response to the payload transferring from the first aerial drone to the second drone to maintain the second aerial drone at a second predetermined orientation.

9. The system of claim 8 wherein:
the first controller is configured to determine a first mass transfer time-dependent differential vector based on the payload, and the first controller is further configured to change the first operation of at least one of the first plurality of thrust devices based at least in part on the first mass transfer time-dependent differential vector; and
the second controller is configured to determine a second mass transfer time-dependent differential vector based on the payload, and the second controller is further configured to change the second operation of at least one of the second plurality of thrust devices based at least in part on the second mass transfer time-dependent differential vector.

10. The system of claim 1 wherein at least one of the first aerial drone and the second aerial drone include a transfer sleeve having a pickup member disposed on one end, the transfer sleeve being disposed about one of the first transfer member or the second transfer member, the transfer sleeve being movable between a retracted position and an extended position.

11. An aerial drone comprising:
a fuselage;
a plurality of thrust producing devices coupled to the fuselage;
a transfer member coupled to the fuselage, the transfer member configured to move a payload to a second aerial drone; and
a controller operably coupled to the plurality of thrust producing devices, the controller including a processor that is responsive to executable computer instructions to adjust the plurality of thrust producing devices to change at least one of an orientation and altitude of the transfer member to move the payload to the second aerial drone.

12. The aerial drone of claim 11 further comprising a first tether slidably coupled to the transfer member on one end and the payload on an opposite end, and a second tether releasably coupled between the payload and the fuselage.

13. The aerial drone of claim 12 wherein the transfer member is an arm extending from the fuselage, the arm having a releasable coupler at an end.

14. The aerial drone of claim 11 wherein the first transfer member includes a guide plate and a plurality transfer posts, the guide plate being movable between an open position and a closed position, the plurality of transfer posts being movable between a raised position and a lowered position.

15. The aerial drone of claim 14 wherein the processor is further configured to determine a mass transfer time-dependent differential vector and to change the amount of lift produced by at least one of the plurality of thrust producing devices to move the payload to the second aerial drone.

16. A method of in-flight transferring of a payload between aerial drones, the method comprising:
providing a first aerial drone having a first transfer member;
providing a second aerial drone having a second transfer member;
changing at least one of an altitude and an orientation of at least one of the first aerial drone and the second aerial drone to position the first transfer member adjacent the second transfer member; and
moving the payload from the first aerial drone to the second aerial drone.

17. The method of claim 16 further comprising engaging a first end of the first transfer member to a second end of

Assignees

• IBM

Inventors

• Beaman Brian S
• Kline Eric V
• Rakshit Sarbajit K

Classifications

• B64U2201/102

  adapted for flying in formations · CPC title

• B64U2201/10

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

• B64U50/13

  using external fans or propellers · CPC title

• B64U2101/60

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

• B64C2201/024

  Operations & Transport · mapped topic