Patent Application
20190127085
The present invention relates to the field of drones and other autonomously flown aerial vehicles. More particularly, the invention relates to a connector that facilitates exchange of a payload carried by such drones.
The use of drones has significantly increased in recent years for various airborne missions such as data collection and image capturing, as well as for commercial activities including traffic management and the delivery of goods. Due to the small size of the drones, the capacity of a battery carried by the drones is limited, and consequently their flight range is limited.
Drones have an intrinsic flexibility as they may be used for different missions, for example the imaging device needed for daytime imaging is significantly different than the one used for nighttime imaging. For the delivery of goods, the payload is generally different from mission to mission.
Drones would be able to be used more efficiently if their battery or payload could be exchanged quickly, to facilitate the performance of additional missions during a given time period.
U.S. Pat. No. 9,280,038 discloses a platform for interchangeably mounting a payload to a base support of an unmanned aerial vehicle (UAV). In one embodiment, the platform includes a handheld support member configured to be releasably mechanically and electrically coupled to a gimbal assembly, which is coupled to an imaging device. However, the costs associated with employing a human operator are significantly greater than those required by a fully automatic system.
Some prior art systems, for example U.S. Pat. Nos. 9,139,310, 9,284,062, US 2016/0011592 and WO 2016/015301 are known for automatically exchanging the battery needed for powering a drone after becoming depleted; however, the robotic manipulator is configured to physically clamp or grasp the battery, necessitating a complicated and costly arrangement of links, joints and actuators to provide the required dexterity to effect such exchange operations. In addition, the manipulator is required to be positioned in sufficient proximity to a movable holding station such as a carousel or elevator to enable the exchange operation, requiring added costs to assemble and maintain the movable holding station. Alternatively, linear positioning equipment such as a carriage or track and corresponding controllers are needed to accurately direct the manipulator to a target destination to facilitate the exchange operation.
As to the exchange of payloads, the payloads are typically designed for handheld swapping operations. Alternatively, a dedicated robotic manipulator is used for each type of payload in order to be able to engage the payload and then physically remove it from the drone, due to the significant difference in configuration from one payload to another. Many times the payloads themselves have to be adapted for engagement by robotic manipulators, such as being configured with slots or other engageable elements, to further add to the costs involved in a prior art exchange operation.
It is an object of the present invention to provide a fully automatic system for exchanging the payload of a drone.
It is an additional object of the present invention to provide a connector that facilitates the automatic exchange of a drone's payload.
It is an additional object of the present invention to provide a payload exchange system that is not dependent upon a predetermined robot position to ensure a reliable and accurate payload exchange operation.
It is yet an additional object of the present invention to provide a cost effective payload exchange system that minimizes for example the number of robotic arms that need to be employed.
Other objects and advantages of the invention will become apparent as the description proceeds.
The present invention provides a payload exchange facilitating connector module, comprising a structure secured to a payload, a locking member operatively connected to said structure, a locking initiating element that is settable in force transmitting relation with said locking member, two guiders configured to urge an interface element of two different external positioning components, respectively, to undergo linear and non-rotatable relative motion exclusively with respect to said structure until said locking initiating element is set in force transmitting relation with said locking member to cause said locking member to become coupled with a dedicated element of a first of said positioning components, or following decoupling of said locking member from said dedicated element to facilitate payload exchange.
In one aspect, said structure is engageable by the interface element of each of said two different positioning components such that said structure is engageable by the interface element of only one of said two different positioning components at any given time, and is engageable by a second of said positioning components when said locking member is decoupled from said first positioning components to facilitate payload exchange.
In one embodiment, the connector module comprises a structure that is externally securable to a payload which is loadable onto an unmanned vehicle, said structure configured with at least two linearly extending entryways; a flexible locking panel with one free end that is unattached to said structure; and a flexion initiating element that is settable in force transmitting relation with said locking panel, wherein a first of said entryways is configured to receive therewithin either a protruding part of a first handle fixed to said unmanned vehicle or a protruding part of a second handle fixed to a holding station, and a second of said entryways is configured to receive therewithin a grabber of a robotic arm, wherein the free end of said locking panel is engageable with said first handle to secure said connector module to said unmanned vehicle or with said second handle to secure said connector module to said holding station, wherein said flexion initiating element is normally spaced from said locking panel and is settable in force transmitting relation therewith following linear insertion of said grabber within said second entryway to cause said locking panel to flex and to become disengaged from said first handle or from said second handle, wherein said structure is engageable by said grabber when said locking panel is disengaged from said first handle or from said second handle to facilitate transport of said connector module and subsequent payload exchange.
The present invention is also directed to a payload exchange system, comprising said connector module, and a robotic arm for transporting the connector module when the locking member is decoupled from the first positioning components, wherein a terminal link of said robotic arm comprises a coupling unit for controllably setting the locking initiating element in force transmitting relation with the locking member following guider cooperating linear displacement of the interface element of the second of said positioning components.
In the drawings:
The present invention is a universal connector that facilitates automatic exchange or removal of a payload carried by a drone upon completion of a flying mission, or carried by any other suitable unmanned vehicle.
As referred to herein, a “payload” is a unit which is removably or interchangeably appendable to the unmanned vehicle, for example within a dedicated recess or cavity. Non-limitating examples of a payload include sensing devices, imaging devices, batteries, deliverable packages and weapons. When the payload is an electronic device, an onboard processor may be in data communication therewith to control operation of the payload or to store and process acquired data.
The connector is configured to be an appendage to the payload, according to one embodiment, without requiring any modifications to the payload which would normally be needed by prior art automatic payload exchange apparatus to engage the payload and to thereby facilitate the payload exchange. As the connector appendage is easily securable to a payload and to a battery, a standard connector may be used for all exchange operations, and may be advantageously connectable with both the corresponding handle of a drone or of a docking station and with the grabber of a robotic arm. Thus the payload is quickly and accurately removable from the drone and mountable onto the docking station, and conversely a new payload is removable from a different handle of the docking station, for example located at a holding station, and connectable to the drone handle.
In a payload exchange system, a terminal link of the robotic arm that includes the grabber cooperates with the connector, and performs the following three actions: (1) a trans-connector movement whereby the grabber crosses at least one border of the connector, whether internally within the connector or externally thereto, (2) a lock interaction to couple the connector with a handle or to decouple the connector from a handle at a time following or prior to the trans-connector movement, and (3) a transfer action during removal of the connector together with the payload with which it is secured from a handle or transport thereof to another handle. The lock interaction may be a physical action such as a screwing or twisting movement or an action triggered by contact, an electrically initiated action, or a signal-transmitted action.
The uncomplicated connector configuration facilitates the performance of short linear and non-rotatable motions by the robotic arm during a trans-connector movement or a transfer action to obviate the need of an expensive high-dexterity gripper.
To the extent that the term “handle” is employed herein, it should be understood that this term refers to a positioning component external to the connector, whether stationary or movable, provided with an element that is interfaceable with the connector. The interface element is urged by a connector-specific guider to undergo relative linear motion with respect to the connector structure at a time that generally does not coincide with the lock interaction, whereby a locking initiating element is set in force transmitting relation with a locking member that is adapted to become coupled with the handle.
The guider may be passive in nature, for example hollowed out from the connector structure to receive the interface element or protruding from the connector structure to linearly guide the generally complementary shaped interface element. One way to prevent rotary motion is by configuring a protruding part with a discontinuous shape in cross section and an element to receive the protruding part with a shape that is complementary to the protruding part. Alternatively, the guider may be active, configured with a controlled electromechanical component that engages with, and causes relative linear displacement of, the interface element.
Securing means 6 are provided to interface between connector module 10 and the underside 3 of battery module 5. Securing means 6 may be releasable, such as screwed fasteners, or alternatively may be permanently applied, e.g. by adhesion or welding.
Connector module 10 may be similarly used in order to be secured to a payload. Permanently applied securing means are of great utility when the same payload is frequently reused for the same type of mission, but has to be occasionally replaced to allow the drone to perform a different mission. Control commands may be sent to the payload from the onboard computer via connector sockets 12, or alternatively, data acquired by the payload may be transmitted via connector sockets 12 and saved in a suitable storage medium.
When securing means 6 are releasable, connector module 10 may be advantageously reused for different payloads. For example, when the payload comprises a plurality of individualized items, such as agricultural produce or prepackaged toys, the items are loaded into a customized container, e.g. a sturdy plastic container, and the releasable securing means are connected to mating elements of the container after being introduced through mounting openings 16 of the connector module underside 17, or are inserted within corresponding apertures of the container and tightened.
The structure of connector module 10 will now be described with reference first to
Connector module 10 is configured with four guide blocks 21-24, each of which being formed with a longitudinally extending entryway, i.e. extending in the direction between frontwardly facing panel 9 and rearwardly facing panel 11.
Guide blocks 21 and 24 adjoining and coplanar with rear panel 11 are positioned at a laterally outwardly region of connector module 10, and the spacing therebetween defines the length of rear panel 11. Laterally spaced guide blocks 22 and 23 adjoining front panel 9 are contiguous with the inner side of guide blocks 21 and 24, respectively. The bottom surface of each of guide blocks 21-24 is coplanar.
Guide blocks 22 and 23 are higher than guide blocks 21 and 24, to define the upper surface of front panel 9. Thin elongated portions 26 and 27 of panel 9 extend laterally outwardly from guide blocks 22 and 23, respectively, to define a corresponding lateral wall 29. The front edge of guide blocks 21 and 24 abuts elongated portions 26 and 27, respectively.
Entryways 7 and 8 bored in guide blocks 21 and 24, respectively, are adapted to admit therethrough a corresponding protruding part of a drone or of a docking station, depending on the stage of the exchange operation currently being performed. A terminal portion of continuous entryways 7 and 8 is also bored in elongated portions 26 and 27, respectively, to allow for large dimensioned protruding parts.
Connector module 10 also has two flexible and rectangular locking panels 31, which may be made for example of thin rigid plastic or sheet metal. Each panel 31, which is in abutting relation with one of guide blocks 21 and 24 and is generally the same height as guide blocks 22 and 23, has an attached end connected to a corresponding lateral wall 29 by fasteners 34 and an unattached end 37 that longitudinally protrudes from rear panel 11. A locking aperture 39, e.g. rectangular, is formed in unattached end 37.
The upper surface of each of guide blocks 22 and 23 has a laterally extending recess 33, e.g. semielliptical, which is recessed until the upper surface of guide blocks 21 and 24. An elongated, laterally extending flexion initiating element 28 is received within recess 33 while being supported by the upper surface of the adjacent guide block, and is attached, at its outer end, to locking panel 31 at an aperture 32 which is centrally located between fasteners 34 and locking aperture 39. Flexion initiating element 28 may be further attached to locking panel 31 at an aperture 36 located below aperture 32.
As shown in
Although the connector module is described as being monolithic and configured with four entryways, two for the admission of handle related protruding parts and two for the admission of robotic arm grabbers, it will be appreciated that the invention is applicable for any other suitable number of entryways or guiders. Likewise the connector module may be separated into two or more sections, for example one section to admit a protruding part and the other section to receive a grabber while a locking member interfaces between the two sections.
A vertical mounting board 44 for the various pins 41 connected to corresponding female connector sockets is shown to be in abutting relation with rear panel 11. Wires may extend from each pin 41, through the interior region 38 located between mounting blocks 22 and 23, to the interior of the payload in order to make a desired electrical connection. Such electrical connections are useful for the transmission of payload data, such as sensor data acquired by the payload including image data, motion data and position data, payload status data as to whether for example the payload is activated, deactivated, is currently performing an operation, or has completed a commanded operation, and control signals.
As shown in
The connector module is adapted to be disengaged from a first handle and subsequently engaged with a second handle by means of a dedicating coupling unit 62 housed within the terminal link 56 of a robotic arm 60 illustrated in
Robotic arm 60 shown in
Coupling unit 62 which is housed within the terminal link is illustrated in
As shown in
With reference to
Payload exchange system 90 also comprises an information center 104 associated with docking station 102 for acquiring data as to the docking status of an unmanned vehicle 97 approaching docking station 102 and for transmitting a docking indicating signal D to the controller 65 of robotic arm 60 which is indicative that unmanned vehicle 97 carrying payload 95 has been fully docked and that an exchange operation may be initiated. Unmanned vehicle 97 may be an aerial vehicle such as a multi-rotor vehicle, a drone, an electrically powered vehicle, a fuel powered vehicle, a multi-wheeled or tracked land vehicle, a watercraft and an amphibious vehicle.
During an exchange operation, connector module 10 and payload 95 secured thereto are removed by robotic arm 60 from unmanned vehicle 97 and are transferred thereby to a first holding station 107 for used payloads that have undergone a completed mission. At first holding station 107, maintenance operations are performed with respect to the removed payload or data is retrieved therefrom, if the payload was configured to acquire data during the performed mission. As a replacement for the removed payload, an unused payload is removed by robotic arm 60 from second holding station 108 and is loaded thereby onto unmanned vehicle 97.
Holding stations 107 and 109 may be stationary to avoid the costs of assembling and maintaining a movable holding station, or alternatively may comprise movable equipment. If so desired, a single holding station for both used and unused payloads may be deployed at a same region.
The reliable performance of an exchange operation is contingent upon the ability to accurately locate and approach the entryways of connector module 10. A guiding system 66 provided with robotic arm 60 helps to accurately direct terminal link 56 to connector module 10, to ensure that each grabber will be introduced into a corresponding entryway, for example with a tolerance of only 1 mm or less. Guiding system 66 communicates with controller 65, and the motorized actuators of each link are commanded to operate, in response, to perform a coordinated displacement of robotic arm 60 until terminal link 56 is directed in the shortest possible time to connector module 10.
In one embodiment, guiding system 66 is based on encoder based position control whereby the real-time joint positions are known from encoder measurements and the target position of connector module 10 is acquired from information center 104. Additional displacement of the various links is then commanded by controller 65 in order to direct terminal link 56 to the target position.
In another embodiment, guiding system 66 comprises a vision system for providing a two-dimensional or three-dimensional image, including one or more cameras housed in a suitable region of robotic arm 60, an element of which possibly housed in terminal link 56, and a vision processor in data communication with controller 65. As robotic arm 60 continuously couples terminal link 56 during a work session with a similarly shaped connector module 10 secured to different payloads, the vision system is trained to visually identify the entryways as fiducial marks. When a fiducial mark enters the field of view of at least one of the cameras, controller 65 compares a found location of the identified fiducial mark within the field of view with a desired location of the fiducial mark within the field of view that corresponds to the orientation of the coupling module during introduction of a gripper into the correct entryway. Additional displacement of the various links is then commanded by controller 65 if there is a difference between the found location and the desired location.
A payload exchange operation will now be described with reference to
A bottom view of a handle 120 is illustrated in
Handle 120 has a C-shaped structure with two side beams 122 and 123, and with an upper cover 126 extending between side beams 122 and 123. A plurality of pins 133 protrude from the connector-facing face 136 of cover 126, and are adapted to couple with corresponding female connector sockets 12 (
Elongated protruding parts 137 and 138 of circular cross section extend outwardly from the connector-facing face 136 of side beams 122 and 123, respectively. The distal tip 139 of each of protruding parts 137 and 138 is conical to permit self-alignment within the conical entryways 7 and 8 shown in
Handle 120 is also configured with a tab 141 laterally extending and outwardly protruding from the connector-facing face 136 of each of side beams 122 and 123. Tab 141 is engageable with the locking aperture 39 of the corresponding locking panel 31, to retain connector module 10 and handle 120 in mutually coupled relation after protruding parts 137 and 138 have been fully inserted within the corresponding entryways of connector module 10, as shown in
After a docking indicating signal D has been transmitted to the robotic arm controller 65 (
Following the insertion of each grabber 77 within a corresponding entryway, controller 65 commands operation of motor 82, causing displacement of the two grabbers 77 in opposite laterally outward directions. During the laterally outward displacement, the two grabbers 77 pass through secondary bores 46 and 48, respectively, and strike the corresponding tab 49 of the flexion initiating element normally positioned therewithin. The laterally outward displacement of flexion initiating element 28 causes locking panel 31 to flex and to become disengaged from tab 141 of handle 120.
While locking panel 31 is disengaged from tab 141 of handle 120, controller 65 commands link 53 of robotic arm 60 (
Alternatively, the two grabbers 77 may be configured with a reduced diameter indentation 78 defining a conical tip 81. While the two grabbers 77 are outwardly displaced, conical tip 81 strikes tab 49 of the flexion initiating element and locking panel 31 is caused to flex and to become disengaged from tab 141 of handle 120. In addition, due to the accurate longitudinal displacement of the grabbers 77, a detent laterally protruding inwardly from a wall of a secondary bore 46 is received within the corresponding indentation 78 of the outwardly displaced grabber and is frictionally engaged with the grabber body. This frictional engagement with the detent ensures that grabber 77 will remain in an outward position and locking panel 31 will remain disengaged from tab 141 of handle 120 during a transfer action.
At first holding station 107, terminal link 56 is commanded to position the rearward side opening of entryways 7 and 8 (
In another embodiment, locking panel 31 becomes flexed to become engaged or disengaged with the handle by means of an electromagnetically extendible plunger, for example a solenoid, which is normally biased in a retracted position by a compression spring.
The coupling unit housed with the terminal link of the robotic arm is commanded by the controller to transmit an energization inducing wireless signal following the trans-connector movement to a power source housed within the structure of the connector module. Current then flows from the power source to activate the plunger and to induce a sufficiently strong magnetic field that causes the plunger to be extended and to overcome the biasing force of the compression spring.
The plunger may be normally retracted within a grabber and, when activated, may laterally protrude therefrom through a dedicated passageway formed in the structure of the connector module. Alternatively, the plunger may be housed within a dedicated passageway formed in the connector module structure, through which it is extendable. Following transmission of the energization inducing signal, the plunger is adapted to extend and to contact the locking panel. The coupling unit is subsequently commanded by the controller to transmit a wireless deactivation signal, whereupon the plunger returns to its normal retracted position.
While some embodiments of the invention have been described by way of illustration, it will be apparent that the invention can be carried out with many modifications, variations and adaptations, and with the use of numerous equivalents or alternative solutions that are within the scope of persons skilled in the art, without exceeding the scope of the claims.
| Number | Date | Country | Kind |
|---|---|---|---|
| 246357 | Jun 2016 | IL | national |
| Filing Document | Filing Date | Country | Kind |
|---|---|---|---|
| PCT/IL2017/050675 | 6/18/2017 | WO | 00 |
