公开(公告)号：US20180072404A1

公开(公告)日：2018-03-15

申请号：US15389290

申请日：2016-12-22

Applicant: X Development LLC

Inventor： Andre Prager ,  Trevor Shannon

IPC: B64C19/00 ,  G05D1/02 ,  B64C39/02 ,  B66D1/60 ,  B66D1/12

CPC classification number: B64C19/00 ,  B64C39/024 ,  B64C2201/021 ,  B64C2201/027 ,  B64C2201/104 ,  B64C2201/108 ,  B64C2201/128 ,  B64C2201/141 ,  B64C2201/146 ,  B64D1/12 ,  B64D1/22 ,  B66D1/12 ,  B66D1/485 ,  B66D1/60 ,  B66D2700/0125 ,  B66D2700/0141 ,  G05D1/0202 ,  G05D1/0858

Abstract: Described herein are methods and systems to dampen oscillations of a payload coupled to a tether of a winch system arranged on an unmanned aerial vehicle (UAV). For example, the UAV's control system may dampen the oscillations by causing the UAV to switch to a forward flight mode in which movement of the UAV results in drag on the payload, thereby damping the oscillations. In another example, the control system may cause the UAV to reduce an extent flight stabilization along at least one dimension, thereby resulting in damping of the detected oscillations due to energy dissipation during movement of the UAV along the dimension. In this way, the control system could select and carry out one or more such techniques, and could do so during retraction and/or deployment of the tether.

公开(公告)号：US20170253334A1

公开(公告)日：2017-09-07

申请号：US15470610

申请日：2017-03-27

Applicant: X Development LLC

Inventor： Leila Takayama ,  Matthew Ball ,  Joanna Cohen ,  Roger William Graves ,  Mathias Samuel Fleck ,  Andrew Lambert ,  James Ryan Burgess ,  Paul Richard Komarek ,  Trevor Shannon

IPC: B64D1/02 ,  B64C39/02 ,  B64D47/06 ,  B64D1/12 ,  B64D1/22

CPC classification number: B64D1/02 ,  B64C39/02 ,  B64C39/024 ,  B64C2201/128 ,  B64C2201/141 ,  B64C2201/146 ,  B64D1/12 ,  B64D1/22 ,  B64D47/06

Abstract: An unmanned aerial vehicle (UAV) is disclosed that includes a retractable payload delivery system. The payload delivery system can lower a payload to the ground using an assembly that secures the payload during descent and releases the payload upon reaching the ground. The assembly can also include a bystander communication module for generating cues for bystander perception. While the assembly securing the payload is being lowered from the UAV, the bystander communication module can generate an avoidance cue indicating that bystanders should avoid interference with the assembly. The assembly also includes sensors that generate data used, at least in part, to determine when the descending assembly is at or near the ground, at which point the assembly releases the payload. The bystander communication module can then cease the avoidance cue and the UAV can retract the assembly.

公开(公告)号：US20180072420A1

公开(公告)日：2018-03-15

申请号：US15389074

申请日：2016-12-22

Applicant: X Development LLC

Inventor： Andre Prager ,  Trevor Shannon

IPC: B64D1/22 ,  B64C39/02 ,  B64D1/12 ,  G06Q10/08

Abstract: A payload coupling apparatus is provided including a housing, wherein the housing is adapted for attachment to a first end of a tether, a slot extending downwardly from an outer surface of the housing towards a center of the housing thereby forming a lower lip on the housing beneath the slot, and wherein the slot is adapted to receive a handle of a payload. A method of delivering a payload using the payload coupling apparatus is also provided

公开(公告)号：US20180072417A1

公开(公告)日：2018-03-15

申请号：US15389338

申请日：2016-12-22

Applicant: X Development LLC

Inventor： Trevor Shannon ,  Andre Prager

IPC: B64D1/02 ,  G05D1/02 ,  B64C39/02 ,  B66D1/60 ,  B66D1/12

CPC classification number: B64D1/02 ,  B64C39/024 ,  B64C2201/021 ,  B64C2201/027 ,  B64C2201/104 ,  B64C2201/108 ,  G05D1/0202

Abstract: Described herein are methods and systems for detecting and correcting errors when picking up and lowering a payload coupled to a tether of a winch system arranged on an unmanned aerial vehicle (UAV). For example, the winch system may include a motor for winding and unwinding the tether from a spool, and the UAV's control system may control the motor to lower the tether and monitor an electric current supplied to the motor to determine whether a payload has detached from the tether. This process of lowering the tether and monitoring the motor current may be repeated up to a predetermined number of times, at which point the control system may operate the motor to detach the tether from the spool, leaving both the tether and the payload behind.

公开(公告)号：US20170355460A1

公开(公告)日：2017-12-14

申请号：US15179585

申请日：2016-06-10

Applicant: X Development LLC

Inventor： Trevor Shannon ,  Zhefei Li

IPC: B64D1/02 ,  B64D9/00 ,  B64D3/00 ,  B64C39/02

CPC classification number: B64D1/02 ,  B64C39/024 ,  B64C2201/042 ,  B64C2201/127 ,  B64C2201/128 ,  B64C2201/141 ,  B64C2201/145 ,  B64C2201/146 ,  B64D3/00 ,  B64D9/00

Abstract: Described herein are 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.