公开(公告)号：US20180072418A1

公开(公告)日：2018-03-15

申请号：US15389138

申请日：2016-12-22

Applicant: X Development 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：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：US20180257779A1

公开(公告)日：2018-09-13

申请号：US15977908

申请日：2018-05-11

Applicant: X Development LLC

Inventor： Trevor Shannon ,  Andre Prager

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

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：US10035623B1

公开(公告)日：2018-07-31

申请号：US15241721

申请日：2016-08-19

Applicant: X Development LLC

Inventor： Andre Prager ,  Clark Sopper ,  Kyle A. Liske

IPC: B65D5/46 ,  B65D5/42 ,  B65D5/20 ,  B64D1/22 ,  B64C39/02

CPC classification number: B64D1/22 ,  B64C39/024 ,  B64C2201/128 ,  B64D1/08 ,  B65D5/0209 ,  B65D5/0254 ,  B65D5/14 ,  B65D5/3621 ,  B65D5/46064 ,  B65D5/46184 ,  B65D5/5059

Abstract: A package enclosure for use on an aerial vehicle including an outer skin having left and right side walls and a front end and a rear end, a base positioned within the outer skin exerting a force against inner surfaces of the left and right side walls of the outer skin, and a handle upwardly extending from the base.

公开(公告)号：US10000285B2

公开(公告)日：2018-06-19

申请号：US15389338

申请日：2016-12-22

Applicant: X Development LLC

Inventor： Trevor Shannon ,  Andre Prager

IPC: B64C39/00 ,  B64C39/02 ,  B64D1/02 ,  G05D1/02 ,  B66D1/60 ,  B66D1/12

CPC classification number: B66D1/12 ,  B64C39/024 ,  B64C2201/128 ,  B64C2201/141 ,  B64D1/22 ,  B66D1/60 ,  B66D2700/0141

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：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：US20190100314A1

公开(公告)日：2019-04-04

申请号：US15853664

申请日：2017-12-22

Applicant: X Development LLC

Inventor： Andre Prager ,  Trevor Shannon ,  Evan Twyford ,  Alexander Miller

IPC: B64D1/22 ,  B64C39/02 ,  B64D1/12 ,  B66D1/60 ,  B66D1/40

Abstract: A payload coupling apparatus is provided that includes a housing. The housing is adapted for attachment to a first end of a tether. The apparatus further includes 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. The slot is adapted to receive a handle of a payload. The apparatus further includes a sensor configured to detect touchdown of the payload and a transmitter configured to send a touchdown confirmation signal to an unmanned aerial vehicle (UAV) based on a touchdown detection by the sensor.

公开(公告)号：US20180072422A1

公开(公告)日：2018-03-15

申请号：US15389326

申请日：2016-12-22

Applicant: X Development LLC

Inventor： Trevor Shannon ,  Andre Prager

IPC: B64D1/22 ,  B64C39/02 ,  B66D1/60 ,  B66D1/12

CPC classification number: B64D1/22 ,  B64C39/024 ,  B64C2201/021 ,  B64C2201/027 ,  B64C2201/104 ,  B64C2201/108 ,  B64C2201/128 ,  B66D1/12 ,  B66D1/60 ,  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.

公开(公告)号：US20180072421A1

公开(公告)日：2018-03-15

申请号：US15389304

申请日：2016-12-22

Applicant: X Development LLC

Inventor： Andre Prager ,  Trevor Shannon

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

CPC classification number: B64D1/22 ,  B64C39/024 ,  B64C2201/128 ,  B64C2201/148

Abstract: Described herein are methods and systems for motorized control of a tether, such as for purposes of user interaction and feedback. In particular, a UAV's control system may determine one or more operational parameters of a motor for a winch disposed in the UAV, the winch including the tether and a spool. The control system may then detect in the one or more operational parameters, an operational pattern of the motor that is indicative of an intentional user-interaction with the tether. Based on the detected operational pattern of the motor that is indicative of the intentional user-interaction with the tether, the control system may determine a motor response process. Then, the control system may operate the motor in accordance with the determined motor response process.