Patent Application
20230271703
The present invention generally relates to the field of cargo delivery services by unmanned aerial vehicles (UAVs) and more specifically relates to the payload container that is attached to and employed by UAVs to load, transport, and unload cargo and the complementary apparatus to hold the cargo and interact with the payload container during the cargo loading and unloading process.
UAV delivery of cargo has been under consideration and development for several years. However, while UAV delivery of various items (munitions, supplies, and others) by military organizations is well advanced, and there are some medical-related delivery services by UAVs (for example, transport of medical samples between hospitals and laboratories, delivery of critical medical supplies to remote locations and others), the use of UAVs for delivery to the general public remains rare and employed in limited areas with more relaxed regulatory environments or in special circumstances (e.g., delivery of a cardiac device to meet an urgent health crisis.)
Consumer demand for cargo delivered to their preferred location and their preferred schedule is increasing, causing the number of cargo delivery events to grow. Consumers require rapid cargo delivery, and this need has compressed the elapsed time from when the cargo is created to when the cargo is delivered to them. This increasing volume and shortened time to do the delivery create capacity constraints, causing rapid cost escalation, and are sources of growing consumer dissatisfaction. To meet the expanding demand for more rapid and cost-efficient cargo delivery, UAV manufacturing companies are creating vehicles capable of handling the weight of cargo and payload containers as necessary to deliver cargo to consumers by UAVs. Current cargo-carrying UAVs require human intervention to load cargo into or attach cargo to the UAV. Current cargo-carrying UAVs also often require human intervention to unload cargo from the respective UAVs or detach the cargo from tethers or other attachments to the UAV.
Given the disadvantages inherent in existing and known devices to load and unload cargo from the cargo carrying UAVs or connect and disconnect cargo from connectors on UAVs, the present invention provides a new cargo carrying apparatus suitable for attachment to UAVs that can load cargo without human intervention into the payload container, the payload container providing a safe and secure transport container and the payload container unloading the cargo without human intervention after transport to its destination. In some embodiments, the invention may include batteries to provide power to the connected UAV.
Implementations of the present invention may be comprised of two basic elements: the payload container P1 shown in
The payload container is comprised of a chamber P1 shown in
The payload container chamber P1, may be constructed from carbon fiber panels, and in alternative embodiments, it can be constructed from other materials with similar weight and strength characteristics. The payload container chamber has four sides and a top which are constructed of fixed panels. The payload container sides and top may be circular, domed, or have other geometric shapes in other configurations. The payload container has elements P4 to enable mechanical connection to the UAV. As the mechanical and safety-related requirements for attachment to a UAV are specific to each UAV, the attachment shown in the illustrations and described herein are generalized in nature. These mechanical attachments will take different forms and be attached to different sections of the UAV airframe. Some of these attachment concepts may provide a permanent or semi-permanent attachment, while others may provide a quick-release capability enabling payload containers to be quickly detached or attached to a UAV. Such attachment or detachment mechanisms may include mechanical, electrical, signal, and data communications connections.
The bottom of the payload container chamber is comprised of two cargo doors C10, C11 shown in
The interior or upper surfaces of the payload container cargo doors have a sheet of material that is durable, flexible, and has a low coefficient of friction on the surface of the door, S7 shown in
In at least one embodiment of the invention, the payload container has a cargo stabilization apparatus. The cargo stabilization apparatus comprises low-pressure air bladders Z3 shown in
The payload container is equipped with smoke and heat sensors Z2 shown in
In some embodiments, the payload pad, shown in
Not all payload pad deployments will require or have the same functionality; for example, a payload pad in a temporary deployment in a parking lot during a natural disaster may not have the full complement of sensors as described in the following. In the simplest embodiment, the payload pad is a one-way device enabling cargo delivery but not supporting cargo pickup. In this embodiment, the payload pad could be a roll of canvas with the fiducials and other navigation aids printed or attached to the canvas such that it could be rapidly deployed with minimum infrastructure requirements.
In a typical embodiment, the payload pad is comprised of a base R3. The base is of sufficient dimension to permit the UAV to land on that surface and at an elevation relative to the unloading surface, such that the opening and closing of the payload container cargo doors is permitted. The cargo supporting members R1 are attached to the base, which support the weight of the cargo before loading of the cargo onto the payload container or after unloading and which may release and/or transfer the weight of the cargo to the payload container during the loading process. Additionally, the payload pad provides navigation and precision landing aids to guide the UAV to a precise location and orientation during the UAV landing operation. The cargo supporting members can take a wide variety of forms. These forms can include, for illustration purposes, that of a bristle brush R1, where the unconstrained ends support the cargo before loading steps or after unloading steps are completed. These bristles may be naturally biased to a vertically extended mode and may be comprised of a material that has the properties of providing support for the weight of the cargo, carrying the weight of the cargo resting on the ends of bristle where the weight of the cargo is distributed in a plane perpendicular to the long axis of the bristle until the bristle is deformed S1 shown in
Embodiments of the payload pad may include devices to enable the UAV’s final landing movement to be highly accurate and correctly orientated. These devices can take a variety of forms but usually are passive devices, taking no direct action in the UAV flight, and therefore are simple, low-cost devices that are not flight safety-critical elements. One instance of this form is a visible pattern (also referred to as a fiducial) painted, dyed, affixed to, or otherwise made part of the payload pad R2 shown in
In some embodiments, the payload pad may be equipped to detect cargo parameters outside an acceptable tolerance. This capability may include sensing cargo that overhangs or extends into space beyond the load support area on the payload pad in such a way that it will interfere with the landing, loading, or other operations of the UAV, sensors for sensing when the load support surface is deformed by a load due to overweight cargo or unacceptable cargo geometry (for example an inverted pyramid), and sensing and reporting the state (e.g. cargo present or not present), and other parameters.
In some embodiments, the payload pad may have the ability to communicate with the UAV, the UAV control system, or other intermediate systems to enable or disable navigation and precision landing aids, report status conditions, and other data. In some embodiments where the payload pad requires electrical power, the payload pad may have the ability to operate dependently or independently of conventional connected power sources where power can be from environmental sources (e.g., solar, wind, wave, tidal, or other) augmented by battery storage devices or from periodically recharged or replaced battery storage, local power generation or other non-connected sources.
Implementations of an unmanned cargo loading and transport system adapted for operation with an unmanned aerial vehicle (UAV) may comprise a payload pad presenting a generally horizontal upper plane for supporting cargo when the pad is positioned on a generally horizontal substrate supporting the pad, the payload pad further comprising a plurality of support members together defining at upper ends thereof an upper plane of the payload pad, each of the support members having a vertically extended mode for supporting weight imposed downward on the support member and a retracted mode in which the support member is of shorter vertical length than the support members in the vertically extended mode, the support members being movable from the extended mode to the retracted mode when exposed to a lateral force applied to the support member. The system may further comprise a payload container comprising an upper portion adapted to attach to a UAV, a plurality of side portions coupled to the upper portion and extending downward from the upper portion, and a lower portion that together with the upper portion and side portions defines an enclosure for holding cargo in the payload container. The payload container may be further adapted to pick up the cargo from the payload pad by transferring the weight of the cargo from the payload pad to the payload container and hold the cargo within the payload container while in transit by a UAV wherein a lower portion of the payload container may comprise two generally opposed cargo doors movably mounted at opposed sides of the side portions of the payload container and movable inwardly to a closed position such that opposed edges of the cargo doors are substantially adjacent to present a generally closed bottom of the payload container, the cargo doores further movable outwardly to an open position at which the opposed edges of the cargo doors are distal from one another to present an open bottom of the payload container for receiving cargo when the payload container is positioned at the payload pad. The system may further comprise a motive power mechanism coupled to the cargo doors for selectively moving the doors between their open and their closed positions.
Particular aspects may comprise one or more of the following features. One or more of the support members may comprise bristles that are naturally biased to the vertically extended mode. The payload pad may further comprise a landing aid adapted to be sensed by one or more sensors on the UAV for guiding the UAV to a desired location and orientation on the payload pad. One or more of the support members may comprise a series of rollers carried on generally vertically extending links mounted on the payload pad for pivotal movement about horizontally extending axes that are substantially parallel to the opposed edges of the cargo doors. The landing aid may comprise a transmitter for transmitting signals to the one or more sensors on the UAV.
Implementations of an unmanned cargo loading and transport system adapted for operation with an unmanned aerial vehicle (UAV) may comprising a payload pad presenting a substantially horizontal upper plane for supporting cargo when the payload pad is positioned on a substantially horizontal substrate supporting the payload pad, the payload pad comprising a bed of deformable elastomeric material. The system may further comprise a payload container comprising an upper portion adapted to be attached to a UAV, a plurality of side portions coupled to the upper portion and extending downward from the upper portion, and a lower portion that together with the upper and side portions defines an enclosure for holding cargo in the payload container. The payload container may be adapted to pick up the cargo from the payload pad by transferring a weight of the cargo from the payload pad to the payload container and holding the cargo within the payload container while in transit by a UAV wherein a lower portion of the payload container may comprise two generally opposed cargo doors movably mounted at opposed sides of the side portions of the payload container and movable inwardly to a closed position such that opposed edges of the cargo doors are substantially adjacent to present a generally closed bottom of the payload container. The cargo doors may be further movable outwardly to an open position at which the opposed edges of the cargo doors are distal from one another to present an open bottom of the payload container for receiving cargo when the payload container is positioned at the payload pad. They system may further comprise a motive power mechanism coupled to the cargo doors for selectively moving the doors between their open and their closed positions.
Particular aspects may comprise one or more of the following features. The deformable elastomeric material may comprise an elastomeric foam material. The payload pad may comprise two beds of deformable elastomeric material positioned in an end-to-end configuration and separated by a substantially vertically-extending partition member. The substantially vertially-extending partition member may be substantially a same vertical height as a vertical height of the two beds of deformable elastomeric material. The payload pad may further comprise a landing aid adapted to be sensed by one of more sensors on the UAV for guiding the UAV to a desired location and orientation on the payload pad. The landing aid may comprise a transmitter for transmitting signals to the one or more sensors on the UAV.
Implementations of a payload container adapted for use in an unmanned aerial vehicle (UAV) cargo transport system, with the payload container being adapted to selectively engage, hold and release cargo to be transported by the UAV may comprise an upper portion having a connector for attaching the payload container to a UAV, a plurality of side portions extending downward from the upper portion, and a lower portion that together with the upper and side portions defines an enclosure for holding cargo in the payload container, the lower portion comprising two generally opposed cargo doors movably mounted at opposed sides of the side portions of the payload container and movable inwardly to a closed position such that opposed edges of the cargo doors are substantially adjacent to present a generally closed bottom of the payload container that substantially closes the lower portion of the payload container. The cargo doors may be further movable outwardly to an open position at which the opposed edges of the cargo doors are distal from one another to present an open bottom of the payload container for at least a substantial portion of the lower portion of the payload containter for receiving cargo when the payload container is positioned above cargo to be transported. The system may further comprise a motive power mechanism coupled to the cargo doors for selectively moving the doors between their open and their closed positions for opening and closing the lower portion of the payload container.
Particular aspects may comprise one or more of the following features. The payload container may further comprise a linkage for coupling the cargo doors to the payload container for pivotal and translational movement between the open positon and the closed position. The motive power mechanism may be configured to move the payload container cargo doors between the open position and the closed position via the linkage. An upper surface of the payload container cargo doors may be comprised of a material having a coefficient of friction less than about 0.2. The side portions of the payload container are formed of planar members may be comprised of at least one of a metal and a plastic. The linkage may comprise a four-bar linkage mechanism. The cargo doors may comprise a sheet of a material having a coefficient of friction that is less than or equal to about 0.2 on the upper surface of the cargo doors. The payload container may further comprise a battery for storing electrical power on board the payload container. The payload container may further comprise a camera system for imaging cargo held in the payload container. The payload container may further comprise a temperature sensor, transfer ports in the payload container for transferring air into and out of the payload container and a fan operatively associated with the temperature sensor, the transfer ports and fan configured to move air from outside the payload container through the payload container to regulate an interior temperature of the payload container. The payload container may further comprise an air bladder system for holding cargo in place in the payload container during transport.
Aspects and applications of the invention presented here are described below in the drawings and detailed description of the invention. Unless specifically noted, it is intended that the words and phrases in the specification and the claims be given their plain, ordinary, and accustomed meaning to those of ordinary skill in the applicable arts. The inventors are fully aware that they can be their own lexicographers if desired. The inventors expressly elect, as their own lexicographers, to use only the plain and ordinary meaning of terms in the specification and claims unless they clearly state otherwise and then further, expressly sets forth the “special” definition of that term and explains how it differs from the plain and ordinary meaning. Absent such clear statements of intent to apply a “special” definition, it is the inventors’ intent and desire that the simple, plain and ordinary meaning to the terms be applied to the interpretation of the specification and claims.
The inventors are also aware of the normal precepts of English grammar. Thus, if a noun, term, or phrase is intended to be further characterized, specified, or narrowed in some way, then such noun, term, or phrase will expressly include additional adjectives, descriptive terms, or other modifiers in accordance with the normal precepts of English grammar. Absent the use of such adjectives, descriptive terms, or modifiers, it is the intent that such nouns, terms, or phrases be given their plain, and ordinary English meaning to those skilled in the applicable arts as set forth above.
Further, the inventors are fully informed of the standards and application of the special provisions of 35 U.S.C. § 112(f). Thus, the use of the words “function,” “means” or “step” in the Detailed Description or Description of the Drawings or Claims is not intended to somehow indicate a desire to invoke the special provisions of 35 U.S.C. § 112(f), to define the invention. To the contrary, if the provisions of 35 U.S.C. § 112(f) are sought to be invoked to define the inventions, the claims will specifically and expressly state the exact phrases “means for” or “step for, and will also recite the word “function” (i.e., will state “means for performing the function of [insert function]”), without also reciting in such phrases any structure, material or act in support of the function. Thus, even when the claims recite a “means for performing the function of ... “ or “step for performing the function of ...,” if the claims also recite any structure, material or acts in support of that means or step, or that perform the recited function, then it is the clear intention of the inventor not to invoke the provisions of 35 U.S.C. § 112(f). Moreover, even if the provisions of 35 U.S.C. § 112(f) are invoked to define the claimed inventions, it is intended that the inventions not be limited only to the specific structure, material or acts that are described in the preferred embodiments, but in addition, include any and all structures, materials or acts that perform the claimed function as described in alternative embodiments or forms of the invention, or that are well known present or later-developed, equivalent structures, material or acts for performing the claimed function.
The foregoing and other aspects, features, and advantages will be apparent to those artisans of ordinary skill in the art from the DETAILED DESCRIPTION, DRAWINGS, and CLAIMS.
A more complete understanding of the present invention may be derived by referring to the detailed description when considered in connection with the following illustrative figures. In the figures, like reference numbers refer to like elements or acts throughout the figures.
Elements and acts in the figures are illustrated for simplicity and have not necessarily been rendered according to any particular sequence or embodiment.
In the following description, and for the purposes of explanation, numerous specific details are set forth in order to provide a thorough understanding of the various aspects of the invention. It will be understood, however, by those skilled in the relevant arts, that the present invention may be practiced without these specific details. In other instances, known structures and devices are shown or discussed more generally in order to avoid obscuring the invention. In many cases, a description of the operation is sufficient to enable one to implement the various forms of the invention, particularly when the operation is to be implemented in software. It should be noted that there are many different and alternative configurations, devices and technologies to which the disclosed inventions may be applied. The full scope of the inventions is not limited to the examples that are described below.
Implementations of the present invention as disclosed herein depart significantly from the conventional concepts and designs of the prior art. This invention provides a device to load cargo into an unmanned aerial vehicle (UAV) for transport without human intervention and has the ability to unload cargo from UAVs at the intended delivery location without human intervention. The loading and unloading of cargo is accomplished with limited complexity, with the implementation of the invention at the pickup and delivery locations. This enables the rapid deployment of UAV pickup and delivery to a multiplicity of consumer delivery and pickup locations.
Implementations of the invention are comprised of two major elements: 1) a payload pad L1, (See
As shown in
The payload container P1 may comprise the mechanical attachment components P4 to attach the payload container to the UAV. These components P4 and the location of their attachment to the payload container P1 are adapted to the specific needs of the UAV to which they are affixed and to the specific configuration of the payload container P1. The payload container attachments P4 also include the electrical connectors P5 that provide the power transfer and the electronic communication between the payload container and the UAV.
In at least one embodiment of the invention, the payload container cargo doors C10, C11 comprise two carbon fiber panels that, when closed, form the bottom panel in the payload container C10, C11, shown in
In some embodiments, the UHMWPE and para-aramid synthetic fiber or equivalent may be replaced with a small belt conveyor segment W1 on the payload container doors as shown in
In at least one embodiment of the invention, each payload container cargo door is affixed to the payload container by two connector links attached to both short edges of each payload container cargo door for four connector links per door C2, C3 in
In at least one embodiment of the invention, there are two motive force links attached to both exterior edges of the short edge of each of the two payload container cargo doors C4 shown in
The connector links, the payload container cargo door, and the payload container panel form the four elements of a four-bar linkage which is moved by the motive force links to create a motion path for the doors that are designed to intersect with the bristles or other support elements of the payload pad at a point below their contact with the cargo shown in
In alternate implementations of the invention, the attachment point of one or both connector links to the payload container panels may be modified by adding additional linkages U2 shown in
The payload pad shown in
In at least one embodiment of the invention, the support elements of the payload pad L1 are bristles R1 of an appropriate length and cross-section and formed from a material that has the appropriate mechanical properties that enable them to support cargo that meets the cargo weight and shape criteria for the payload pad L1, when the payload pad L1 is in its ready-for-pickup state. During the cargo pickup process, the payload container cargo doors C10, C11 intersect these bristles R1 and cause the bristles R1 to deflect, which reduces the ability of the bristles R1 to support the cargo, thereby lowering the cargo until it contacts the payload container cargo doors C10, C11.
In an alternate embodiment shown in
In alternate embodiments, the support elements can comprise a mechanical linkage with a hinge point near the base that also has a hinge point nearer the midpoint of the linkage, the hinge points being limited in motion and in opposite directions. The hinge points in the fully erect orientation can be biased in that orientation by magnetic force or mechanical design features such as a spring that can be overcome or released by the payload container cargo doors during the cargo pickup operation.
In alternate embodiments, the support elements can be comprised of tines hinged near the connection to the payload pad base. These tines can be held in their upright state by mechanical properties of their design (for example, detents on the edges of the tines held in place by a spring) or magnetic or other devices.
In alternate embodiments shown in
The payload pad L1 also provides one or more guidance elements that enable the UAV to make the precision landing at the payload pad L1, enabling the loading and unloading of the cargo into and out of the payload container as described herein. These guidance elements may be visible marks (e.g. optical fiducials) as shown in
The cargo loading operation of a UAV equipped with a payload container P1 may take one of two forms depending upon which of the one or more embodiments of the invention is utilized. The first form may involve a load of cargo being loaded into a payload container at a depot that has UAV loading/ unloading apparatus that incorporates a payload pad. A suitably equipped depot may be a logistic center, a retail location, a mobile cargo-carrying device, or another structure. The second form may be the loading of cargo at a location with only a payload pad where cargo is manually placed upon or retrieved from the payload pad.
When loading a UAV equipped with a payload container at a suitably equipped depot, the depot may utilize an apparatus which incorporates the payload pad. The UAV at the depot is positioned in the cargo loading position. The UAV may instruct the payload container to fully open the payload container cargo doors. After the payload container has opened the cargo doors, the payload container may inform the UAV, which will inform the depot of readiness for loading the cargo. The depot may then retrieve the cargo and place it on a payload pad attached to an apparatus designed to move the cargo L3 shown in
Loading cargo into the payload container at a remote location requires the remote location’s resources to place suitable cargo in the correct location and orientation on the payload pad L1 shown in
After the landing has been completed, the UAV may instruct the payload container to execute the loading procedure by closing the payload container cargo doors C10, C11 shown in
The cargo unloading operation of a UAV equipped with a payload container has two general modes. One mode of unloading operation herein referred to as remote unloading, entails the unloading of the cargo in a manner that prevents the payload container from closing the cargo doors and requires the UAV to return to flight with the cargo doors open. The remote unloading operation will require the UAV to determine that the UAV is in the correct location and orientation prior to initiating the payload container unloading apparatus. Another mode of unloading herein referred to as depot unloading, entails the unloading of cargo in a manner that does not prevent the payload container from closing the payload container cargo doors after the unloading operation is complete, permitting the UAV to return to flight or otherwise move from the unloading position with the cargo doors closed. The depot unloading operation may require the depot apparatus to determine that the payload container and the depot apparatus are in the correct location and state prior to initiating the payload container unloading apparatus.
The remote unloading operation requires a planar surface onto which the cargo can be unloaded referred to herein as “the unloading surface.”
One embodiment of the unloading surface is the planar surface created by the top ends of the bristles R1 of the payload pad shown in
The unloading process comprises the movement of the lead screw C8 which in turn causes the lead screw follower C7 contained between the lead screw follower guides C9 to move downwardly, moving the upper end of the linkage C4, which causes the payload container doors C10, C11 to move downwardly and outwardly as determined by the linkages C2, C3. The motion of the lead screw follower is continued until the cargo doors C10, C11 are fully opened, as shown in
The depot unloading operation may be performed at a suitably equipped depot where a suitably equipped depot could be a logistic center, a retail location, a mobile cargo-carrying device, or another structure. The depot unloading operation requires design features or mechanical or human resources at the unloading location to receive and move the unloaded cargo downwardly or to move the UAV with the attached payload container upwardly to a distance such that the unloaded cargo does not impede the closing motion of the payload container cargo doors.
This physical separation of the top of the unloaded cargo and the lowest position of the payload container cargo doors during an opening or closing cycle, can alternatively be created by a cargo unloading position that is above a cavity of sufficient length, width and depth such that after the cargo is unloaded into the cavity, the tallest point of the unloaded cargo will be below the arc of the payload container cargo doors during the open/close cycle.
For the depot unloading operation the depot may provide the navigation aids to guide the landing of the UAV and may provide additional apparatus to move the UAV and position it over the depot’s unloading apparatus. The depot control may inform the UAV when the UAV is correctly positioned and the depot is in a state that is ready to receive the cargo. The UAV control system instructs the payload container to unload the payload container. The payload container engages the payload containers unloading apparatus.
The payload container may deactivate any cargo stabilization devices that may have been activated. The payload container may then engage the cargo door operating mechanism by energizing the lead screw motor C6 shown in
The cargo L3 may then slide down the low friction sheet S7 until it rests on the cargo supporting members L2.
The motion of the lead screw follower is continued until the cargo doors C10, C11 are fully opened as shown in
In places where the description above refers to particular implementations of systems and methods for cargo delivery by unmanned aerial vehicles it should be readily apparent that a number of modifications may be made without departing from the spirit thereof and that these implementations may be applied to other to systems and methods for cargo delivery by unmanned aerial vehicles.
