# US 10,310,517 B2 · Autonomous cargo delivery system

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- Number: US 10,310,517 B2
- Document ID: US10310517B2
- Status: Granted
- Kind: B2
- Application number: 15/945,351
- Filed: 2018-04-04
- Published: 2018-08-09
- Granted: 2019-06-04
- Earliest claimed: 2013-11-27
- Assignees: Aurora Flight Sciences Corporation
- Applicants: Aurora Flight Sciences Corporation
- Inventors: James D. Paduano; John B. Wissler; Michael D. Piedmonte; David A. Mindell
- Web page: https://patentgrep.com/patent/US10310517B2

## CPC

- G05D 1/102: {specially adapted for vertical take-off of aircraft}
- G05D 1/0202: {specially adapted to aircraft}
- G05D 1/042: {specially adapted for aircraft}
- G05D 1/0676: {specially adapted for landing}
- G06Q 10/00: Administration; Management
- G06Q 10/08: Logistics, e.g. warehousing, loading or distribution; Inventory or stock management
- G06Q 50/265: {Personal security, identity or safety}
- G05D: SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G06Q: INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES; SYSTEMS OR METHODS SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES, NOT OTHERWISE PROVIDED FOR

## Abstract

An autonomous aerial system for delivering a payload to a waypoint. The autonomous aerial system may comprise an aerial vehicle to transport the payload to the waypoint and an onboard supervisory control system operatively coupled with the aerial vehicle. The aerial vehicle may be configured to navigate to the waypoint and to land at a designated touchdown zone within a landing zone at the waypoint. The onboard supervisory control system having a processor operatively coupled with a non-volatile memory device and a sensor package. The processor may be configured to generate flight control signal data based at least in part on data received via the sensor package, the sensor package configured to (1) dynamically sense and avoid obstacles along a flight route to the waypoint, and (2) perceive physical characteristics of the landing zone. The processor may be configured to autonomously navigate the aerial vehicle to the waypoint and to determine whether to touchdown at the designated touchdown zone based at least in part on physical characteristics of the designated touchdown zone perceived via said sensor package.

## Claims

### Claim 1

An autonomous aerial navigation system comprising:
an aerial vehicle configured to receive information from an operating base over a wireless link;
a mission manager operatively coupled with said aerial vehicle and having a processor and a non-volatile memory device, wherein said mission manager is configured to receive, from said operating base, mission data that includes a set of routes and a landing zone, said set of routes defining one or more routes of the aerial vehicle from launch to land;
a sensor operatively coupled with said mission manager, wherein said sensor is configured to detect obstacles along a flight path of the aerial vehicle; and
a flight controller coupled with said mission manager,
wherein said flight controller is configured to generate a flight control signal based at least in part on data received from said mission manager,
wherein said mission manager is configured to execute a descent procedure of the aerial vehicle via commanding said flight controller, in which said mission manager (1) scans using the sensor, at a first distance from the landing zone, the landing zone to detect terrain features or objects and (2) determines whether landing within the landing zone is feasible at or before reaching a second distance from the landing zone, and
wherein the first distance is greater than the second distance.

### Claim 2 (depends on 1)

The autonomous aerial navigation system of claim 1, wherein the autonomous aerial navigation system further comprises a human-system interface (HSI) device to facilitate communication with the aerial vehicle, wherein the HSI device is remote from the aerial vehicle and includes a second processor, a communication transceiver, a user input device, and a display.

### Claim 3 (depends on 1)

The autonomous aerial navigation system of claim 1, wherein said mission manager is configured to identify a wave-off command during the descent procedure.

### Claim 4 (depends on 3)

The autonomous aerial navigation system of claim 3, wherein said mission manager is configured to navigate the aerial vehicle to a predetermined waypoint upon identifying the wave-off command.

### Claim 5 (depends on 3)

The autonomous aerial navigation system of claim 3, wherein said mission manager is configured to instruct the aerial vehicle to loiter upon identifying the wave-off command.

### Claim 6 (depends on 1)

The autonomous aerial navigation system of claim 1, wherein the sensor is configured to detect one or more gestures by a human at the landing zone.

### Claim 7 (depends on 6)

The autonomous aerial navigation system of claim 6, wherein the one or more gestures includes a wave-off gesture, said mission manager being configured to navigate the aerial vehicle to a predetermined waypoint upon detecting the wave-off gesture.

### Claim 8 (depends on 2)

The autonomous aerial navigation system of claim 2, wherein one or more touchdown zones within the landing zone are communicated to a human operator located at said landing zone via the HSI device for approval or selection.

### Claim 9 (depends on 2)

The autonomous aerial navigation system of claim 2, wherein the aerial vehicle is configured to communicate data reflecting a mission payload aboard the aerial vehicle to the HSI device data.

### Claim 10 (depends on 1)

The autonomous aerial navigation system of claim 1, wherein the sensor includes an electro optical infrared (EO/IR) imager.

### Claim 11 (depends on 1)

The autonomous aerial navigation system of claim 1, wherein said mission manager is configured to identify one or more touchdown zones within the landing zone based on the detected terrain features or objects.

### Claim 12 (depends on 1)

The autonomous aerial navigation system of claim 1, wherein said mission manager comprises a mission sequencer, said mission sequencer generating a new route based on a position of the aerial vehicle.

### Claim 13

A method for navigating an aerial vehicle to a landing zone, the method comprising:
receiving at the aerial vehicle, from an operating base over a wireless link, mission data that includes a set of routes and a landing zone, said set of routes defining one or more routes of the aerial vehicle from launch to land; and
generating flight control signals at the aerial vehicle via a mission manager,
wherein the mission manager comprises a processor operatively coupled with a non-volatile memory device and a sensor, and
wherein the flight control signals are generated based at least in part on data received from said mission manager;
scanning, at a first distance from the landing zone, the landing zone using the sensor during a descent procedure to detect terrain features or obstacles;
determining during the descent procedure, via the mission manager, whether landing within the landing zone is feasible at or before reaching a second distance from the landing zone, wherein the first distance is greater than the second distance; and
dynamically sensing and avoiding, via the mission manager, obstacles along a flight path of the aerial vehicle during the descent procedure.

### Claim 14 (depends on 13)

The method of claim 13, wherein the aerial vehicle is configured to communicate with a human-system interface (HSI) device that is remote from the aerial vehicle, wherein the HIS device includes a second processor, a communication transceiver, a user input device, and a display.

### Claim 15 (depends on 13)

The method of claim 13, further comprising the step of identifying a wave-off command during the descent procedure.

### Claim 16 (depends on 15)

The method of claim 15, further comprising the step of navigating the aerial vehicle to a predetermined waypoint upon identifying the wave-off command.

### Claim 17 (depends on 14)

The method of claim 14, further comprising the step of detecting one or more gestures by a human at the landing zone via the sensor.

### Claim 18 (depends on 17)

The method of claim 17, wherein the one or more gestures includes a wave-off gesture, said mission manager being configured to navigate the aerial vehicle to a predetermined waypoint upon detecting the wave-off gesture.

### Claim 19 (depends on 14)

The method of claim 14, further comprising the step of communicating from the aerial vehicle to the HSI device data reflecting a mission payload aboard the aerial vehicle.

### Claim 20 (depends on 14)

The method of claim 14, wherein said mission manager comprises a mission sequencer, the method further comprising the step of generating a new route based on a position of the aerial vehicle.