Delivery drop platforms, tethers, and stabilization

Patent metadata

Field	Value
Publication number	US-9969494-B1
Application number	US-201514867908-A
Country	US
Kind code	B1
Filing date	Sep 28, 2015
Priority date	Sep 28, 2015
Publication date	May 15, 2018
Grant date	May 15, 2018

Abstract

An unmanned aerial vehicle (UAV) can deliver a package to a delivery destination. Packages delivered by a UAV may be lowered towards the ground while the UAV continues to fly rather than the UAV landing on the ground and releasing the package. Packages may sway during lowering as a result of wind or movement of the UAV. A package sway may be monitored and mitigated by rapidly paying out a tether, when using a winch mechanism, to dissipate the energy of the sway as downward energy. Further, the UAV may navigate in the direction of the sway or reduce the altitude of the UAV to dissipate the energy of the sway. Open-loop and/or closed loop drop techniques may be utilized to lower a package from the UAV, and the package may be released in the air or on the ground.

First claim

What is claimed is:

1. An unmanned aerial vehicle (UAV) configured to deliver an item to a delivery destination, the UAV comprising:
a plurality of motors to generate thrust for the UAV;
a power source to selectively provide power to the plurality of motors, the plurality of motors operating the UAV to transport the item to the delivery destination;
a package assembly to secure the item;
an image sensor to monitor a first marker on the package assembly and to monitor a reference point at the delivery destination;
a tether coupled to the package assembly;
an attachment mechanism to attach the package assembly to the UAV;
a lowering mechanism to selectively lower the package assembly via the tether;
a package attachment controller to selectively operate the attachment mechanism to release the package assembly at least partially above a drop zone associated with the delivery destination; and
a sway controller to:
determine a sway of the package assembly while the lowering mechanism is lowering the package assembly; and
determine the sway of the package assembly based at least in part on a relative movement of the first marker with respect to the reference point;
wherein the sway controller provides a first indication to the lowering mechanism to control a rate of lowering the package assembly to reduce the sway of the package assembly.

2. The UAV of claim 1 , wherein the lowering mechanism includes a winch mechanism to lower or raise the package assembly, the winch mechanism operating at a variable rate to reduce the sway of the package assembly.

3. The UAV of claim 1 , wherein the lowering mechanism includes a drum mechanism and a brake mechanism to lower the package assembly, the brake mechanism to reduce the sway of the package assembly by modulating a rate of rotation of the drum mechanism that lowers the package assembly via the tether.

4. The UAV of claim 1 , wherein the tether is coupled to the package assembly and the UAV, the tether wrapped at least in a first direction around the package assembly and wrapped at least in a second direction around the package assembly, the tether configured to rotate the package assembly in a plurality of directions as the tether unwraps from the package assembly.

5. A method comprising: lowering a package assembly from an unmanned aerial vehicle (UAV) at a delivery location using a lowering mechanism of the UAV; monitoring a first marker on the package assembly; monitoring a reference point associated with the delivery location; monitoring a sway of the package assembly with a sensor of the UAV; determining that the package assembly is out of position with respect to the UAV based at least in part on a relative movement of the first marker with respect to the reference point; providing a first indication to the lowering mechanism to increase a rate of lowering the package assembly to reduce the sway of the package assembly; and releasing the package assembly from the UAV at the delivery location.

6. The method of claim 5 , further comprising:
determining that the sway of the package assembly has been reduced; and
providing a second indication to the lowering mechanism to decrease the rate of lowering the package assembly.

7. The method of claim 5 , wherein lowering the package assembly from the UAV comprises lowering the package assembly to a surface at the delivery location using the lowering mechanism, and wherein releasing the package assembly from the UAV at the delivery location comprises releasing the package assembly after the package assembly contacts the surface at the delivery location.

8. The method of claim 5 , further comprising wrapping a tether around the package assembly in at least a first direction and a second direction, and wherein lowering the package assembly from the UAV comprises rotating the package assembly in at least the first direction and the second direction, wherein the package assembly changes a direction of rotation as the package assembly descends from the UAV.

9. The method of claim 5 , wherein releasing the package assembly from the UAV at the delivery location comprises cutting a tether coupling the package assembly to the UAV.

10. The method of claim 5 , wherein releasing the package assembly from the UAV at the delivery location comprises detaching the lowering mechanism from the package assembly.

11. The method of claim 5 , further comprising retracting the lowering mechanism to the UAV after the package assembly is delivered at the delivery location.

12. The method of claim 5 , wherein lowering the package assembly from the UAV comprises sliding the package assembly down a tether to the delivery location.

13. The method of claim 5 , further comprising detaching a tether of the lowering mechanism from the UAV at a time in which the tether is fully extended.

14. The method of claim 5 , further comprising:
monitoring an altitude of the UAV and a distance of the package assembly above a drop zone associated with the delivery location; and
releasing the package assembly at a time in which the package assembly is at a predetermined height above the drop zone.

15. The method of claim 5 , further comprising navigating the UAV in a direction of the sway to further reduce the sway of the package assembly.

16. An unmanned aerial vehicle (UAV) comprising:
a plurality of motors;
an attachment mechanism to attach a package assembly to the UAV;
a lowering mechanism to lower the package assembly;
one or more image sensors;
one or more processors; and
memory coupled to the one or more processors, the memory including one or more modules that are executable by the one or more processors to perform operations comprising:
positioning the UAV at a predetermined height above a delivery location;
lowering the package assembly from the UAV at the delivery location using the lowering mechanism of the UAV;
monitoring a first marker on the package assembly with the one or more image sensors;
monitoring a reference point at the delivery location with the one or more image sensors;
determining a sway of the package assembly based at least in part on a relative movement of the first marker with respect to the reference point;
providing a first indication to the lowering mechanism to control a rate of lowering the package assembly to reduce the sway of the package assembly; and
releasing the package assembly from the UAV at the delivery location.

17. The UAV of claim 16 , wherein the lowering mechanism includes a winch mechanism to lower or raise the package assembly the winch mechanism operating at a variable rate to further reduce the sway of the package assembly.

18. The UAV of claim 16 , wherein the lowering mechanism includes a drum mechanism and a brake mechanism to lower the package assembly, the brake mechanism to reduce the sway of the package assembly by modulating a rate of rotation of the drum mechanism that lowers the package assembly.

19. The method of claim 5 , further comprising:
monitoring an elevation of the package assembly;
determining that the package assembly has reached a threshold elevation; and
providing a second indication to the lowering mechanism to decrease the rate of lowering the package assembly.

20. The UAV of claim 16 , wherein the operations performed by the one or more processors further comprise determining that the delivery location is clear of obstructions using the one or more image sensors.

Assignees

• Amazon Tech Inc

Inventors

• Buchmueller Daniel
• Legrand Iii Louis Leroi
• Neal Lowell Timothy
• Schoenberg Yves Christian Albers
• Wilcox Scott Michael

Classifications

• B64U2201/10

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

• B64U2101/30

  for imaging, photography or videography · CPC title

• B64D1/08 Primary

  the articles being load-carrying devices · CPC title

• B64D47/08

  Arrangements of cameras · CPC title

• B64C2201/128

  Operations & Transport · mapped topic