公开(公告)号：US11027843B2

公开(公告)日：2021-06-08

申请号：US15847370

申请日：2017-12-19

Applicant: Wing Aviation LLC

Inventor： Andre Prager ,  Trevor Shannon ,  Zhefei Li

IPC: B64D1/12 ,  B64D1/08 ,  B64C39/02 ,  G05D1/10 ,  B64D1/22 ,  B64D1/10 ,  B64F1/32

Abstract: 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.

公开(公告)号：US10974831B2

公开(公告)日：2021-04-13

申请号：US15930107

申请日：2020-05-12

Applicant: Wing Aviation LLC

Inventor： Andre Prager ,  Trevor Shannon ,  Adam Woodworth

IPC: B64D1/22 ,  G05D1/00 ,  B64C39/02 ,  B66C1/42 ,  B66D1/12

Abstract: An example system includes an aerial vehicle, a sensor, and a winch system. The winch system includes a tether disposed on a spool, a motor operable to apply a torque to the tether, and a payload coupling apparatus coupled to the tether and configured to mechanically couple to a payload. The system also includes a repositioning apparatus configured to reposition the payload coupling apparatus in at least a horizontal direction. A control system is configured to control the aerial vehicle to deploy the payload coupling apparatus by unwinding the tether from the spool; receive, while the aerial vehicle hovers above the payload and from the sensor, data indicative of a position of the payload coupling apparatus in relation to the payload; and reposition, using the repositioning apparatus and based on the data, the payload coupling apparatus in the horizontal direction to mechanically couple to the payload.

公开(公告)号：US10946963B2

公开(公告)日：2021-03-16

申请号：US16108043

申请日：2018-08-21

Applicant: Wing Aviation LLC

Inventor： André Prager ,  Kyle Liske ,  Trevor Shannon ,  Zhefei Li

IPC: B64D1/22 ,  B64C39/02 ,  B64D1/10

Abstract: An apparatus and method for transporting a payload are disclosed herein. In embodiments, a system for transporting a payload includes an unmanned aerial vehicle (UAV) including a payload coupling apparatus, and a containment apparatus having an aerodynamic shape and including first and second openings. The containment apparatus is located external to the UAV and attaches to an underside of the UAV. The payload coupling apparatus passes through the first and second openings of the containment apparatus to couple with the payload, and the payload passes through the second opening to be positioned inside or outside the containment apparatus.

公开(公告)号：US20210031919A1

公开(公告)日：2021-02-04

申请号：US17061589

申请日：2020-10-02

Applicant: Wing Aviation LLC

Inventor： Trevor Shannon ,  Andre Prager ,  Zhefei Li ,  Kyle Liske

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

Abstract: An unmanned aerial vehicle system is provided including an unmanned aerial vehicle (UAV) having a fuselage, a tether having a first end secured to a winch system positioned in the UAV and a second end secured to a payload coupling apparatus, a payload coupling apparatus receptacle positioned in the fuselage of the UAV, a payload having a handle, wherein the handle of the payload is positioned within a slot in the payload coupling apparatus. A method of securing a payload to a UAV is also provided.

公开(公告)号：US20200298972A1

公开(公告)日：2020-09-24

申请号：US16890548

申请日：2020-06-02

Applicant: Wing Aviation LLC

Inventor： Trevor Shannon ,  Zhefei Li

IPC: B64D1/02 ,  B64D1/12 ,  B64C39/02 ,  B64D3/00

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.

公开(公告)号：US10710720B2

公开(公告)日：2020-07-14

申请号：US16404090

申请日：2019-05-06

Applicant: Wing Aviation LLC

Inventor： Trevor Shannon ,  Zhefei Li

IPC: B64D1/02 ,  B64D1/12 ,  B64C39/02 ,  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.

公开(公告)号：US20200062399A1

公开(公告)日：2020-02-27

申请号：US16108043

申请日：2018-08-21

Applicant: Wing Aviation LLC

Inventor： André Prager ,  Kyle Liske ,  Trevor Shannon ,  Zhefei Li

IPC: B64D1/22 ,  B64D1/10 ,  B64C39/02

Abstract: An apparatus and method for transporting a payload are disclosed herein. In embodiments, a system for transporting a payload includes an unmanned aerial vehicle (UAV) including a payload coupling apparatus, and a containment apparatus having an aerodynamic shape and including first and second openings. The containment apparatus is located external to the UAV and attaches to an underside of the UAV. The payload coupling apparatus passes through the first and second openings of the containment apparatus to couple with the payload, and the payload passes through the second opening to be positioned inside or outside the containment apparatus.

公开(公告)号：US10414488B2

公开(公告)日：2019-09-17

申请号：US15389290

申请日：2016-12-22

Applicant: Wing Aviation LLC

Inventor： Andre Prager ,  Trevor Shannon

IPC: B64C19/00 ,  B64D1/22 ,  B64D1/12 ,  G05D1/08 ,  B66D1/48 ,  B64C39/02 ,  B66D1/60 ,  G05D1/02 ,  B66D1/12

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：US20190193856A1

公开(公告)日：2019-06-27

申请号：US15851654

申请日：2017-12-21

Applicant: Wing Aviation LLC

Inventor： Andre Prager ,  Trevor Shannon ,  Adam Woodworth

IPC: B64D1/22 ,  B64C39/02

Abstract: An example system includes an aerial vehicle, a sensor, and a winch system. The winch system includes a tether disposed on a spool, a motor operable to apply a torque to the tether, and a payload coupling apparatus coupled to the tether and configured to mechanically couple to a payload. The system also includes a repositioning apparatus configured to reposition the payload coupling apparatus in at least a horizontal direction. A control system is configured to control the aerial vehicle to deploy the payload coupling apparatus by unwinding the tether from the spool; receive, while the aerial vehicle hovers above the payload and from the sensor, data indicative of a position of the payload coupling apparatus in relation to the payload; and reposition, using the repositioning apparatus and based on the data, the payload coupling apparatus in the horizontal direction to mechanically couple to the payload.

公开(公告)号：US11993380B2

公开(公告)日：2024-05-28

申请号：US18133873

申请日：2023-04-12

Applicant: Wing Aviation LLC

Inventor： Trevor Shannon ,  Andre Prager

IPC: B64D1/22 ,  B64C39/02 ,  B64D1/12 ,  B64U10/13 ,  B64U10/25 ,  B64U30/10 ,  B64U30/20 ,  B64U101/60 ,  B66D1/12 ,  B66D1/60 ,  G05D1/00 ,  G06Q10/083

CPC classification number: B64D1/22 ,  B64C39/024 ,  B64D1/12 ,  B66D1/12 ,  B66D1/60 ,  G05D1/0858 ,  G06Q10/083 ,  B64U10/13 ,  B64U10/25 ,  B64U30/10 ,  B64U30/20 ,  B64U2101/60 ,  B64U2201/10 ,  B64U2201/20 ,  B66D2700/0141

Abstract: Described herein are methods and systems for picking up, transporting, 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 operate the motor to lower the tether toward the ground so a payload may be attached to the tether. The control system may monitor an electric current supplied to the motor to determine whether the payload has been attached to the tether. In another example, when lowering a payload, the control system may monitor the motor current to determine that the payload has reached the ground and responsively operate the motor to detach the payload from the tether. The control system may then monitor the motor current to determine whether the payload has detached from the tether.