Laser-Guided UAV Delivery System

An automated laser guided UAV delivery system is discussed. A UAV carrying a physical object in a storage unit, autonomously aerially navigates towards a specified location. The UAV includes an inertial navigation system and a sensor and can detect, via the sensor, a laser transmission emitted on the surface of a specified location. The UAV can detect the frequency and pulse of the laser transmission to identify that it is the intended recipient of the laser transmission. The UAV can deliver the physical object from the storage unit onto the surface of the specified location on which the laser transmission is being emitted.

BACKGROUND

Unmanned Aerial Vehicles (UAVs) unload physical objects at specified location. Laser guidance can be used to indicate a specified delivery location.

SUMMARY

In one embodiment, an unmanned aerial vehicle (UAV) delivery system includes a laser device configured to emit a laser transmission onto a surface of a specified location. The system further includes at least one autonomous UAV that includes an inertial navigation system, a sensor for detecting the laser transmission, and one or more storage units configured to store one or more physical objects. The system further includes a delivery module. The delivery module is executable on a mobile device equipped with a processor and configured to control the laser device to alter at least one of a frequency and pulse of the laser transmission so as to communicate with the e autonomous UAV. The UAV is configured to carry one or more physical objects in the one or more storage units, detect, via the sensor, the laser transmission on the surface of the specified location, identify one of the pulse and frequency of the laser transmission as being directed to the UAV, and deliver, based on the identifying, the one or more physical objects onto the surface of the specified location.

In one embodiment, an autonomous unmanned aerial vehicle (UAV) delivery method includes aerially navigating at least one autonomous UAV towards a specified location The autonomous UAV includes an inertial navigation system, a sensor, and one or more storage units. The method further includes carrying, with the UAV, one or more physical objects in the one or more storage units. The method further includes detecting, via the autonomous UAV, using the sensor, at least one of a pulse or frequency of the laser transmission on a surface of the specified location and delivering, from the autonomous UAV, the one or more physical objects onto the surface of the specified location based on the detecting.

In one embodiment, an unmanned aerial vehicle (UAV) delivery system includes a laser device configured to emit a laser transmission onto a surface of a suggested location. The system further includes at least one autonomous UAV that includes a sensor for detecting the laser transmission, and one or more storage units configured to store one or more physical objects. The system further includes a delivery module. The delivery module is executable on a mobile device equipped with a processor and configured to control the laser device to communicate with at least one autonomous UAV. The autonomous UAV is configured to carry one or more physical objects in the one or more storage units, detect, via the sensor, the laser transmission on the surface of the suggested location, identify another location within a predetermined distance of the suggested location as an alternate delivery location, transmit the alternate location to the delivery module, receive an approval of the alternate location from the delivery module unload, based on the approval, deliver the one or more physical objects at the alternate location instead of the suggested location.

DETAILED DESCRIPTION

Described in detail herein is an automated laser guided UAV delivery system. A UAV carrying a physical object in a storage unit, autonomously aerially navigates towards a specified location. The UAV includes an inertial navigation system and a sensor. The UAV can detect, via the sensor, a laser transmission emitted on a surface of a specified delivery location. The UAV can detect the frequency and pulse of the laser transmission to determine that the transmission is intendend for the UAV. The UAV can deliver the physical object from the storage unit onto the surface of the specified location on which the laser transmission is being emitted based on the identifying.

FIG. 1Ais a block diagram illustrating an unmanned aerial vehicle (UAV) according to an exemplary embodiment. An autonomous UAV106may include an inertial navigation system and one or more storage units. The autonomous UAV can autonomously navigate aerially using motive assemblies102. The motive assemblies102can be but are not limited to wheels, tracks, rotors, rotors with blades, and propellers The UAV106can include a body100and multiple motive assemblies102. In this non-limiting example, the motive assemblies can be secured to the body on the edges of the UAV106.

The body100of the UAV106can include a storage unit. The storage unit can include a delivery mechanism such as, but not limited to, a picking unit (not shown) such as electrically operated clamps, claw-type clips, hooks, electro-magnets or other types of grasping mechanisms. The UAV can include a controller108a,and the inertial navigation system can include a GPS receiver108b,accelerometer108cand a gyroscope108d.The UAV106can also include a motor108e.The controller108acan be programmed to control the operation of the GPS receiver108b,accelerometer108c,a gyroscope108d,motor108e,and drive assemblies102(e.g., via the motor108e), in response to various inputs including inputs from the GPS receiver108b,the accelerometer108c,and the gyroscope108d.The motor108ecan control the operation of the motive assemblies102directly and/or through one or more drive trains (e.g., gear assemblies and/or belts).

The GPS receiver108bcan be a L-band radio processor capable of solving the navigation equations in order to determine a position of the UAV106, determine a velocity and precise time (PVT) by processing the signal broadcasted by GPS satellites. The accelerometer180cand gyroscope108dcan determine the direction, orientation, position, acceleration, velocity, tilt, pitch, yaw, and roll of the UAV106. In exemplary embodiments, the controller can implement one or more algorithms, such as a Kalman filter, for determining a position of the UAV.

The UAV106can be configured to pick up physical objects104(e.g. a pill bottle) using the picking unit. The size of the physical objects104can be proportionate to the size of the UAV106. The UAV106can pick up and carry the physical object104to a predetermined location. In some embodiments, multiple UAVs can be configured to pick up a portion of a physical object and carry the physical object together, to a pre-determined location.

FIG. 1Bis a block diagram illustrating a unloading pad for a UAV delivery in an exemplary embodiment. As mentioned above, the UAV106can autonomously navigate to a specified location. The UAV106can carry a physical object using a storage unit122and carry the physical object to the specified location. The UAV106can navigate to the specified location using motive assemblies126. The UAV106can detect an unloading pad124upon reaching within a specified distance of the specified location. It will be appreciated that the unloading pad may be detected in a number of different ways by the UAV. For example, the unloading pad may have a scannable identifier affixed to the pad. Alternatively, the unloading pad may be identified at least in part using image recognition software on the UAV. Other identification techniques may also be employed by the UAV to identify the loading pad without departing from the scope of the present invention. The unloading pad124can be a surface of a specified area. The UAV106can be configured to hover over the unloading pad124at a specified distance and release the physical object from the storage unit122so that the physical object is unloaded on the unloading pad124.

FIG. 1Cillustrates a laser guided delivery for a UAV according to an exemplary embodiment. As mentioned above, the UAV106can carry a physical object using a storage unit and navigate to a specified location136based on received instructions. The UAV106can use an inertial navigation system (as shown above) to navigate to the specified location136. In one embodiment, a user130using a laser device132can project a laser transmission134on a specified location136. The laser device132can be coupled to, or integrated with, with a mobile device operated by the user. In another embodiment, the laser may be affixed in some manner to an object to project onto the designated location without a user being present. In some embodiments, the laser transmission134is visible to the unaided human eye. Alternatively, the laser transmission134may not part of the human visible spectrum. In some embodiments, the mobile device can execute a delivery module. The delivery module can detect the location of the UAV106and automatically control the laser transmission134, in response to detecting that the UAV106is within specified threshold distance of the specified location136. In one embodiment, the delivery module may communicate with the UAV106via the mobile device using Bluetooth® or WiFi communication, or another short or long-range communication protocol supported by both the UAV106and the mobile device132.

The specified location136can be a surface on which the physical object being carried by the UAV106, is designated to be unloaded. The UAV106can be coupled to a sensor140. The sensor140can be configured to detect laser transmissions140. As a non-limiting example, the sensor140can be a photoelectronic laser sensor. The UAV106can detect using the sensor140, the laser transmission134on the specified location136. The sensor140can identify the pulse and the frequency of the laser transmission134on the specified location136. The UAV106can determine whether the pulse and frequency correspond with the instructions received by the UAV106in order to determine that the UAV is the intended recipient of the laser transmission. In response to determining the pulse and frequency correspond with the instructions received by the UAV106the UAV can deliver the physical object onto the surface of the specified location136. In this manner, communication can be ensured with the correct UAV when there are multiple UAVs in the area. In some embodiments, UAV106can be configured to be within a predetermined distance and angle of the specified location136before delivering the physical object. In one embodiment, the UAV106can include a microphone138. The microphone138can receive audio input from the user130.

FIG. 2is a block diagram illustrating an automated laser guided UAV delivery system according to an exemplary embodiment. The automated laser guided unloading system250can include one or more databases205, one or more servers210, one or more computing systems200, one or more mobile devices240, one or more beacon devices265and UAV106. In exemplary embodiments, the computing system200can be in communication with the databases205, the server(s)210, the mobile devices240, and the UAV106, via a communications network215. The computing system200can implement at least one instance of a routing engine220. The mobile device240can include, or be coupled to, a laser device132configured to emit a laser transmission.

The computing system200includes one or more computers or processors configured to communicate with the databases205, mobile devices240, the beacon devices265and UAV106via the network215. The computing system200hosts one or more applications configured to interact with one or more components of the automated laser guided unloading system250. The databases205may store information/data, as described herein. For example, the databases205can include a locations database225, physical attribute information database230. The locations database225can include information associated with addresses and/or GPS coordinates of delivery locations. The physical attribute information database230can store information associated with appropriate surfaces for physical object unloading locations. The databases205and server210can be located at one or more geographically distributed locations from each other or from the computing system200. Alternatively, the databases205can be included within server210or computing system200.

In exemplary embodiments, the computing system200can receive instructions to retrieve one or more physical objects from a facility. The computing system200can execute the routing engine220in response to receiving the instructions. The instructions can include identifiers associated with the physical objects and a delivery location. The routing engine220can query the locations database225to retrieve the GPS coordinates of the delivery location. The physical objects can be retrieved and can be loaded onto one or more UAVs106. In some embodiments, the routing engine220can instruct one or more UAVs106to navigate to the locations of the physical objects and to retrieve the physical objects from the facility.

The routing engine220can transmit instructions to the UAV106to navigate to a specified location based on the GPS coordinates and to unload the physical object loaded onto the UAV106at the specified location. The instructions can include a specified pulse and frequency of a laser transmission that are specific to a particular UAV. The routing engine220can also transmit instructions to a mobile device240that include the pulse and frequency information. The mobile device240can execute a delivery module. The UAV106can navigate to the specified location. The delivery module of the mobile device240can detect the UAV106is within a threshold distance of the specified location. The mobile device240can capture physical attributes associated with the surface of the specified location. In some embodiments, the mobile device240can capture an image of the surface of the specified location using an image capturing device. The delivery module can extract physical attributes associated with the surface of the specified location. The physical attributes can be one or more of size dimension, information about terrain of the surface and environmental conditions of the surface. The mobile device240can query the physical attributes information database235to retrieve a type of surface suitable for delivery of the physical object. The delivery module can also query the physical attribute information database235to determine the amount of area needed for delivering the physical object. The mobile device240can determine a suitable delivery surface for the physical objects based on the extracted attributes, and the retrieved type and area of surface suitable for unloading the physical object

In response to determining the UAV106is within a specified threshold distance of the specified location (such as by establishing a communication link), the mobile device240can control the laser device to emit a laser transmission on the determined suitable surface area of the specified location for delivery of the physical object. In some embodiments, the laser transmission can generate a shape covering the suitable area needed for delivering the physical object. The sensor140of the UAV106can detect the laser transmission which is being reflected off of the surface of the specified location. The sensor140can detect the pulse and frequency of the laser. The UAV106can determine whether the pulse and frequency correspond with the pulse and frequency received in the instructions in order to make sure the transmission is intended for this particular UAV. In response to determining that the pulse and/or frequency correspond with the pulse and/or frequency received in the instructions, the UAV106can navigate to a specified distance and angle of the surface and deliver the physical object onto the surface of the specified location. In some embodiments, the UAV106can also detect the shape created by the transmission of the laser device. In some embodiments, multiple laser devices can generate a sequence of multiple laser transmissions. The sequence can create multiple spectrums, pulses and/or patterns which are reflected off of the surface. The UAV106can detect the spectrums, pulses and patterns reflected off of the surface. For example, a laser device (s) might include three distinct lasers each coded to a different spectrum and pulse detectable by the UAV and the lasers themselves might osculate to make a pattern such as a single laser creating an oval or figure eight in a much smaller area.

In one embodiment, the UAV106can determine based on past deliveries to the same specified location that the surface of the specified location on which the laser transmission is emitted is not suitable for unloading the physical object. For example, the UAV may store records of previous locations marked as unsuitable. Alternatively, the sensor140can detect the surface on which the laser transmission is being emitted and determine the surface is not suitable for delivering the physical object. The UAV106can alert the routing engine220that the surface on which the laser transmission is being emitted is not suitable for unloading the physical object. The routing engine220can instruct the mobile device106to select a different surface of the specified location on which to emit the laser transmission. In some embodiments, the sensor140can detect an alternate suitable surface location for unloading the physical object. The UAV106can transmit the alternate location to the routing engine220. The routing engine220can approve the alternate surface location and instruct the mobile device to emit a laser transmission onto the alternate surface location. In some embodiments, the UAV106can communicate with the mobile device106directly regarding the alternate location.

As a non-limiting example, the automated laser guided UAV delivery system250can be implemented in a retail store. The computing system200can receive instructions to retrieve one or more products from a retail store. The computing system200can execute the routing engine220in response to receiving the instructions. The instructions can include identifiers associated with the products and a delivery location. The delivery location can be a customer specified delivery location. The routing engine220can query the locations database225to retrieve the GPS coordinates of the delivery location. The products can be retrieved and can be loaded onto one or more UAVs106. In some embodiments, the routing engine220can instruct one or more UAVs106to navigate to the locations of the products and to retrieve the products from the retail store.

The routing engine220can transmit instructions to the UAVs106to navigate to a specified location based on the GPS coordinates and to deliver the products loaded onto the UAV106at the specified location. The instructions can include a specified pulse and frequency of a laser transmission that should be identified at the delivery location before delivery takes place. The routing engine220can transmit instructions to a mobile device240that is executing a delivery module as described herein. The UAV106can navigate to a specified location. The delivery module of the mobile device240can detect that the UAV106is within a threshold distance of the specified location. For example, the delivery module may detect that the UAV has come within communication range. The mobile device240can capture physical attributes associated with the surface of the specified location. In some embodiments, the mobile device240can capture an image of the surface of the specified location using an image capturing device. The delivery module can extract physical attributes associated with the surface of the specified location. The physical attributes can be one or more of size dimension, information about terrain of the surface and environmental conditions of the surface. The mobile device240can query the physical attributes information database235to retrieve a type of surface suitable for the physical object. The mobile device240can also query the physical attribute information database235to determine the amount of area needed for unloading/delivering the product. The mobile device240can determine a suitable delivery surface for the products based on the extracted attributes and the retrieved type and area of surface needed for unloading the product.

In response to determining that the UAV106is within a specified threshold distance of the specified location, the mobile device240can control the laser device to emit a laser transmission on the determined suitable surface area of the specified location for unloading the product. In some embodiments, the laser transmission can generate a shape covering the suitable area needed for unloading the product. The sensor140of the UAV106can detect the laser transmission on the surface of the specified location. The sensor140can detect the pulse and frequency of the laser. The UAV106can determine whether the pulse and/or frequency correspond with the pulse and/or frequency received in the instructions. In response to determining, that the pulse and/or frequency correspond with the pulse and/or frequency received in the instructions, the UAV106can navigate to a specified distance and angle of the surface and deliver the product onto the surface of the specified location. As a non-limiting example, the specified location can be a kiosk disposed in a retail store.

In some embodiments, the UAV106can determine based on past deliveries to the same specified location that the surface of the specified location on which the laser transmission is emitted is not suitable for unloading the product. The UAV106can alert the routing engine220that the surface on which the laser transmission is being emitted is not suitable for unloading the product. The routing engine220can instruct the mobile device106to select a different surface of the specified location on which to emit the laser transmission. In some embodiments, the UAV106can transmit the alert to the mobile device106directly.

In some embodiments, the UAV106can receive voice/audio input through a microphone138. For example, a microphone138can be disposed on the UAV106. The sensor140of the UAV106can detect the laser transmission on the surface of the specified location. The UAV106can receive a voice/audio input through the microphone138. The UAV106can use voice/audio recognition software to verify the voice/audio input. The UAV106can verify the specified location is suitable for unloading the product based on the verification of the voice/audio input. The voice recognition software can be one or more of, CMU Sphinx, Mozilla DeepSpeech, HTK, Julius, Kaldi, iATROS, RWTH ASR, wav2letter, Agnito, Simon, Jasper project, Dragon Dictate, iListen, ViaVoice, or Voice Navigator.

In another embodiment, a beacon device265can be disposed within a specified distance of the specified location. The beacon device265can emit a signal. The signal can include a unique identifier associated with the beacon device265. The sensor140can the laser transmission on the surface of the specified location and the signal emitted by the beacon device265. The sensor140can extract the unique identifier from the signal emitted by the beacon device265. The sensor140can transmit the unique identifier the computing system200. The computing system200can verify the unique identifier and transmit a verification message to the UAV106. The UAV106can verify the is suitable for unloading the product based on the verification of the unique identifier by the computing system200. As an example, the sensor106can use Bluetooth® technology to detect the signal emitted by the beacon device265.

FIG. 3is a block diagram of an exemplary computing device suitable for use in an embodiment. Computing device300can execute the routing engine described herein. The computing device300includes one or more non-transitory computer-readable media for storing one or more computer-executable instructions or software for implementing exemplary embodiments. The non-transitory computer-readable media may include, but are not limited to, one or more types of hardware memory, non-transitory tangible media (for example, one or more magnetic storage disks, one or more optical disks, one or more flash drives, one or more solid state disks), and the like. For example, memory306included in the computing device300may store computer-readable and computer-executable instructions or software (e.g., applications330such as the routing engine220) for implementing exemplary operations of the computing device300. The computing device300also includes configurable and/or programmable processor302and associated core(s)304, and optionally, one or more additional configurable and/or programmable processor(s)302′ and associated core(s)304′ (for example, in the case of computer systems having multiple processors/cores), for executing computer-readable and computer-executable instructions or software stored in the memory306and other programs for implementing exemplary embodiments of the present disclosure. Processor302and processor(s)302′ may each be a single core processor or multiple core (304and304′) processor. Either or both of processor302and processor(s)302′ may be configured to execute one or more of the instructions described in connection with computing device300.

Virtualization may be employed in the computing device300so that infrastructure and resources in the computing device300may be shared dynamically. A virtual machine312may be provided to handle a process running on multiple processors so that the process appears to be using only one computing resource rather than multiple computing resources. Multiple virtual machines may also be used with one processor.

Memory306may include a computer system memory or random access memory, such as DRAM, SRAM, EDO RAM, and the like. Memory306may include other types of memory as well, or combinations thereof.

A user may interact with the computing device300through a visual display device314, such as a computer monitor, which may display one or more graphical user interfaces316, multi touch interface320, a pointing device318, an image capturing device334and an sensor332.

The computing device300may also include one or more storage devices326, such as a hard-drive, CD-ROM, or other computer readable media, for storing data and computer-readable instructions and/or software that implement exemplary embodiments of the present disclosure (e.g., applications). For example, exemplary storage device326can include one or more databases328for storing information associated with types of suitable unloading surfaces for physical objects and information associated with delivery locations. The databases328may be updated manually or automatically at any suitable time to add, delete, and/or update one or more data items in the databases.

The computing device300can include a network interface308configured to interface via one or more network devices324with one or more networks, for example, Local Area Network (LAN), Wide Area Network (WAN) or the Internet through a variety of connections including, but not limited to, standard telephone lines, LAN or WAN links (for example, 802.11, T1, T3, 56 kb, X.25), broadband connections (for example, ISDN, Frame Relay, ATM), wireless connections, controller area network (CAN), or some combination of any or all of the above. In exemplary embodiments, the computing system can include one or more antennas322to facilitate wireless communication (e.g., via the network interface) between the computing device300and a network and/or between the computing device300and other computing devices. The network interface308may include a built-in network adapter, network interface card, PCMCIA network card, card bus network adapter, wireless network adapter, USB network adapter, modem or any other device suitable for interfacing the computing device300to any type of network capable of communication and performing the operations described herein.

The computing device300may run any operating system310, such as versions of the Microsoft® Windows® operating systems, different releases of the Unix and Linux operating systems, versions of the MacOS® for Macintosh computers, embedded operating systems, real-time operating systems, open source operating systems, proprietary operating systems, or any other operating system capable of running on the computing device300and performing the operations described herein. In exemplary embodiments, the operating system310may be run in native mode or emulated mode. In an exemplary embodiment, the operating system310may be run on one or more cloud machine instances.

FIG. 4is a flowchart illustrating an exemplary process performed by an automated laser guided UAV delivery system in accordance with an exemplary embodiment. In operation400, a UAV (e.g. UAV106as shown inFIGS. 1A-2) carrying a physical object in a storage unit (e.g. storage unit122as shown inFIG. 1B), autonomously aerially navigates towards a specified location. The UAV includes an inertial navigation system (e.g. inertial navigation system108a-eas shown inFIG. 1A) and a sensor (e.g. sensor140as shown inFIG. 1C and 2). In operation402, a laser device (e.g. laser device132as shown inFIG. 1C and 2) emits a laser transmission (e.g. laser transmission134as shown inFIG. 1C) on a surface of a specified location (e.g. specified location136as shown inFIG. 1C). In operation404, the UAV detects, via the sensor, the laser transmission emitted on the surface of the specified location. The UAV can detect the frequency and pulse of the laser transmission. In operation406, the UAV can unload the physical object from the storage unit onto the surface of the specified location on which the laser transmission is being emitted based on the detected frequency and/or pulse.