Patent Description:
When an unmanned vehicle operates in a remote-control mode, a pilot or driver that is at a remote location can control the unmanned vehicle via commands that are sent to the unmanned vehicle via a wireless link. When the unmanned vehicle operates in autonomous mode, the unmanned vehicle typically moves based on pre-programmed navigation waypoints, dynamic automation systems, or a combination of these. Further, some unmanned vehicles can operate in both a remote-control mode and an autonomous mode, and in some instances may do so simultaneously. For instance, a remote pilot or driver may wish to leave navigation to an autonomous system while manually performing another task, such as operating a mechanical system for picking up objects, as an example.

Various types of unmanned vehicles exist for various different environments. For instance, unmanned vehicles exist for operation in the air, on the ground, underwater, and in space. Examples include quad-copters and tail-sitter UAVs, among others. Unmanned vehicles also exist for hybrid operations in which multi-environment operation is possible. Examples of hybrid unmanned vehicles include an amphibious craft that is capable of operation on land as well as on water or a floatplane that is capable of landing on water as well as on land.

UAVs may be used to deliver a payload to, or retrieve a payload from, an individual or business. In some operations, once the UAV arrives at a retrieval site, the UAV may land or remain in a hover position. At this point, a person at the retrieval site may secure the payload to the UAV at an end of a tether attached to a winch mechanism positioned with the UAV, or to the UAV itself. For example, the payload may have a handle that may be secured to a device at the end of the winch, or a handle that may be secured within the UAV. However, this scenario has a number of drawbacks. In particular, if the UAV is late for arrival at the retrieval site, the person designated for securing the payload to be retrieved by the UAV may have to wait a period of time before the UAV arrives, resulting in undesirable waiting time. Similarly, if the UAV arrives and the person designated to secure the payload to be retrieved to the UAV is delayed or fails to show up, the UAV may have to wait in a hover mode or on the ground until the designated person arrives to secure the payload to the UAV, resulting in undesirable delay and expenditure of energy by the UAV as the UAV waits for the designated person to arrive, and also resulting in undesirable delay in the subsequent delivery of the payload at a delivery site.

As a result, it would be desirable to provide for the automated pickup of a payload by the UAV, where the UAV may automatically pick up the payload without the need for a designated person to secure the payload to the UAV at the retrieval site. Such automated pickup of the payload by the UAV would advantageously eliminate the need for a designated person to secure the payload to the UAV and eliminate potential delays associated with the late arrival of the UAV or designated person at the retrieval site.

<CIT> describes apparatuses for passively releasing a payload of an unmanned aerial vehicle (UAV). An example apparatus may include, among other features, (i) a housing; (ii) a swing arm coupled to the housing, wherein the swing arm is operable to toggle between an open position and a closed position; (iii) a spring mechanism adapted to exert a force on the swing arm from the open position toward the closed position; (iv) a receiving system of a UAV adapted to receive the housing, wherein the receiving system causes the swing arm to be arranged in the open position; and (v) a spool operable to unwind and wind a tether coupled to the housing, wherein unwinding the tether causes a descent of the housing from the receiving system, and wherein winding the tether causes an ascent of the housing to the receiving system.

The present embodiments advantageously provide a system and methods for automatic payload retrieval at a payload retrieval site. The present embodiments comprise a UAV having guiding features on an underside of the UAV that allow the UAV to hover over a payload to be retrieved, and as the UAV is lowered over the payload, the guiding features on the underside of the UAV guide the payload into a payload receptacle within the UAV where it may be secured to a payload coupling apparatus within the payload receptacle. Alternately, automatic payload retrieval may also be achieved using the same UAV configuration wherein the payload may land on a payload loading apparatus, and after the UAV lands, a payload may be pushed upwardly, from below or within the payload loading apparatus, into engagement with a payload coupling apparatus within a payload receptacle on the underside of the UAV. In either payload retrieval scenario, when an upper portion of the payload, i.e. a handle of the payload, extends a desired distance into the payload receptacle (which could be determined by sensors or switches within the payload receptacle), a payload coupling apparatus within the payload receptacle engages the handle of the payload to securely engage the payload within the payload receptacle. Once the payload is secured within the payload receptacle, the UAV may fly to a payload delivery site with the payload for subsequent delivery of the payload at the payload delivery site.

The payload coupling apparatus may take the form of a capsule that may be attached to an end of a tether that is secured to a winch within the UAV. The capsule may be configured with a swing arm or latch, or other engaging device, that may extend through a handle of the payload to secure the payload within the payload receptacle of the UAV. When the handle of the payload reaches a desired position within the payload receptacle, the swing arm or latch (or other engaging device) of the capsule may be caused to extend through an aperture of a handle of the payload to secure the handle of the payload within the payload receptacle of the UAV. Upon arriving at a payload delivery site, the capsule and attached payload may be lowered to the ground by the winch within the payload, and once the payload contacts the ground, the capsule may be further lowered by the winch and automatically disengage from the handle of the payload. Once the capsule is disengaged from the payload, the capsule may be winched back up to the UAV, and the UAV may fly to a payload retrieval site to retrieve another payload.

In one aspect, a system according to claim <NUM> is provided wherein, amongst other features, a payload retrieval system is provided including a UAV having a payload receptacle positioned within the UAV, a payload coupling apparatus positioned within the payload receptacle, a tether having a first end secured within the UAV and a second end attached to the payload coupling apparatus, and a payload guiding member positioned on an underside of the UAV for guiding at least part of a payload into the payload receptacle during retrieval of a payload.

In another aspect, a method according to claim <NUM> of retrieving a payload is provided including the steps of (i) providing a payload retrieval system including a UAV having a payload receptacle positioned within the UAV, a payload coupling apparatus positioned within the payload receptacle, a tether having a first end secured within the UAV and a second end attached to the payload coupling apparatus, and a payload guiding member positioned on an underside of the UAV for guiding at least part of a payload into the payload receptacle during retrieval of a payload; (ii) positioning the UAV over a payload having a handle; (iii) lowering the UAV until a portion of the handle of the payload is positioned within the payload guiding member, (iv) guiding the handle of the payload with the payload guiding member towards the payload receptacle; (v) further lowering the UAV until the portion of the handle of the payload is in a desired position within the payload receptacle; (vi) securing the handle of the payload to the payload coupling apparatus within the payload receptacle; and (vii) flying the UAV with the payload secured within the payload receptacle.

In yet a further aspect, a method according to claim <NUM> of retrieving a payload is provided including the steps of (i) providing a payload retrieval system including a UAV having a payload receptacle positioned within the UAV, a payload coupling apparatus positioned within the payload receptacle; a tether having a first end secured within the UAV and a second end attached to a payload coupling apparatus, and a payload guiding member positioned on an underside of the UAV for guiding at least a portion of a payload into the payload receptacle during retrieval of a payload; (ii) landing the UAV on a payload loading apparatus at a payload retrieval site, where a payload having a handle is positioned beneath the UAV; (iii) pushing the payload upwardly until the handle of the payload is positioned within the payload guiding member; (iv) guiding the handle of the payload with the payload guiding member towards the payload receptacle; (v) further pushing the payload upwardly until the handle of the payload is in a desired position within the payload receptacle; (vi) securing the handle of the payload to the payload coupling apparatus within the payload receptacle; and (vii) flying the UAV with the payload secured within the payload receptacle from the payload retrieval site.

The present embodiments further provide a system for retrieving a payload by a UAV including means for guiding a payload into a payload receptacle on an underside of the UAV and means for securing the payload within the payload receptacle.

These as well as other aspects, advantages, and alternatives will become apparent to those of ordinary skill in the art by reading the following detailed description with reference where appropriate to the accompanying drawings. Further, it should be understood that the description provided in this summary section and elsewhere in this document is intended to illustrate the claimed subject matter by way of example and not by way of limitation.

Exemplary methods and systems are described herein. It should be understood that the word "exemplary" is used herein to mean "serving as an example, instance, or illustration. " Any implementation or feature described herein as "exemplary" or "illustrative" is not necessarily to be construed as preferred or advantageous over other implementations or features. In the figures, similar symbols typically identify similar components, unless context dictates otherwise. The example implementations described herein are not meant to be limiting. It will be readily understood that the aspects of the present disclosure, as generally described herein, and illustrated in the figures, can be arranged, substituted, combined, separated, and designed in a wide variety of different configurations, all of which are contemplated herein insofar as they fall within the scope of the appended claims.

The present embodiments advantageously provide a system and method for automatic payload retrieval at a payload retrieval site. The present embodiments include a UAV configured to have guiding features on an underside of the UAV that allow the UAV to hover over a payload to be retrieved, and as the UAV is lowered over the payload, the guiding features on the underside of the UAV guide the payload into a payload receptacle within the UAV. When a handle of the payload, extends a desired distance into the payload receptacle (which could be determined by sensors or switches within the payload receptacle), a payload coupling apparatus within the payload receptacle engages the handle of the payload to securely engage the payload within the payload receptacle. Once the payload is secured within the payload receptacle, the CJAV may fly to a payload delivery site with the payload for subsequent delivery of the payload at the payload delivery site.

Alternately, or in addition to the automatic payload retrieval described above, automatic payload retrieval may also be achieved using the same UAV configuration wherein the payload may land on a payload loading apparatus, and after the UAV lands, a payload may be pushed upwardly, from below or within the payload loading apparatus, into engagement within a payload coupling apparatus within a payload receptacle on the underside of the UAV. In particular, using guiding features on the underside of the UAV, a handle is guided into the payload receptacle of the UAV. When a handle of the payload, extends a desired distance into the payload receptacle (which may be determined by sensors or switches within the payload receptacle), a payload coupling apparatus within the payload receptacle engages the handle of the payload to securely engage the payload within the payload receptacle. Once the payload is secured within the payload receptacle, the UAV may fly to a payload delivery site with the payload for subsequent delivery of the payload at the payload delivery site.

The guiding features may take the form of a funnel-like configuration which tapers inwardly from a lower open end towards the payload receptacle to guide the handle towards the payload receptacle. The guiding features may be either internal or external to the UAV, or a combination of both internal and external guiding features. In this manner, the UAV may either (i) be lowered onto a payload until an upper portion of the payload is secured within the payload receptacle, or (ii) land on a payload loading apparatus and have a payload positioned below or within the payload loading apparatus pushed upwardly towards the payload receptacle until an upper portion of the payload is secured within the payload receptacle. In either case, the payload becomes secured within the payload receptacle of the UAV, and the UAV may then fly to a payload delivery site and deliver the payload. In both cases, a designated person is not required to load a payload onto the UAV, thereby eliminating any delays that could be caused to a designated loading person by the late arrival of a UAV, and any delays associated with the late arrival of a designated loading person to the payload retrieval site.

The payload coupling apparatus may take the form of a capsule that may be attached to an end of a tether that is secured to a winch within the UAV. The capsule may be configured with a swing arm or latch, or other engaging device, that may extend through a handle of the payload to secure the payload within the payload receptacle of the UAV. When the handle of the payload reaches a desired position within the payload receptacle, the swing arm or latch (or other engaging device) of the capsule may be caused to extend through an aperture of a handle to secure the handle of the payload to the capsule within the payload receptacle of the UAV. Upon arriving at a payload delivery site, the capsule and attached payload may be lowered to the ground by the winch within the UAV, and once the payload contacts the ground, the capsule may be further lowered by the winch and automatically disengage from the handle of the payload. Once the capsule is disengaged from the payload, the capsule may be winched back up to the UAV, and the UAV may fly to a payload retrieval site to retrieve another payload.

The payload retrieval system described above provides for automatic payload retrieval without the need for human involvement in securing the payload to the UAV. Thus, the UAV may simply fly into position at the payload retrieval site and position itself above a payload to be retrieved and lower itself onto the payload until the payload is secured within the payload receptacle of the UAV. Alternately, the UAV may land on a payload loading apparatus and have a payload pushed upwardly into the payload receptacle until the payload is secured within the payload receptacle. Once the payload is secured within the payload receptacle, the UAV may fly off to a payload delivery site and deliver the payload.

Herein, the terms "unmanned aerial vehicle" and "UAV" refer to any autonomous or semi-autonomous vehicle that is capable of performing some functions without a physically present human pilot.

A UAV can take various forms. For example, a UAV may take the form of a fixed-wing aircraft, a glider aircraft, a tail-sitter aircraft, a jet aircraft, a ducted fan aircraft, a lighter-than-air dirigible such as a blimp or steerable balloon, a rotorcraft such as a helicopter or multicopter, and/or an ornithopter, among other possibilities. Further, the terms "drone," "unmanned aerial vehicle system" (UAVS), or "unmanned aerial system" (UAS) may also be used to refer to a UAV.

<FIG> is an isometric view of an example UAV <NUM>. UAV <NUM> includes wing <NUM>, booms <NUM>, and a fuselage <NUM>. Wings <NUM> may be stationary and may generate lift based on the wing shape and the UAV's forward airspeed. For instance, the two wings <NUM> may have an airfoil-shaped cross section to produce an aerodynamic force on UAV <NUM>. In some embodiments, wing <NUM> may carry horizontal propulsion units <NUM>, and booms <NUM> may carry vertical propulsion units <NUM>. In operation, power for the propulsion units may be provided from a battery compartment <NUM> of fuselage <NUM>. In some embodiments, fuselage <NUM> also includes an avionics compartment <NUM>, an additional battery compartment (not shown) and/or a delivery unit (not shown, e.g., a winch system, for handling the payload. In some embodiments, fuselage <NUM> is modular, and two or more compartments (e.g., battery compartment <NUM>. avionics compartment <NUM>, other payload and delivery compartments) are detachable from each other and securable to each other (e.g., mechanically, magnetically, or otherwise) to contiguously form at least a portion of fuselage <NUM>.

In some embodiments, booms <NUM> terminate in rudders <NUM> for improved yaw control of UAV <NUM>. Further, wings <NUM> may terminate in wing tips <NUM> for improved control of lift of the UAV.

In the illustrated configuration, UAV <NUM> includes a structural frame. The structural frame may be referred to as a "structural H-frame" or an "H-frame" (not shown) of the UAV. The H-frame may include, within wings <NUM>, a wing spar (not shown) and within booms <NUM>, boom carriers (not shown). In some embodiments the wing spar and the boom carriers may be made of carbon fiber, hard plastic, aluminum, light metal alloys, or other materials. The wing spar and the boom carriers may be connected with clamps. The wing spar may include pre-drilled holes for horizontal propulsion units <NUM>, and the boom carriers may include pre-drilled holes for vertical propulsion units <NUM>.

In some embodiments, fuselage <NUM> may be removably attached to the H-frame (e.g., attached to the wing spar by clamps, configured with grooves, protrusions or other features to mate with corresponding H-frame features, etc.). In other embodiments, fuselage <NUM> similarly may be removably attached to wings <NUM>. The removable attachment of fuselage <NUM> may improve quality and or modularity of UAV <NUM>. For example, electrical/mechanical components and/or subsystems of fuselage <NUM> may be tested separately from, and before being attached to, the H-frame. Similarly, printed circuit boards (PCBs) <NUM> may be tested separately from, and before being attached to, the boom carriers, therefore eliminating defective parts/subassemblies prior to completing the UAV. For example, components of fuselage <NUM> (e.g., avionics, battery unit, delivery units, an additional battery compartment, etc.) may be electrically tested before fuselage <NUM> is mounted to the H-frame. Furthermore, the motors and the electronics of PCBs <NUM> may also be electrically tested before the final assembly. Generally, the identification of the defective parts and subassemblies early in the assembly process lowers the overall cost and lead time of the UAV. Furthermore, different types/models of fuselage <NUM> may be attached to the H-frame. therefore improving the modularity of the design. Such modularity allows these various parts of UAV <NUM> to be upgraded without a substantial overhaul to the manufacturing process.

In some embodiments, a wing shell and boom shells may be attached to the H-frame by adhesive elements (e.g., adhesive tape, double-sided adhesive tape, glue, etc.). Therefore, multiple shells may be attached to the H-frame instead of having a monolithic body sprayed onto the H-frame. In some embodiments, the presence of the multiple shells reduces the stresses induced by the coefficient of thermal expansion of the structural frame of the UAV. As a result, the UAV may have better dimensional accuracy and/or improved reliability.

Moreover, in at least some embodiments, the same H-frame may be used with the wing shell and/or boom shells having different size and/or design, therefore improving the modularity and versatility of the UAV designs. The wing shell and/or the boom shells may be made of relatively light polymers (e.g., closed cell foam) covered by the harder, but relatively thin, plastic skins.

The power and/or control signals from fuselage <NUM> may be routed to PCBs <NUM> through cables running through fuselage <NUM>, wings <NUM>, and booms <NUM>. In the illustrated embodiment, UAV <NUM> has four PCBs, but other numbers of PCBs are also possible. For example, UAV <NUM> may include two PCBs, one per the boom. The PCBs carry electronic components <NUM> including, for example, power converters, controllers, memory, passive components, etc. In operation, propulsion units <NUM> and <NUM> of UAV <NUM> are electrically connected to the PCBs.

Many variations on the illustrated UAV are possible. For instance, fixed-wing UAVs may include more or fewer rotor units (vertical or horizontal), and/or may utilize a ducted fan or multiple ducted fans for propulsion. Further, UAVs with more wings (e.g., an "x-wing" configuration with four wings), are also possible. Although <FIG> illustrates two wings <NUM>, two booms <NUM>, two horizontal propulsion units <NUM>, and six vertical propulsion units <NUM> per boom <NUM>, it should be appreciated that other variants of UAV <NUM> may be implemented with more or less of these components. For example, UAV <NUM> may include four wings <NUM>, four booms <NUM>, and more or less propulsion units (horizontal or vertical).

Similarly, <FIG> shows another example of a fixed-wing UAV <NUM>. The fixed-wing UAV <NUM> includes a fuselage <NUM>, two wings <NUM> with an airfoil-shaped cross section to provide lift for the UAV <NUM>, a vertical stabilizer <NUM> (or fin) to stabilize the plane's yaw (turn left or right), a horizontal stabilizer <NUM> (also referred to as an elevator or tailplane) to stabilize pitch (lilt up or down), landing gear <NUM>, and a propulsion unit <NUM>, which can include a motor, shaft, and propeller.

<FIG> shows an example of a UAV <NUM> with a propeller in a pusher configuration. The term "pusher" refers to the fact that a propulsion unit <NUM> is mounted at the back of the UAV and "pushes" the vehicle forward, in contrast to the propulsion unit being mounted at the front of the UAV. Similar to the description provided for <FIG> and <FIG> depicts common structures used in a pusher plane, including a fuselage <NUM>, two wings <NUM>, vertical stabilizers <NUM>, and the propulsion unit <NUM>, which can include a motor, shaft, and propeller.

<FIG> shows an example of a tail-sitter UAV <NUM>. In the illustrated example, the tail-sitter UAV <NUM> has fixed wings <NUM> to provide lift and allow the UAV <NUM> to glide horizontally (e.g., along the x-axis, in a position that is approximately perpendicular to the position shown in Figure ID). However, the fixed wings <NUM> also allow the tail-sitter UAV <NUM> to take off and land vertically on its own.

For example, at a launch site, the tail-sitter UAV <NUM> may be positioned vertically (as shown) with its fins <NUM> and/or wings <NUM> resting on the ground and stabilizing the UAV <NUM> in the vertical position. The tail-sitter UAV <NUM> may then take off by operating its propellers <NUM> to generate an upward thrust (e.g., a thrust that is generally along the y-axis). Once at a suitable altitude, the tail-sitter UAV <NUM> may use its flaps <NUM> to reorient itself in a horizontal position, such that its fuselage <NUM> is closer to being aligned with the x-axis than the y-axis. Positioned horizontally, the propellers <NUM> may provide forward thrust so that the tail-sitter UAV <NUM> can fly in a similar manner as a typical airplane.

Many variations on the illustrated fixed-wing UAVs are possible. For instance, fixed-wing UAVs may include more or fewer propellers, and/or may utilize a ducted fan or multiple ducted fans for propulsion. Further, UAVs with more wings (e.g., an "x-wing" configuration with four wings), with fewer wings, or even with no wings, are also possible.

As noted above, some embodiments may involve other types of UAVs, in addition to or in the alternative to fixed-wing UAVs. For instance, Figure IE shows an example of a rotorcraft that is commonly referred to as a multicopter <NUM>. The multicopter <NUM> may also be referred to as a quadcopter, as it includes four rotors <NUM>. It should be understood that example embodiments may involve a rotorcraft with more or fewer rotors than the multicopter <NUM>. For example, a helicopter typically has two rotors. Other examples with three or more rotors are possible as well. Herein, the term "multicopter" refers to any rotorcraft having more than two rotors, and the term "helicopter" refers to rotorcraft having two rotors.

Referring to the multicopter <NUM> in greater detail, the four rotors <NUM> provide propulsion and maneuverability for the multicopter <NUM>. More specifically, each rotor <NUM> includes blades that are attached to a motor <NUM>. Configured as such, the rotors <NUM> may allow the multicopter <NUM> to take off and land vertically, to maneuver in any direction, and/or to hover. Further, the pitch of the blades may be adjusted as a group and/or differentially, and may allow the multicopter <NUM> to control its pitch, roll, yaw, and/or altitude.

It should be understood that references herein to an "unmanned" aerial vehicle or UAV can apply equally to autonomous and semi-autonomous aerial vehicles. In an autonomous implementation, all functionality of the aerial vehicle is automated; e.g., pre-programmed or controlled via real-time computer functionality that responds to input from various sensors and/or pre-determined information. In a semi-autonomous implementation, some functions of an aerial vehicle may be controlled by a human operator, while other functions are carried out autonomously. Further, in some embodiments, a UAV may be configured to allow a remote operator to take over functions that can otherwise be controlled autonomously by the UAV. Yet further, a given type of function may be controlled remotely at one level of abstraction and performed autonomously at another level of abstraction. For example, a remote operator could control high level navigation decisions for a UAV, such as by specifying that the UAV should travel from one location to another (e.g., from a warehouse in a suburban area to a delivery address in a nearby city), while the UAV's navigation system autonomously controls more fine-grained navigation decisions, such as the specific route to take between the two locations, specific flight controls to achieve the route and avoid obstacles while navigating the route, and so on.

More generally, it should be understood that the example UAVs described herein are not intended to be limiting. Example embodiments may relate to, be implemented within, or take the form of any type of unmanned aerial vehicle.

<FIG> is a simplified block diagram illustrating components of a UAV <NUM>, which may form part of an example embodiment. UAV <NUM> may take the form of, or be similar in form to, one of the UAVs <NUM>, <NUM>, <NUM>, <NUM>, and <NUM> described in reference to <FIG>. However, UAV <NUM> may also take other forms.

UAV <NUM> may include various types of sensors, and may include a computing system configured to provide the functionality described herein. In the illustrated embodiment, the sensors of UAV <NUM> include an inertial measurement unit (IMU) <NUM>, ultrasonic sensor(s) <NUM>, and a GPS <NUM>, among other possible sensors and sensing systems.

In the illustrated embodiment, UAV <NUM> also includes one or more processors <NUM>. A processor <NUM> may be a general-purpose processor or a special purpose processor (e.g., digital signal processors, application specific integrated circuits, etc.). The one or more processors <NUM> can be configured to execute computer-readable program instructions <NUM> that are stored in the data storage <NUM> and are executable to provide the functionality of a UAV described herein.

The data storage <NUM> may include or take the form of one or more computer-readable storage media that can be read or accessed by at least one processor <NUM>. The one or more computer-readable storage media can include volatile and/or non-volatile storage components, such as optical, magnetic, organic or other memory or disc storage, which can be integrated in whole or in part with at least one of the one or more processors <NUM>. In some embodiments, the data storage <NUM> can be implemented using a single physical device (e.g., one optical, magnetic, organic or other memory or disc storage unit), while in other embodiments, the data storage <NUM> can be implemented using two or more physical devices.

As noted, the data storage <NUM> can include computer-readable program instructions <NUM> and perhaps additional data, such as diagnostic data of the UAV <NUM>. As such, the data storage <NUM> may include program instructions <NUM> to perform or facilitate some or all of the UAV functionality described herein. For instance, in the illustrated embodiment, program instructions <NUM> include a navigation module <NUM> and a tether control module <NUM>.

In an illustrative embodiment, IMU <NUM> may include both an accelerometer and a gyroscope, which may be used together to determine an orientation of the UAV <NUM>. In particular, the accelerometer can measure the orientation of the vehicle with respect to earth, while the gyroscope measures the rate of rotation around an axis. IMUs are commercially available in low-cost, low-power packages. For instance, an IMU <NUM> may take the form of or include a miniaturized MicroElectroMechanical System (MEMS) or a NanoElectroMechanical System (NEMS). Other types of IMUs may also be utilized.

An IMU <NUM> may include other sensors, in addition to accelerometers and gyroscopes, which may help to better determine position and/or help to increase autonomy of the UAV <NUM>. Two examples of such sensors are magnetometers and pressure sensors. In some embodiments, a UAV may include a low-power, digital <NUM>-axis magnetometer, which can be used to realize an orientation independent electronic compass for accurate heading information. However, other types of magnetometers may be utilized as well. Further, note that a UAV could include some or all of the above-described inertia sensors as separate components from an IMU.

UAV <NUM> may also include a pressure sensor or barometer, which can be used to determine the altitude of the UAV <NUM>. Alternatively, other sensors, such as sonic altimeters or radar altimeters, can be used to provide an indication of attitude, which may help to improve the accuracy of and/or prevent drift of an IMU.

In a further aspect, UAV <NUM> may include one or more sensors that allow the UAV to sense objects in the environment. For instance, in the illustrated embodiment, UAV <NUM> includes ultrasonic sensor(s) <NUM>. Ultrasonic sensor(s) <NUM> can determine the distance to an object by generating sound waves and determining the time interval between transmission of the wave and receiving the corresponding echo off an object. A typical application of an ultrasonic sensor for unmanned vehicles or IMUs is low-level altitude control and obstacle avoidance. An ultrasonic sensor can also be used for vehicles that need to hover at a certain height or need to be capable of detecting obstacles. Other systems can be used to determine, sense the presence of, and/or determine the distance to nearby objects, such as a light detection and ranging (LIDAR) system, laser detection and ranging (LADAR) system, and/or an infrared or forward-looking infrared (FLIR) system, among other possibilities.

In some embodiments, UAV <NUM> may also include one or more imaging system(s). For example, one or more still and/or video cameras may be utilized by UAV <NUM> to capture image data from the UAV's environment. As a specific example, charge-coupled device (CCD) cameras or complementary metal-oxide-semiconductor (CMOS) cameras can be used with unmanned vehicles. Such imaging sensor(s) have numerous possible applications, such as obstacle avoidance, localization techniques, ground tracking for more accurate navigation (e.g., by applying optical flow techniques to images), video feedback, and/or image recognition and processing, among other possibilities.

UAV <NUM> may also include a GPS receiver <NUM>. The GPS receiver <NUM> may be configured to provide data that is typical of well-known GPS systems, such as the GPS coordinates of the UAV <NUM>. Such GPS data may be utilized by the UAV <NUM> for various functions. As such, the UAV may use its GPS receiver <NUM> to help navigate to the caller's location, as indicated, at least in part, by the GPS coordinates provided by their mobile device.

The navigation module <NUM> may provide functionality that allows the UAV <NUM> to, e.g., move about its environment and reach a desired location. To do so, the navigation module <NUM> may control the altitude and/or direction of flight by controlling the mechanical features of the UAV that affect flight (e.g., its rudder(s), elevator(s), aileron(s), and/or the speed of its prope!ter(s)).

In order to navigate the UAV <NUM> to a target location, the navigation module <NUM> may implement various navigation techniques, such as map-based navigation and localization-based navigation, for instance. With map-based navigation, the UAV <NUM> may be provided with a map of its environment, which may then be used to navigate to a particular location on the map. With localization-based navigation, the UAV <NUM> may be capable of navigating in an unknown environment using localization. Localization-based navigation may involve the UAV <NUM> building its own map of its environment and calculating its position within the map and/or the position of objects in the environment. For example, as a UAV <NUM> moves throughout its environment, the UAV <NUM> may continuously use localization to update its map of the environment. This continuous mapping process may be referred to as simultaneous localization and mapping (SLAM). Other navigation techniques may also be utilized.

In some embodiments, the navigation module <NUM> may navigate using a technique that relies on waypoints. In particular, waypoints are sets of coordinates that identify points in physical space. For instance, an air-navigation waypoint may be defined by a certain latitude, longitude, and altitude. Accordingly, navigation module <NUM> may cause UAV <NUM> to move from waypoint to waypoint, in order to ultimately travel to a final destination (e.g.. a final waypoint in a sequence of way points).

In a further aspect, the navigation module <NUM> and/or other components and systems of the UAV <NUM> may be configured for "localization" to more precisely navigate to the scene of a target location. More specifically, it may be desirable in certain situations for a UAV to be within a threshold distance of the target location where a payload <NUM> is being delivered by a UAV (e.g., within a few feet of the target destination). To this end, a UAV may use a two-tiered approach in which it uses a more-general location-determination technique to navigate to a general area that is associated with the target location, and then use a more-refined location-determination technique to identify and/or navigate to the target location within the general area.

For example, the UAV <NUM> may navigate to the general area of a target destination where a payload <NUM> is being delivered using waypoints and/or map-based navigation. The UAV may then switch to a mode in which it utilizes a localization process to locate and travel to a more specific location. For instance, if the UAV <NUM> is to deliver a payload to a user's home, the UAV <NUM> may need to be substantially close to the target location in order to avoid delivery of the payload to undesired areas (e.g., onto a roof, into a pool, onto a neighbor's property, etc.). However, a GPS signal may only get the UAV <NUM> so far (e.g., within a block of the user's home). A more precise location-determination technique may then be used to find the specific target location.

Various types of location-determination techniques may be used to accomplish localization of the target delivery location once the UAV <NUM> has navigated to the general area of the target delivery location. For instance, the UAV <NUM> may be equipped with one or more sensory systems, such as, for example, ultrasonic sensors <NUM>, infrared sensors (not shown), and/or other sensors, which may provide input that the navigation module <NUM> utilizes to navigate autonomously or semi-autonomously to the specific target location.

As another example, once the UAV <NUM> reaches the general area of the target delivery location (or of a moving subject such as a person or their mobile device), the UAV <NUM> may switch to a "fly-by-wire" mode where it is controlled, at least in part, by a remote operator, who can navigate the UAV <NUM> to the specific target location. To this end, sensory data from the UAV <NUM> may be sent to the remote operator to assist them in navigating the UAV <NUM> to the specific location.

As yet another example, the UAV <NUM> may include a module that is able to signal to a passer-by for assistance in either reaching the specific target delivery location; for example, the UAV <NUM> may display a visual message requesting such assistance in a graphic display, play an audio message or tone through speakers to indicate the need for such assistance, among other possibilities. Such a visual or audio message might indicate that assistance is needed in delivering the UAV <NUM> to a particular person or a particular location, and might provide information to assist the passer-by in delivering the UAV <NUM> to the person or location (e.g., a description or picture of the person or location, and/or the person or location's name), among other possibilities. Such a feature can be useful in a scenario in which the UAV is unable to use sensory functions or another location-determination technique to reach the specific target location. However, this feature is not limited to such scenarios.

In some embodiments, once the UAV <NUM> arrives at the general area of a target delivery location, the UAV <NUM> may utilize a beacon from a user's remote device (e.g., the user's mobile phone) to locate the person. Such a beacon may take various forms. As an example, consider the scenario where a remote device, such as the mobile phone of a person who requested a UAV delivery, is able to send out directional signals (e.g., via an RF signal, a light signal and/or an audio signal). In this scenario, the UAV <NUM> may be configured to navigate by "sourcing" such directional signals ··· in other words, by determining where the signal is strongest and navigating accordingly. As another example, a mobile device can emit a frequency, either in the human range or outside the human range, and the UAV <NUM> can listen for that frequency and navigate accordingly. As a related example. if the UAV <NUM> is listening for spoken commands, then the UAV <NUM> could utilize spoken statements, such as "I'm over here!" to source the specific location of the person requesting delivery of a payload.

In an alternative arrangement, a navigation module may be implemented at a remote computing device, which communicates wirelessly with the UAV <NUM>. The remote computing device may receive data indicating the operational state of the UAV <NUM>, sensor data from the UAV <NUM> that allows it to assess the environmental conditions being experienced by the UAV <NUM>, and/or location information for the UAV <NUM>. Provided with such information, the remote computing device may determine altitudinal and/or directional adjustments that should be made by the UAV <NUM> and/or may determine how the UAV <NUM> should adjust its mechanical features (e.g., its rudder(s), elevator(s), aileron(s), and/or the speed of its propeller(s)) in order to effectuate such movements. The remote computing system may then communicate such adjustments to the UAV <NUM> so it can move in the determined manner.

In a further aspect, the UAV <NUM> includes one or more communication systems <NUM>. The communications systems <NUM> may include one or more wireless interfaces and/or one or more wireline interfaces, which allow the UAV <NUM> to communicate via one or more networks. Such wireless interfaces may provide for communication under one or more wireless communication protocols, such as Bluetooth, WiFi (e.g., an IEEE <NUM> protocol), Long-Term Evolution (LTE), WiMAX (e.g., an IEEE <NUM> standard), a radio-frequency ID (RFID) protocol, near-field communication (NFC), and/or other wireless communication protocols. Such wireline interfaces may include an Ethernet interface, a Universal Serial Bus (USB) interface, or similar interface to communicate via a wire, a twisted pair of wires, a coaxial cable, an optical link, a fiber-optic link, or other physical connection to a wireline network.

In some embodiments, a UAV <NUM> may include communication systems <NUM> that allow for both short-range communication and long-range communication. For example, the UAV <NUM> may be configured for short-range communications using Bluetooth and for long-range communications under a CDMA protocol. In such an embodiment, the UAV <NUM> may be configured to function as a "hot spot;" or in other words, as a gateway or proxy between a remote support device and one or more data networks, such as a cellular network and/or the Internet. Configured as such, the UAV <NUM> may facilitate data communications that the remote support device would otherwise be unable to perform by itself.

For example, the UAV <NUM> may provide a WiFi connection to a remote device, and serve as a proxy or gateway to a cellular service provider's data network, which the UAV might connect to under an LTE or a <NUM> protocol, for instance. The UAV <NUM> could also serve as a proxy or gateway to a high-altitude balloon network, a satellite network, or a combination of these networks, among others, which a remote device might not be able to otherwise access.

In a further aspect, the UAV <NUM> may include power system(s) <NUM>. The power system <NUM> may include one or more batteries for providing power to the UAV <NUM>. In one example, the one or more batteries may be rechargeable and each battery may be recharged via a wired connection between the battery and a power supply and/or via a wireless charging system, such as an inductive charging system that applies an external time-varying magnetic field to an internal battery.

The UAV <NUM> may form part of a system according to the appended claims in order to transport and deliver a payload <NUM>. In some implementations, the payload <NUM> of a given UAV <NUM> may include or take the form of a "package" designed to transport various goods to a target delivery location. The UAV <NUM> includes a payload receptacle, in which an item or items may be transported. Such a package may one or more food items, purchased goods, medical items, or any other object(s) having a size and weight suitable to be transported between two locations by the UAV. In other embodiments, a payload <NUM> may simply be the one or more items that are being delivered (e.g., without any package housing the items).

In some embodiments, the payload <NUM> may be attached to the UAV and located partially outside of the UAV during some or all of a flight by the UAV. For example, the package may be tethered below the UAV during flight to a target location. In an embodiment where a package carries goods below the UAV, the package may include various features that protect its contents from the environment, reduce aerodynamic drag on the system, and prevent the contents of the package from shifting during UAV flight.

For instance, when the payload <NUM> takes the form of a package for transporting items, the package may include an outer shell constructed of water-resistant cardboard, plastic, or any other lightweight and water-resistant material. Further, in order to reduce drag, the package may feature smooth surfaces with a pointed front that reduces the frontal cross-sectional area. Further, the sides of the package may taper from a wide bottom to a narrow top, which allows the package to serve as a narrow pylon that reduces interference effects on the wing(s) of the UAV. This may move some of the frontal area and volume of the package away from the wing(s) of the UAV, thereby preventing the reduction of lift on the wing(s) cause by the package. Yet further, in some embodiments, the outer shell of the package may be constructed from a single sheet of material in order to reduce air gaps or extra material, both of which may increase drag on the system. Additionally or alternatively, the package may include a stabilizer to dampen package flutter. This reduction in flutter may allow the package to have a less rigid connection to the UAV and may cause the contents of the package to shift less during flight.

In order to deliver the payload, the UAV may include a winch system <NUM> controlled by the tether control module <NUM> in order to lower the payload <NUM> to the ground while the UAV hovers above. As shown in <FIG>, the winch system <NUM> includes a tether <NUM>, and the tether <NUM> is coupled to the payload <NUM> by a payload coupling apparatus <NUM>. The tether <NUM> may be wound on a spool that is coupled to a motor <NUM> of the UAV. The motor <NUM> may take the form of a DC motor (e.g., a servo motor) that can be actively controlled by a speed controller. The tether control module <NUM> can control the speed controller to cause the motor <NUM> to rotate the spool, thereby unwinding or retracting the tether <NUM> and lowering or raising the payload coupling apparatus <NUM>. In practice, the speed controller may output a desired operating rate (e.g., a desired RPM) for the spool, which may correspond to the speed at which the tether <NUM> and payload <NUM> should be lowered towards the ground. The motor <NUM> may then rotate the spool so that it maintains the desired operating rate.

In order to control the motor <NUM> via the speed controller, the tether control module <NUM> may receive data from a speed sensor (e.g., an encoder) configured to convert a mechanical position to a representative analog or digital signal. In particular, the speed sensor may include a rotary encoder that may provide information related to rotary position (and/or rotary movement) of a shaft of the motor or the spool coupled to the motor, among other possibilities. Moreover, the speed sensor may take the form of an absolute encoder and/or an incremental encoder, among others. So in an example implementation, as the motor <NUM> causes rotation of the spool, a rotary encoder may be used to measure this rotation. In doing so, the rotary encoder may be used to convert a rotary position to an analog or digital electronic signal used by the tether control module <NUM> to determine the amount of rotation of the spool from a fixed reference angle and/or to an analog or digital electronic signal that is representative of a new rotary position, among other options.

Based on the data from the speed sensor, the tether control module <NUM> may determine a rotational speed of the motor <NUM> and/or the spool and responsively control the motor <NUM> (e.g., by increasing or decreasing an electrical current supplied to the motor <NUM>) to cause the rotational speed of the motor <NUM> to match a desired speed. When adjusting the motor current, the magnitude of the current adjustment may be based on a proportional-integral-derivative (PID) calculation using the determined and desired speeds of the motor <NUM>. For instance, the magnitude of the current adjustment may be based on a present difference, a past difference (based on accumulated error over time), and a future difference (based on current rates of change) between the determined and desired speeds of the spool.

In some embodiments, the tether control module <NUM> may vary the rate at which the tether <NUM> and payload <NUM> are lowered to the ground. For example, the speed controller may change the desired operating rate according to a variable deployment-rate profile and/or in response to other factors in order to change the rate at which the payload <NUM> descends toward the ground. To do so, the tether control module <NUM> may adjust an amount of braking or an amount of friction that is applied to the tether <NUM>. For example, to vary the tether deployment rate, the UAV <NUM> may include friction pads that can apply a variable amount of pressure to the tether <NUM>. As another example, the UAV <NUM> can include a motorized braking system that varies the rate at which the spool lets out the tether <NUM>. Such a braking system may take the form of an electromechanical system in which the motor <NUM> operates to slow the rate at which the spool lets out the tether <NUM>. Further, the motor <NUM> may vary the amount by which it adjusts the speed (e.g., the RPM) of the spool, and thus may vary the deployment rate of the tether <NUM>.

In some embodiments, the tether control module <NUM> may be configured to limit the motor current supplied to the motor <NUM> to a maximum value. With such a limit placed on the motor current, there may be situations where the motor <NUM> cannot operate at the desired operate specified by the speed controller. For instance, as discussed in more detail below, there may be situations where the speed controller specifies a desired operating rate at which the motor <NUM> should retract the tether <NUM> toward the UAV <NUM>, but the motor current may be limited such that a large enough downward force on the tether <NUM> would counteract the retracting force of the motor <NUM> and cause the tether <NUM> to unwind instead. And as further discussed below, a limit on the motor current may be imposed and/or altered depending on an operational state of the UAV <NUM>.

In some embodiments, the tether control module <NUM> may be configured to determine a status of the tether <NUM> and/or the payload <NUM> based on the amount of current supplied to the motor <NUM>. For instance, if a downward force is applied to the tether <NUM> (e.g., if the payload <NUM> is attached to the tether <NUM> or if the tether <NUM> gets snagged on an object when retracting toward the UAV <NUM>), the tether control module <NUM> may need to increase the motor current in order to cause the determined rotational speed of the motor <NUM> and/or spool to match the desired speed. Similarly, when the downward force is removed from the tether <NUM> (e.g., upon delivery of the payload <NUM> or removal of a tether snag), the tether control module <NUM> may need to decrease the motor current in order to cause the determined rotational speed of the motor <NUM> and/or spool to match the desired speed. As such, the tether control module <NUM> may be configured to monitor the current supplied to the motor <NUM>. For instance, the tether control module <NUM> could determine the motor current based on sensor data received from a current sensor of the motor or a current sensor of the power system <NUM>. In any case, based on the current supplied to the motor <NUM>, determine if the payload <NUM> is attached to the tether <NUM>, if someone or something is pulling on the tether <NUM>, and/or if the payload coupling apparatus <NUM> is pressing against the UAV <NUM> after retracting the tether <NUM>. Other examples are possible as well.

During delivery of the payload <NUM>, the payload coupling apparatus <NUM> can be configured to secure the payload <NUM> while being lowered from the UAV by the tether <NUM>, and can be further configured to release the payload <NUM> upon reaching ground level. The payload coupling apparatus <NUM> can then be retracted to the UAV by reeling in the tether <NUM> using the motor <NUM>.

In some implementations, the payload <NUM> may be passively released once it is lowered to the ground. For example, a passive release mechanism may include one or more swing arms adapted to retract into and extend from a housing. An extended swing arm may form a hook on which the payload <NUM> may be attached. Upon lowering the release mechanism and the payload <NUM> to the ground via a tether, a gravitational force as well as a downward inertial force on the release mechanism may cause the payload <NUM> to detach from the hook allowing the release mechanism to be raised upwards toward the UAV. The release mechanism may further include a spring mechanism that biases the swing arm to retract into the housing when there are no other external forces on the swing arm. For instance, a spring may exert a force on the swing arm that pushes or pulls the swing arm toward the housing such that the swing arm retracts into the housing once the weight of the payload <NUM> no longer forces the swing arm to extend from the housing. Retracting the swing arm into the housing may reduce the likelihood of the release mechanism snagging the payload <NUM> or other nearby objects when raising the release mechanism toward the UAV upon delivery of the payload <NUM>.

Active payload release mechanisms are also possible. For example, sensors such as a barometric pressure based altimeter and/or accelerometers may help to detect the position of the release mechanism (and the payload) relative to the ground. Data from the sensors can be communicated back to the UAV and/or a control system over a wireless link and used to help in determining when the release mechanism has reached ground level (e.g., by detecting a measurement with the accelerometer that is characteristic of ground impact). In other examples, the UAV may determine that the payload has reached the ground based on a weight sensor detecting a threshold low downward force on the tether and/or based on a threshold low measurement of power drawn by the winch when lowering the payload.

Other systems and techniques for delivering a payload, in addition to a tethered delivery system are also possible. For example, a UAV <NUM> could include an air-bag drop system or a parachute drop system. Alternatively, a UAV <NUM> carrying a payload could simply land on the ground at a delivery location.

UAV systems may be implemented in order to provide various UAV-related services. In particular, UAVs may be provided at a number of different launch sites that may be in communication with regional and/or central control systems. Such a distributed UAV system may allow UAVs to be quickly deployed to provide services across a large geographic area (e.g., that is much larger than the flight range of any single UAV). For example, UAVs capable of carrying payloads may be distributed at a number of launch sites across a large geographic area (possibly even throughout an entire country, or even worldwide), in order to provide on-demand transport of various items to locations throughout the geographic area. <FIG> is a simplified block diagram illustrating a distributed UAV system <NUM>, which may form part of an example embodiment.

In the illustrative UAV system <NUM>, an access system <NUM> may allow for interaction with, control of, and/or utilization of a network of UAVs <NUM>. In some embodiments, an access system <NUM> may be a computing system that allows for human-controlled dispatch of UAVs <NUM>. As such, the control system may include or otherwise provide a user interface through which a user can access and/or control the UAVs <NUM>.

In some embodiments, dispatch of the UAVs <NUM> may additionally or alternatively be accomplished via one or more automated processes. For instance, the access system <NUM> may dispatch one of the UAVs <NUM> to transport a payload to a target location, and the UAV may autonomously navigate to the target location by utilizing various on-board sensors, such as a GPS receiver and/or other various navigational sensors.

Further, the access system <NUM> may provide for remote operation of a UAV. For instance, the access system <NUM> may allow an operator to control the flight of a UAV via its user interface. As a specific example, an operator may use the access system <NUM> to dispatch a UAV <NUM> to a target location. The UAV <NUM> may then autonomously navigate to the general area of the target location. At this point, the operator may use the access system <NUM> to take control of the UAV <NUM> and navigate the UAV to the target location (e.g., to a particular person to whom a payload is being transported). Other examples of remote operation of a UAV are also possible.

In an illustrative embodiment, the UAVs <NUM> may take various forms. For example, each of the UAVs <NUM> may be a UAV such as those illustrated in <FIG>. However, UAV system <NUM> may also utilize other types of UAVs without departing from the scope of the invention. In some implementations, all of the UAVs <NUM> may be of the same or a similar configuration. However, in other implementations, the UAVs <NUM> may include a number of different types of UAVs. For instance, the UAVs <NUM> may include a number of types of UAVs, with each type of UAV being configured for a different type or types of payload delivery capabilities.

The UAV system <NUM> may further include a remote device <NUM>. which may take various forms. Generally, the remote device <NUM> may be any device through which a direct or indirect request to dispatch a UAV can be made. (Note that an indirect request may involve any communication that may be responded to by dispatching a UAV, such as requesting a package delivery). In an example embodiment, the remote device <NUM> may be a mobile phone, tablet computer, laptop computer, personal computer, or any network-connected computing device. Further, in some instances, the remote device <NUM> may not be a computing device. As an example, a standard telephone, which allows for communication via plain old telephone service (POTS), may serve as the remote device <NUM>. Other types of remote devices are also possible.

Further, the remote device <NUM> may be configured to communicate with access system <NUM> via one or more types of communication network(s) <NUM>. For example, the remote device <NUM> may communicate with the access system <NUM> (or a human operator of the access system <NUM>) by communicating over a POTS network, a cellular network, and/or a data network such as the Internet. Other types of networks may also be utilized.

In some embodiments, the remote device <NUM> may be configured to allow a user to request delivery of one or more items to a desired location. For example, a user could request UAV delivery of a package to their home via their mobile phone, tablet, or laptop. As another example, a user could request dynamic delivery to wherever they are located at the time of delivery. To provide such dynamic delivery, the UAV system <NUM> may receive location information (e.g., GPS coordinates, etc.) from the user's mobile phone, or any other device on the user's person, such that a UAV can navigate to the user's location (as indicated by their mobile phone).

In an illustrative arrangement, the central dispatch system <NUM> may be a server or group of servers, which is configured to receive dispatch messages requests and/or dispatch instructions from the access system <NUM>. Such dispatch messages may request or instruct the central dispatch system <NUM> to coordinate the deployment of UAVs to various target locations. The central dispatch system <NUM> may be further configured to route such requests or instructions to one or more local dispatch systems <NUM>. To provide such functionality, the central dispatch system <NUM> may communicate with the access system <NUM> via a data network, such as the Internet or a private network that is established for communications between access systems and automated dispatch systems.

In the illustrated configuration, the central dispatch system <NUM> may be configured to coordinate the dispatch of UAVs <NUM> from a number of different local dispatch systems <NUM>. As such, the central dispatch system <NUM> may keep track of which UAVs <NUM> are located at which local dispatch systems <NUM>, which UAVs <NUM> are currently available for deployment, and/or which services or operations each of the UAVs <NUM> is configured for (in the event that a UAV fleet includes multiple types of UAVs configured for different services and/or operations). Additionally or alternatively, each local dispatch system <NUM> may be configured to track which of its associated UAVs <NUM> are currently available for deployment and/or are currently in the midst of item transport.

In some cases, when the central dispatch system <NUM> receives a request for UAV-related service (e.g., transport of an item) from the access system <NUM>, the central dispatch system <NUM> may select a specific UAV <NUM> to dispatch. The central dispatch system <NUM> may accordingly instruct the local dispatch system <NUM> that is associated with the selected UAV to dispatch the selected UAV. The local dispatch system <NUM> may then operate its associated deployment system <NUM> to launch the selected UAV. In other cases, the central dispatch system <NUM> may forward a request for a UAV-related service to a local dispatch system <NUM> that is near the location where the support is requested and leave the selection of a particular UAV <NUM> to the local dispatch system <NUM>.

In an example configuration, the local dispatch system <NUM> may be implemented as a computing system at the same location as the deployment system(s) <NUM> that it controls. For example, the local dispatch system <NUM> may be implemented by a computing system installed at a building, such as a warehouse, where the deployment system(s) <NUM> and UAV(s) <NUM> that are associated with the particular local dispatch system <NUM> are also located. In other embodiments, the local dispatch system <NUM> may be implemented at a location that is remote to its associated deployment system(s) <NUM> and UAV(s) <NUM>.

Numerous variations on and alternatives to the illustrated configuration of the UAV system <NUM> are possible. For example, in some embodiments, a user of the remote device <NUM> could request delivery of a package directly from the central dispatch system <NUM>. To do so, an application may be implemented on the remote device <NUM> that allows the user to provide information regarding a requested delivery, and generate and send a data message to request that the UAV system <NUM> provide the delivery. In such an embodiment, the central dispatch system <NUM> may include automated functionality to handle requests that are generated by such an application, evaluate such requests, and, if appropriate, coordinate with an appropriate local dispatch system <NUM> to deploy a UAV.

Further, some or all of the functionality that is attributed herein to the central dispatch system <NUM>, the local dispatch system(s) <NUM>, the access system <NUM>, and/or the deployment system(s) <NUM> may be combined in a single system, implemented in a more complex system, and/or redistributed among the central dispatch system <NUM>, the local dispatch system(s) <NUM>, the access system <NUM>, and/or the deployment system(s) <NUM> in various ways.

Yet further, while each local dispatch system <NUM> is shown as having two associated deployment systems <NUM>, a given local dispatch system <NUM> may alternatively have more or fewer associated deployment systems <NUM>. Similarly, while the central dispatch system <NUM> is shown as being in communication with two local dispatch systems <NUM>, the central dispatch system <NUM> may alternatively be in communication with more or fewer local dispatch systems <NUM>.

In a further aspect, the deployment systems <NUM> may take various forms. In general, the deployment systems <NUM> may take the form of or include systems for physically launching one or more of the UAVs <NUM>. Such launch systems may include features that provide for an automated UAV launch and/or features that allow for a human-assisted UAV launch. Further, the deployment systems <NUM> may each be configured to launch one particular UAV <NUM>, or to launch multiple UAVs <NUM>.

The deployment systems <NUM> may further be configured to provide additional functions, including for example, diagnostic-related functions such as verifying system functionality of the UAV, verifying functionality of devices that are housed within a UAV (e.g., a payload delivery apparatus), and/or maintaining devices or other items that are housed in the UAV (e.g., by monitoring a status of a payload such as its temperature, weight, etc.).

In some embodiments, the deployment systems <NUM> and their corresponding UAVs <NUM> (and possibly associated local dispatch systems <NUM>) may be strategically distributed throughout an area such as a city. For example, the deployment systems <NUM> may be strategically distributed such that each deployment system <NUM> is proximate to one or more payload pickup locations (e.g., near a restaurant, store, or warehouse). However, the deployment systems <NUM> (and possibly the local dispatch systems <NUM>) may be distributed in other ways, depending upon the particular implementation. As an additional example, kiosks that allow users to transport packages via UAVs may be installed in various locations. Such kiosks may include UAV launch systems, and may allow a user to provide their package for loading onto a UAV and pay for UAV shipping services, among other possibilities.

In a further aspect, the UAV system <NUM> may include or have access to a user-account database <NUM>. The user-account database <NUM> may include data for a number of user accounts, and which are each associated with one or more person. For a given user account, the user-account database <NUM> may include data related to or useful in providing UAV-related services. Typically, the user data associated with each user account is optionally provided by an associated user and/or is collected with the associated user's permission.

Further, in some embodiments, a person may be required to register for a user account with the UAV system <NUM>, if they wish to be provided with UAV-related services by the UAVs <NUM> from UAV system <NUM>. As such, the user-account database <NUM> may include authorization information for a given user account (e.g., a user name and password), and/or other information that may be used to authorize access to a user account.

In some embodiments, a person may associate one or more of their devices with their user account such that they can access the services of UAV system <NUM>. For example, when a person uses an associated mobile phone, e.g., to place a call to an operator of the access system <NUM> or send a message requesting a UAV-related service to a dispatch system, the phone may be identified via a unique device identification number, and the call or message may then be attributed to the associated user account.

A UAV may include various types of payload delivery systems for lowering the payload to a target delivery location. According to the present invention, the payload is coupled to a tether with a payload coupling apparatus attached at an end of the tether, and the UAV may lower the payload to the ground by lowering the tether. The payload coupling apparatus may provide that the payload may be released on the ground, and the tether may be retracted back to the UAV.

In addition, the payload coupling apparatus may advantageously be used during automated retrieval of a payload. In particular, in the present embodiments, a UAV may position itself over a payload to be retrieved, and the UAV may be lowered onto the top of the payload using a guiding member to position a top portion and a handle of the payload within the UAV. Once the handle of the payload is in a desired position within the UAV, the handle of the payload may be automatically engaged and secured by the payload coupling apparatus to secure the payload to or within the UAV. Alternately, a UAV may land on a payload loading apparatus, and a payload positioned below or within the payload loading apparatus may be pushed upwardly into the UAV using a guiding member on the UAV to position the handle of the payload within the UAV. Once the handle of the payload is in a desired position within the UAV, the handle of the payload may be engaged and secured by the payload coupling apparatus automatically, and the payload subsequently secured to or within the UAV.

<FIG> is an illustration of an example payload coupling apparatus <NUM> that may be used for automatic retrieval, and passive release, of a payload <NUM>. The payload coupling apparatus <NUM> includes a housing <NUM>. As illustrated, the housing <NUM> may take the form of a cylindrical capsule with rounded ends, but other shapes and forms are possible as well (e.g., an ellipsoid, sphere, cuboid, pyramid, cylinder, prism, cone, etc.). The housing <NUM> may be coupled to a tether <NUM>, which is operable to raise and lower the payload coupling apparatus <NUM> with respect to a UAV.

A swing arm <NUM> may be coupled to the housing <NUM> at a pivot point <NUM> proximate to a first end <NUM> of the swing arm <NUM>. The swing arm <NUM> may be coupled to the housing <NUM> by a mechanism that allows the swing arm <NUM> to rotate at least partially around the pivot point <NUM> (e.g., using any type of various pins, bolts, screws, etc.). The swing arm <NUM> may partially rotate around the pivot point <NUM> such that the swing arm <NUM> may be arranged in various positions.

In a closed (or retracted) position (shown in <FIG>), a second end <NUM> of the swing arm <NUM> is located within the housing <NUM>. In an open (or extended) position (shown in <FIG> and <FIG>), the second end <NUM> extends through an opening <NUM> of the housing <NUM>. The housing <NUM> may include two opposing openings <NUM> such that the swing arm <NUM> can rotate to extend the second end <NUM> from either side of the housing <NUM>.

The payload coupling apparatus <NUM> may further include a spring mechanism <NUM> that biases the swing arm <NUM> to rotate back into the housing <NUM> when the payload <NUM> is not applying a downward force on the swing arm <NUM>. As depicted in <FIG>, the spring mechanism <NUM> may take the form of a torsion spring that couples the swing arm <NUM> to the housing <NUM> at the pivot point <NUM>. The torsion spring may be in a rest state when the swing arm <NUM> is in the closed position (i.e., when the second end <NUM> is located within the housing), and the torsion spring may be adapted to exert a force on the swing arm <NUM> opposing rotational motion around the pivot point <NUM>. Thus, when the swing arm <NUM> is in the open (or extended) position, the torsion spring may exert a force on the swing arm <NUM> that is directed toward the closed (or retracted) position.

<FIG> illustrates the payload coupling apparatus <NUM> in the open (or extended) position. In the open position, the second end <NUM> of the swing arm <NUM> extends from the housing <NUM> at an acute angle Θ with respect to a sidewall of the housing <NUM>. Thus, in the open position, the swing arm <NUM> forms a hook on which the payload <NUM> (e.g., a package containing one or more food items, medical items, or various other goods) may be attached.

The angle Θ may have a maximum value less than <NUM> degrees. In order to limit the angle Θ to such a maximum value, the payload coupling apparatus <NUM> may include a mechanism to limit, and/or be structurally designed to limit, the rotation of the swing arm <NUM> around the pivot point <NUM>. For instance, as shown in <FIG>, the swing arm <NUM> may include a slot <NUM> adapted to receive a pin <NUM>, which may be integrated within the housing <NUM>. As the swing arm <NUM> rotates around the pivot point <NUM>, the pin <NUM> may reach an end of the slot <NUM>, thereby preventing further rotation of the swing arm <NUM> and limiting the angle Θ to its maximum value.

In <FIG>, a cross-sectional view of an example payload receptacle <NUM> for receiving the payload coupling apparatus <NUM> is illustrated. As used herein, the term "payload receptacle" is to be construed broadly to include an area of a UAV into which the handle extends. The payload receptacle <NUM> is integrated in a UAV. For instance, the payload receptacle <NUM> may take the form of a feature, compartment, or system in the body of a UAV. As such, the payload receptacle <NUM> can receive the payload coupling apparatus <NUM> when the UAV raises the payload coupling apparatus <NUM> by winding the tether <NUM>.

In practice, the payload receptacle <NUM> may include a hollow shaft <NUM> having an inner diameter at least slightly larger than an outer diameter of the housing <NUM> such that the payload coupling apparatus <NUM> may fit inside the shaft <NUM> when the swing arm <NUM> is in the closed position as depicted in <FIG>. As the UAV winds the tether <NUM>, the payload coupling apparatus <NUM> may be pulled further into the shaft <NUM> until a cam <NUM> of the swing arm <NUM> makes contact with a cam follower <NUM> of the payload receptacle <NUM>.

As illustrated in <FIG>, the payload coupling apparatus <NUM> may advantageously be used during the automated retrieval of a payload. In particular, when a handle of a payload is positioned a desired distance within the UAV, the swing arm may be extended through an aperture in the handle of the payload to secure the payload to or within the UAV.

As illustrated, the swing arm <NUM> may include one or more cams <NUM> that extend through the one or more openings <NUM> of the housing <NUM> when the swing arm <NUM> is in the closed (or retracted) position. When the cam follower <NUM> contacts the cam <NUM>, the cam follower <NUM> may exert a force on the cam <NUM> pushing the cam <NUM> towards the housing <NUM>, thereby causing the swing arm <NUM> to rotate around the pivot point <NUM> until the swing arm <NUM> is in the open (or extended) position as depicted in <FIG>. In the open position, the second end <NUM> of the swing arm <NUM> may extend through the opening <NUM> of the housing <NUM> and through an opening in the shaft <NUM> of the payload receptacle <NUM>.

Securing the handle of the payload to the payload coupling apparatus may be achieved in at least two different ways. In a first way, during the course of payload retrieval, a handle <NUM> of the payload is moved upwardly into slot <NUM> in payload receptacle <NUM>. As shown in <FIG>, with the payload coupling apparatus <NUM> winched all the way up into payload receptacle <NUM> as shown in <FIG>, the swing arm <NUM> is biased by cam follower <NUM> into an extended position towards the right During payload retrieval as the UAV lands on the payload, or the payload is pushed up toward the UAV, the handle <NUM> is moved upwardly relative to the payload coupling apparatus <NUM> and swing arm <NUM> and the upper portion of handle <NUM> above aperture <NUM> of the payload presses against second end <NUM> of swing arm <NUM> which is caused to move inwardly (causing spring <NUM> to compress), as shown in <FIG>. Once the portion of handle <NUM> above the aperture <NUM> moves upwardly past the second end <NUM> of swing arm <NUM>. the swing arm <NUM> moves outwardly by the force of spring <NUM> through the aperture <NUM> of handle <NUM> of the payload. As a result, the handle <NUM> is automatically locked into engagement with the payload coupling apparatus <NUM>, and the payload coupling apparatus <NUM> with handle <NUM> of the payload positioned over swing arm <NUM> can then be lowered together by tether <NUM> during payload delivery.

Alternately, as shown in <FIG>, a second way of securing the handle of the payload to a payload coupling apparatus is illustrated. In <FIG>, the payload coupling apparatus <NUM> has not been fully winched upwardly into the payload receptacle <NUM> such that cam follower <NUM> is not yet in engagement with cam <NUM> of swing arm <NUM>. Once handle <NUM> reaches a desired position within the payload receptacle <NUM>, a sensor <NUM> may be triggered or tripped sending a signal to further winch up the payload coupling apparatus <NUM>. As the payload coupling apparatus moves upwardly as shown in <FIG>. the cam follower <NUM> engages cam <NUM> on swing arm <NUM> and the swing arm <NUM> is moved from its closed, retracted position (shown in <FIG>) to an open, extended position (shown in <FIG>) where the second end <NUM> of swing arm <NUM> is extended through opening <NUM> in handle <NUM> of the payload. In this manner, the payload is automatically secured to the UAV by the swing arm <NUM> extending through opening <NUM> in handle <NUM> of the payload.

In either way of securing the handle of the payload to the payload coupling apparatus, in order to allow the swing arm <NUM> to rotate to secure the handle <NUM> of the payload to the payload coupling apparatus <NUM>, the cam follower <NUM> may take the form of a spring-loaded cam follower having a spring <NUM>. The cam follower may have other geometries and configurations beyond those shown. Specifically, the force of the cam follower <NUM> against the cam <NUM> may cause the swing arm <NUM> to rotate around the pivot point <NUM> until the second end <NUM> of the swing arm <NUM> extends through the opening <NUM> of the handle <NUM> at an acute angle with respect to the housing <NUM>.

With the second end <NUM> of the swing arm <NUM> extending through the opening <NUM> of the handle <NUM> at an acute angle with respect to the housing <NUM>, the swing arm <NUM> forms a hook on which the handle <NUM> of the payload may hang. To deliver the payload, with the payload attached to the swing arm <NUM> by the handle <NUM>, the payload coupling apparatus <NUM> may be lowered from the UAV by the tether <NUM>. For instance, the UAV may include a spool for winding and unwinding the tether <NUM>. By unwinding the tether <NUM>, the payload coupling apparatus <NUM> may be lowered away from the UAV (e.g., to the ground).

Once the payload <NUM> has been completely lowered to the ground, the payload coupling apparatus <NUM> may passively detach from the payload by continuing to lower the payload coupling apparatus <NUM> from the UAV. As the payload coupling apparatus <NUM> is lowered, the payload (and consequently the handle <NUM>) remains stationary on the ground. By sufficiently lowering the payload coupling apparatus <NUM> with respect to the handle <NUM>, the spring mechanism <NUM> causes the second end <NUM> of the swing arm <NUM> to retract through the opening <NUM> of the handle <NUM> and into the housing <NUM> (i.e., to the closed, retracted position) once the handle <NUM> no longer obstructs the opening <NUM> of the housing <NUM>.

When further unwinding the tether <NUM> and lowering the payload coupling apparatus <NUM> after the payload reaches the ground, a downward gravitational force and/or a downward inertial force due to the downward motion of the payload coupling apparatus <NUM> cause the payload coupling apparatus <NUM> to move downward with respect to the handle <NUM> and detach from handle <NUM>, allowing the swing arm <NUM> to retract through the opening <NUM> of the handle <NUM>. The steps of delivering a payload are illustrated in <FIG>.

Referring next to <FIG>, another example payload coupling apparatus <NUM> for retrieving and/or passively releasing a payload is illustrated. Similar to the payload coupling apparatus <NUM> depicted in <FIG>, the payload coupling apparatus <NUM> depicted in <FIG> may include a housing <NUM> coupled to a UAV by a tether <NUM>. However, rather than only having one swing arm, the payload coupling apparatus <NUM> may include two swing arms <NUM>, <NUM> each adapted to rotate around one of two pivot points <NUM>, <NUM>. The swing arms <NUM>, <NUM> may be coupled by a spring <NUM> such that when the spring is in a rest position, the swing arms <NUM>, <NUM> are in the closed, retracted position (i.e., the ends of the swing arms <NUM>, <NUM> are located within the housing <NUM>).

Like the payload receptacle <NUM> depicted in <FIG>, the payload receptacle <NUM> depicted in <FIG> may include a hollow shaft <NUM> having an inner diameter at least slightly larger than an outer diameter of the housing <NUM> such that the payload coupling apparatus <NUM> may fit inside the shaft <NUM> when the swing arms <NUM>, <NUM> are in the closed (or retracted) position as depicted in <FIG> and <FIG>.

As the UAV winds the tether <NUM>, the payload coupling apparatus <NUM> may be pulled further into the shaft <NUM> until a cam <NUM> of one of the swing arms <NUM>, <NUM> makes contact with a cam follower <NUM> of the payload receptacle <NUM>. As illustrated, the swing arms <NUM>, <NUM> may include cams <NUM> that extend outside of the housing <NUM> when the swing arms <NUM>, <NUM> are in the closed position. In some embodiments, the cam follower <NUM> may be a spring-loaded cam follower similar to the cam follower <NUM> depicted in <FIG>. Alternatively, the cam follower <NUM> may be a rotating element, such as a wheel, adapted to make a rolling contact with the cam <NUM>, or the cam follower <NUM> may be a stationary element, such as a surface of the hollow shaft <NUM>.

In the arrangement depicted in <FIG>, when the cam follower <NUM> contacts the cam <NUM>, the cam follower <NUM> may exert a force on the cam <NUM> pushing the cam <NUM> towards the housing <NUM>, thereby causing swing arm <NUM> to rotate around pivot point <NUM>. This rotation of swing arm <NUM> may compress the spring <NUM>, causing the spring <NUM> to exert a force on swing arm <NUM>. The force on swing arm <NUM> may cause swing arm <NUM> to rotate around pivot point <NUM> until swing arm <NUM> is in the open (or extended) position as depicted in <FIG>. In the open (or extended) position, the second end of swing arm <NUM> may extend through an opening of the housing <NUM> and through an opening in the shaft <NUM> of the payload receptacle <NUM> and through a handle of a payload.

During the course of payload retrieval, a handle of the payload is moved upwardly into slot <NUM> in payload receptacle <NUM>. In the same manner as described above with respect to <FIG>, as it moves upwardly into payload receptacle <NUM>, the portion of the handle above the aperture in the handle may force the swing arm <NUM> inwardly (and compress spring <NUM> at the same time) until it moves past the outer end of swing arm <NUM> at which point the swing arm again is extended by outwardly by spring <NUM> through the aperture in the handle of the payload. As a result, the handle of the payload is automatically locked into engagement with the payload coupling apparatus <NUM> with swing arm <NUM>, and the payload coupling apparatus <NUM> with the handle of the payload positioned over swing arm <NUM> can then be lowered together by tether <NUM> during payload delivery.

Alternately, as shown in <FIG>, the payload coupling apparatus <NUM> has not been fully winched upwardly into the payload receptacle <NUM> such that cam follower <NUM> is not yet in engagement with cam <NUM> of swing arm <NUM>. Once handle of the payload reaches a desired position within the payload receptacle <NUM>, a sensor <NUM> may be triggered or tripped sending a signal to further winch up the payload coupling apparatus <NUM>. As the payload coupling apparatus <NUM> moves upwardly as shown in <FIG>, the cam follower <NUM> engages cam <NUM> on swing arm <NUM> and the swing arm <NUM> is moved from its closed, retracted position (shown in <FIG>) to an open, extended position where the second end of swing arm <NUM> is extended through an opening in the handle of the payload. In this manner, the payload is automatically secured to the UAV by the swing arm <NUM> extending through an opening in the handle of the payload.

With the swing arm <NUM> in the open (extended) position (i.e., extending through an opening of the housing <NUM> at an acute angle with respect to the housing <NUM>), the swing arm <NUM> forms a hook on which a payload may hang. Thus, the UAV may deliver the payload by lowering the payload coupling apparatus <NUM> (and consequently the payload hanging from the payload coupling apparatus <NUM>) to a target location, at which point the payload coupling apparatus <NUM> may detach from the payload as described above with reference to the payload coupling apparatus <NUM> depicted in <FIG>.

Referring back to <FIG>, <FIG>, in order for the cam followers <NUM>, <NUM> of the payload receptacles <NUM>, <NUM> to contact the cams <NUM>, <NUM> of the swing arms <NUM>, <NUM>, <NUM>, the payload coupling apparatuses <NUM>, <NUM> may need to be properly aligned within the payload receptacles <NUM>, <NUM>. Thus, the payload coupling apparatuses <NUM>, <NUM> and the payload receptacles <NUM>, <NUM> may include one or more alignment mechanisms. <FIG> illustrate such alignment mechanisms with respect to payload coupling apparatus <NUM>, according to an example embodiment.

The payload coupling apparatus <NUM> may include a housing <NUM> having a first alignment mechanism. The first alignment mechanism may include a protruding area <NUM> that protrudes from the housing <NUM> and a recessed area <NUM> adjacent to the protruding area <NUM> that is recessed with respect to the protruding area <NUM>. A portion of the protruding area <NUM> may be defined by a first helical edge <NUM> and a second helical edge <NUM>. Helical edge <NUM> may be arranged along a portion of a helical path traversing a portion of the housing <NUM> at a first slope. Similarly, helical edge <NUM> may be arranged along a portion of a helical path traversing a portion of the housing <NUM>, but at a second slope opposite in direction from the first slope. In this manner, the helical edges <NUM>, <NUM> may intersect at an apex <NUM> of the protruding area <NUM>.

The recessed area <NUM> adjacent to the protruding area <NUM> may also include a first helical edge <NUM> and a second helical edge <NUM>. Helical edge <NUM> may be arranged along a portion of a helical path traversing a portion of the housing <NUM>, and such a helical path may have a slope similar or equivalent to the slope of the helical path defined by helical edge <NUM> of the protruding area <NUM>. Similarly, helical edge <NUM> may be arranged along a portion of a helical path traversing a portion of the housing <NUM>, and such a helical path may have a slope similar or equivalent to the slope of the helical path defined by helical edge <NUM> of the protruding area <NUM>. In this manner, the helical paths defined by helical edges <NUM>, <NUM> may be arranged to intersect at an apex of the recessed area <NUM>. However, as depicted in <FIG>. this intersection point of the helical paths may coincide with an opening <NUM> in the housing <NUM> through which a swing arm <NUM> may extend. Thus, the helical edges <NUM>, <NUM> of the recessed area <NUM> may not converge with one another.

In addition to the protruding area <NUM> and the recessed area <NUM>, the payload coupling apparatus <NUM> may further include a second protruding area (not shown) similar in design to the protruding area <NUM> located on a side of the housing <NUM> directly opposite the protruding area <NUM>, as well as a second recessed area (not shown) similar in design to the recessed area <NUM> located on a side of the housing <NUM> directly opposite the recessed area <NUM>. Such an arrangement of opposing protruding and recessed areas may allow for the payload apparatus <NUM> to be aligned in one of two positions rotationally offset from one another by <NUM> degrees.

As depicted in <FIG>, the payload receptacle <NUM> may include a hollow shaft <NUM> for receiving the payload coupling apparatus <NUM>, and the hollow shaft <NUM> may include a second alignment mechanism adapted to interlock with the first alignment mechanism of the payload coupling apparatus <NUM>. The second alignment mechanism may include a protruding area <NUM> that protrudes from a surface of the shaft <NUM>. Similar to the protruding area <NUM> of the payload coupling apparatus <NUM>, a portion of the protruding area <NUM> of the payload receptacle <NUM> may be defined by a first helical edge <NUM> and a second helical edge <NUM>. Helical edge <NUM> may be arranged along a portion of a helical path having a first slope and traversing a portion of the shaft <NUM>. Similarly, helical edge <NUM> may be arranged along a portion of a helical path having a second slope and traversing a portion of the shaft <NUM>. The slopes of helical edges <NUM> and <NUM> may be similar or equivalent to the slopes of helical edges <NUM> and <NUM>, respectively, such that helical edges <NUM> and <NUM> may intersect at an apex <NUM> of the protruding area <NUM>.

When the payload coupling apparatus <NUM> is received by the payload receptacle <NUM> (e.g., due to a UAV winding a tether coupled to the payload coupling apparatus <NUM>), the alignment mechanisms of the payload coupling apparatus <NUM> and the payload receptacle <NUM> may contact one another. In practice, an edge of the protruding area <NUM> of the payload receptacle <NUM> may contact an edge of the protruding area <NUM> of the payload coupling apparatus <NUM>. Based on the manner in which the protruding areas <NUM>, <NUM> contact one another, the payload coupling apparatus <NUM> may rotate within the payload receptacle <NUM> until the alignment mechanisms interlock, that is, when the protruding area <NUM> of the payload receptacle <NUM> aligns with the recessed area <NUM> of the payload coupling apparatus <NUM>.

As the payload coupling apparatus <NUM> is pulled into the payload receptacle <NUM>, the alignment mechanism of the payload receptacle <NUM> may align with various portions of the alignment mechanism of the payload coupling apparatus <NUM>. In one example, as depicted in <FIG>, apex <NUM> may align with the intersection point of the helical paths associated with helical edges <NUM> and <NUM>. In this case, the payload coupling apparatus <NUM> may not rotate at all, as the alignment mechanisms are already aligned such that protruding area <NUM> may interlock with recessed area <NUM>. In another example, apex <NUM> may align with helical edge <NUM>. In this case, helical edges <NUM> and <NUM> may contact one another, and their helical shapes may cause the payload coupling apparatus <NUM> to rotate clockwise until protruding area <NUM> aligns with and interlocks with recessed area <NUM>. In yet another example, apex <NUM> may align with helical edge <NUM>. In this case, helical edges <NUM> and <NUM> may contact one another, and their helical shapes may cause the payload coupling apparatus <NUM> to rotate counterclockwise until protruding area <NUM> aligns with and interlocks with the recessed area (not shown) that is opposite from recessed area <NUM>. Other examples are possible as well.

<FIG> shows a perspective view of a payload retrieval and delivery apparatus <NUM> having payload <NUM> secured thereto, according to an example embodiment. Payload retrieval and delivery apparatus <NUM> includes a payload guiding member <NUM> that is positioned over the top portion <NUM> of payload <NUM>. The payload guiding member <NUM> is used to guide the top portion <NUM> of payload <NUM> and handle <NUM> into a payload receptacle within the payload retrieval and delivery apparatus <NUM>. In particular, the payload guiding member has a lower open end 535c that extends over the top portion <NUM> of payload <NUM> during retrieval. As the UAV is lowered down over the payload <NUM>, or the payload is pushed upwardly toward the UAV, during retrieval, the payload guiding member <NUM> has inwardly tapered walls 535a and 535b that extend from the lower open end 535c towards the payload receptacle in the UAV and guide handle <NUM> and tapered outer edges 510a and 510b of payload <NUM> towards the payload receptacle within the UAV. The UAV (not shown) includes a winch <NUM> powered by motor <NUM>, and a tether <NUM> spooled onto winch <NUM>. The tether <NUM> is attached to a payload coupling apparatus <NUM> positioned within a payload receptacle <NUM> positioned within the fuselage of the UAV (not shown). As described in more detail above, as the handle <NUM> of payload <NUM> moves upwardly into the payload receptacle of the UAV, a swing arm or latch on the payload coupling apparatus <NUM> (or <NUM> or <NUM>) is extended through an aperture of handle <NUM> of payload <NUM> to secure the payload <NUM> within the payload receptacle of the UAV. In this embodiment, a top portion <NUM> of payload <NUM> is secured within the fuselage of the UAV. A locking pin <NUM> is shown extending through handle <NUM> attached to payload <NUM> to further positively secure the payload to the UAV during high speed flight.

<FIG> is another cross-sectional side view of payload retrieval and delivery apparatus <NUM> and payload <NUM> shown in <FIG>. In this view, the payload coupling apparatus <NUM> is shown tightly positioned with the payload receptacle <NUM>. Tether <NUM> extends from winch <NUM> and is attached to the top of payload coupling apparatus <NUM>. Top portion <NUM> of payload <NUM> is shown positioned within the fuselage of the UAV and handle <NUM> of payload <NUM> is secured to payload coupling apparatus <NUM>. Inwardly tapered walls 535a and 535b of guiding member <NUM> extend over and closely conform to tapered outer edges 510a and 510b of payload <NUM>, and help to properly position the payload beneath the UAV.

<FIG> and <FIG> disclose payload <NUM> taking the shape of an aerodynamic hexagonally-shaped tote, where the base and side walls are six-sided hexagons and the tote includes generally pointed front and rear surfaces formed at the intersections of the side walls and base of the tote providing an aerodynamic shape. Payloads having different shapes and configurations may also be used.

<FIG> shows a perspective view of a recessed restraint slot and payload receptacle positioned in a fuselage of a UAV. In particular, payload retrieval and delivery system <NUM> includes a fuselage <NUM> having a payload receptacle <NUM> therein that includes inward protrusion <NUM> having cammed surfaces 530a and 530b that are adapted to mate with corresponding cammed surfaces on a payload coupling apparatus (not shown). Also included is a longitudinally extending recessed restraint slot <NUM> into which a top portion of a payload is adapted to be positioned and secured within the fuselage <NUM>. A payload guiding member <NUM> extends downwardly from fuselage <NUM> and has a lower open end 535c that tapers inwardly towards recessed restraint slot <NUM> along tapered walls 535a and 535b that serve to guide an upper portion and/or or handle of a payload towards the recessed restraint slot <NUM>.

Alternately, or in addition to having payload guiding member <NUM> shown in <FIG>, as shown in <FIG>, a payload retrieval and delivery system <NUM>' may include a fuselage <NUM>' having a payload receptacle <NUM>' therein, where the payload receptacle <NUM>' includes a longitudinally extending recessed restraint slot <NUM>' into which a top portion of a payload is adapted to be positioned and secured within the payload retrieval and delivery system <NUM>'. As shown in <FIG>, a payload guiding member <NUM>' is shown that extends internally within the payload receptacle <NUM>'. Payload guiding member <NUM>' includes opposite end walls 535b', and opposed side walls 535a' which taper inwardly towards recessed restraint slot <NUM>', and the tapered walls 535a' and 535b' serve to guide an upper portion and/or or handle of a payload towards the recessed restraint slot <NUM>'. In addition, the payload guiding member <NUM> shown in <FIG> could be further attached beneath the payload retrieval and delivery system <NUM>' shown in <FIG> to provide a combined payload guiding member that extends both internally and externally from the payload retrieval and delivery system <NUM>'.

<FIG> is a side view of payload <NUM> having upwardly extending sides 510a and 510b. Handle <NUM> is positioned at the top of payload <NUM>, and has aperture <NUM> adapted for attachment to a payload coupling apparatus (not shown). Handle <NUM> further includes openings <NUM> and <NUM> that may be used for further securing purposes within the UAV.

<FIG> shows a side view of a payload <NUM> suspended from tether <NUM> with a handle <NUM> of payload <NUM> secured within a payload coupling apparatus <NUM> as the payload <NUM> moves downwardly prior to touching down for delivery. Prior to payload touchdown, the handle <NUM> of payload <NUM> includes an aperture <NUM> through which a swing arm or hook of payload coupling apparatus <NUM> extends. The payload coupling apparatus <NUM> is suspended from tether <NUM> during descent of the payload <NUM> to a landing site.

<FIG> shows a side view of payload <NUM> after payload <NUM> has landed on the ground showing payload coupling apparatus <NUM> decoupled from handle <NUM> of payload <NUM>. Once the payload <NUM> touches the ground, the payload coupling apparatus <NUM> continues to move downwardly (as the winch further unwinds) through inertia or gravity and decouples the swing arm or hook <NUM> of the payload coupling apparatus <NUM> from handle <NUM> of payload <NUM>. The payload coupling apparatus <NUM> remains suspended from tether <NUM>, and can be winched back up to the payload receptacle of the UAV.

<FIG> shows a side view of payload <NUM> with payload coupling apparatus <NUM> moving away from handle <NUM> of payload <NUM>. Here the payload coupling apparatus <NUM> is completely separated from the aperture <NUM> of handle <NUM> of payload <NUM>. Tether <NUM> may be used to winch the payload coupling apparatus back to the payload receptacle positioned in the fuselage of the UAV.

<FIG> is a side view of handle <NUM> of payload <NUM>. The handle <NUM> includes aperture <NUM> through which the swing arm or hook of a payload coupling apparatus extends through to suspend the payload during delivery, or during retrieval. The handle <NUM> includes a lower portion <NUM> that is secured to the top portion of a payload. Also included are holes <NUM> and <NUM> through which are adapted to receive locking pins positioned within the fuselage of a UAV, where the locking pins may extend to further secure the handle and payload in a secure position during high speed forward flight to a delivery location. The handle <NUM> may be comprised of a thin, flexible plastic material that is flexible and provides sufficient strength to suspend the payload beneath a UAV during forward flight to a delivery site, and during delivery and/or retrieval of a payload. In practice, the handle may be bent to secure the handle to a payload coupling apparatus. The handle <NUM> also has sufficient strength to withstand the torque during rotation of the payload coupling apparatus into the desired orientation within the payload receptacle, and rotation of the top portion of the payload into position within the recessed restraint slot (shown in <FIG>).

<FIG> is a perspective view of payload coupling apparatus <NUM> having swing arm <NUM> extending through aperture <NUM> of handle <NUM> of a payload, where swing arm <NUM> secures handle <NUM> of the payload to the payload coupling apparatus <NUM> during the process of retrieving the payload.

<FIG>-D illustrate steps of a process of UAV <NUM> retrieving payload <NUM> that is positioned on the ground. In particular, <FIG> is a side view of UAV <NUM> moving downwardly over payload <NUM> to start the process of retrieving payload <NUM>. UAV <NUM> includes a payload coupling apparatus <NUM> positioned therein, and also includes a payload guiding member <NUM> extending downwardly from underside <NUM> of UAV <NUM>. Payload guiding member <NUM> includes tapered side walls 535a and 535b that taper inwardly from lower end 535c of the payload guiding member <NUM> towards UAV <NUM>. Payload <NUM> is shown positioned on the ground. Payload <NUM> is configured having tapered upper walls 510a and 510b and an upwardly extending handle <NUM>. The tapered side walls 535a and 535b of payload guiding member <NUM> are configured to conform to the tapered upper walls 510a and 510b of payload <NUM>. Other configurations and geometries of payload guiding member <NUM> and tapered side walls 535a and 535b may be configured to operate with a payload having differently shaped upper walls 510a and 510b.

<FIG> is a side view of UAV <NUM> with payload guiding member <NUM> of UAV <NUM> lowered onto payload <NUM> during the next step of the retrieval process. In <FIG>, as the UAV <NUM> is lowered over payload <NUM>, the tapered side walls 535a and 535b of payload guiding member <NUM> have guided the handle <NUM> and tapered upper walls 510a and 510b until the inside of tapered side walls 535a and 535b of payload guiding member <NUM> closely conform to the tapered upper walls 510a and 510b of payload <NUM>. At this point, as shown in <FIG>, handle <NUM> of payload <NUM> has been secured to payload coupling apparatus <NUM> positioned within UAV <NUM> in the manner described in detail above with respect to <FIG> and <FIG>.

<FIG> is a side view of UAV <NUM> flying away with payload <NUM> positioned within payload guiding member <NUM> of UAV <NUM> and handle <NUM> secured to payload coupling apparatus <NUM> within UAV <NUM>. In this retrieval operation shown in <FIG>, the UAV is not required to land and the UAV <NUM> simply hovers over payload <NUM> and lowers itself onto payload <NUM> to secure the handle <NUM> of payload <NUM> to payload coupling apparatus <NUM> and then is able to fly away to a delivery site. Payload retrieval where the UAV is not required to land provides significant advantages because in some payload retrieval sites it is difficult to land the UAV because of the terrain or other obstacles on the ground. Further, in the payload retrieval operation shown in <FIG>, payload retrieval may be done automatically without requiring human involvement in securing the payload <NUM> to the UAV <NUM> during the payload retrieval process.

<FIG> illustrate a process of UAV <NUM> retrieving <NUM> from a payload loading apparatus <NUM>. UAV <NUM> includes a payload coupling apparatus <NUM> positioned therein and also includes a payload guiding member <NUM> extending downwardly from underside <NUM> of UAV <NUM>. Payload guiding member <NUM> includes tapered side walls 535a and 535b that taper inwardly from lower end 535c of the payload guiding member <NUM> towards UAV <NUM>. <FIG> is a side view of UAV <NUM> having landed on payload loading apparatus <NUM> with payload <NUM> positioned within payload loading apparatus <NUM> to start the process of retrieving payload <NUM>. In this process, as shown in <FIG>, lower end 535c of payload guiding member <NUM> is positioned on upper landing platform <NUM> of payload loading apparatus <NUM>. Payload <NUM> is shown positioned within payload loading apparatus <NUM> atop loading platform <NUM>. Payload <NUM> is configured having tapered upper walls 510a and 510b and an upwardly extending handle <NUM>. The tapered side walls 535a and 535b of payload guiding member <NUM> are configured to conform to the tapered upper walls 510a and 510b of payload <NUM>. Other configurations and geometries of payload guiding member <NUM> and tapered side walls 535a and 535b may be configured to operate with a payload having differently shaped tapered upper walls 510a and 510b.

<FIG> is a side view of UAV <NUM> positioned on upper landing platform <NUM> of payload loading apparatus <NUM>, as is shown in <FIG>. In <FIG>, loading platform <NUM> has been moved upwardly by platform extender <NUM> to move upper tapered walls 510a and 510b of payload <NUM> into payload guiding member <NUM>. In <FIG>, as payload <NUM> is pushed upwardly by platform extender <NUM>, the tapered side walls 535a and 535b of payload guiding member <NUM> have guided the handle <NUM> and tapered upper walls 510a and 510b of payload <NUM> towards payload coupling apparatus <NUM>, until handle <NUM> of payload <NUM> is positioned beneath payload coupling apparatus <NUM>.

<FIG> is a side view of UAV <NUM> as shown in <FIG>, with payload <NUM> further pushed upwardly by platform extender <NUM> into payload guiding member <NUM> until handle <NUM> is engaged with payload coupling apparatus <NUM> during the next step of the retrieval process. In <FIG>, as payload <NUM> is pushed upwardly towards UAV <NUM>, the tapered side walls 535a and 535b of payload guiding member <NUM> have guided the handle <NUM> and tapered upper walls 510a and 510b until the inside of tapered side walls 535a and 535b of payload guiding member <NUM> closely conform to the tapered upper walls 510a and 510b of payload <NUM>. At this point, as shown in <FIG>, handle <NUM> of payload <NUM> has been secured to payload coupling apparatus <NUM> positioned within UAV <NUM> in the manner described in detail above with respect to <FIG> and <FIG>.

<FIG> is a side view of UAV <NUM> flying away with payload <NUM> positioned within payload guiding member <NUM> of UAV <NUM> and handle <NUM> secured to payload coupling apparatus <NUM> within UAV <NUM>. In this retrieval operation shown in <FIG>, a payload loading apparatus <NUM> is provided that is used to push a payload <NUM> into secure engagement with UAV <NUM>. As a result, payload retrieval may be done automatically without requiring human involvement in securing the payload <NUM> to the UAV <NUM> during the payload retrieval process.

<FIG> illustrate a process of UAV <NUM> retrieving <NUM> from a payload loading apparatus <NUM>. UAV <NUM> includes a payload coupling apparatus <NUM> positioned therein and also includes a payload guiding member <NUM> extending downwardly from underside <NUM> of UAV <NUM>. Payload guiding member <NUM> includes tapered side walls 535a and 535b that taper inwardly from lower end 535c of the payload guiding member <NUM> towards UAV <NUM>. <FIG> is a side view of UAV <NUM> having landed on payload loading apparatus <NUM> with payload <NUM> positioned within payload loading apparatus <NUM> to start the process of retrieving payload <NUM>. In this process, as shown in <FIG>, underside <NUM> of UAV <NUM> is positioned on upper landing platform <NUM> of payload loading apparatus <NUM>, and payload guiding member <NUM> extends into the payload loading apparatus <NUM>. Payload <NUM> is shown positioned within payload loading apparatus <NUM> atop loading platform <NUM>. Payload <NUM> is configured having tapered upper walls 510a and 510b and an upwardly extending handle <NUM>. The tapered side walls 535a and 535b of payload guiding member <NUM> are configured to conform to the tapered upper walls 510a and 510b of payload <NUM>. Other configurations and geometries of payload guiding member <NUM> and tapered side walls 535a and 535b may be configured to operate with a payload having differently shaped tapered upper walls 510a and 510b.

<FIG> is a side view of UAV <NUM> as shown in <FIG>, with payload <NUM> pushed upwardly by platform extender <NUM> into payload guiding member <NUM> until handle <NUM> is engaged with payload coupling apparatus <NUM> during the next step of the retrieval process. In <FIG>, as payload <NUM> is pushed upwardly towards UAV <NUM>, the tapered side walls 535a and 535b of payload guiding member <NUM> have guided the handle <NUM> and tapered upper walls 510a and 510b until the inside of tapered side walls 535a and 535b of payload guiding member <NUM> closely conform to the tapered upper walls 510a and 510b of payload <NUM>. At this point, as shown in <FIG>, handle <NUM> of payload <NUM> has been secured to payload coupling apparatus <NUM> positioned within UAV <NUM> in the manner described in detail above with respect to <FIG> and <FIG>.

The particular arrangements shown in the Figures should not be viewed as limiting. It should be understood that other implementations may include more or less of each element shown in a given Figure, insofar as the implementations still fall within the scope of the appended claims. Further, some of the illustrated elements may be combined or omitted insofar as the elements still fall within the scope of the appended claims. Yet further, an exemplary implementation may include elements that are not illustrated in the Figures.

Claim 1:
A system comprising:
a payload comprising tapered upper walls (510a-b) and an upwardly extending handle (<NUM>, <NUM>); and
a payload retrieval system (<NUM>) comprising:
a UAV (<NUM>, <NUM>) having a payload receptacle (<NUM>, <NUM>) positioned within the UAV;
a payload coupling apparatus (<NUM>, <NUM>, <NUM>) positioned within the payload receptacle;
a tether (<NUM>) having a first end secured within the UAV and a second end attached to the payload coupling apparatus; and
a payload guiding member (<NUM>) positioned on an underside of the UAV and including inwardly tapered walls (535a-b) on an interior of the payload guiding member that are configured so as to conform to the tapered upper walls of the payload, wherein the inwardly tapered walls are configured to guide, during retrieval of the payload, the handle and the tapered upper walls
of the payload into the payload receptacle until the inwardly tapered walls of the payload guiding member extend over the tapered upper walls of the payload and the upwardly extending handle of the payload is in a desired position within the payload receptacle, thereby to enable the handle of the payload positioned within the payload receptacle to be secured to the payload coupling apparatus.