# US 11,027,843 B2 · System and methods for automatic payload pickup by UAV

> Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt

- Number: US 11,027,843 B2
- Document ID: US11027843B2
- Status: Granted
- Kind: B2
- Application number: 15/847,370
- Filed: 2017-12-19
- Published: 2019-06-20
- Granted: 2021-06-08
- Earliest claimed: 2017-12-19
- Assignees: Wing Aviation LLC
- Applicants: Wing Aviation LLC
- Inventors: Andre Prager; Trevor Shannon; Zhefei Li
- Web page: https://patentgrep.com/patent/US11027843B2

## CPC

- B64D 1/08: the articles being load-carrying devices
- B64D 1/10: Stowage arrangements for the devices in aircraft
- B64D 1/12: Releasing
- B64D 1/22: Taking-up articles from earth's surface
- B64F 1/32: for handling freight
- G05D 1/101: {specially adapted for aircraft}
- B64U 10/14: with four distinct rotor axes, e.g. quadcopters
- B64U 10/20: Vertical take-off and landing [VTOL] aircraft (flying platforms B64U10/13; helicopters B64U10/17)
- B64U 10/25: Fixed-wing aircraft (VTOL aircraft B64U10/20)
- B64U 2101/30: for imaging, photography or videography
- B64U 2101/66: for retrieving parcels
- B64U 2101/67: the UAVs comprising tethers for lowering the goods
- B64U 2101/69: the UAVs provided with means for airdropping goods, e.g. deploying a parachute during descent
- B64U 2201/10: autonomous, i.e. by navigating independently from ground or air stations, e.g. by using inertial navigation systems [INS]
- B64U 2201/20: Remote controls
- B64D: EQUIPMENT FOR FITTING IN OR TO AIRCRAFT; FLIGHT SUITS; PARACHUTES; ARRANGEMENT OR MOUNTING OF POWER PLANTS OR PROPULSION TRANSMISSIONS IN AIRCRAFT
- B64F: GROUND OR AIRCRAFT-CARRIER-DECK INSTALLATIONS SPECIALLY ADAPTED FOR USE IN CONNECTION WITH AIRCRAFT; DESIGNING, MANUFACTURING, ASSEMBLING, CLEANING, MAINTAINING OR REPAIRING AIRCRAFT, NOT OTHERWISE PROVIDED FOR; HANDLING, TRANSPORTING, TESTING OR INSPECTING AIRCRAFT COMPONENTS, NOT OTHERWISE PROVIDED FOR
- G05D: SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- B64U: UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR

## 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.

## Claims

### Claim 1

A payload retrieval system comprising:
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 in an underside of the UAV for guiding, during retrieval of a payload having tapered upper walls and an upwardly extending handle, at least part of the payload into the payload receptacle to enable the payload coupling apparatus positioned within the payload receptacle to be secured to the handle of the payload, wherein the payload guiding member includes inwardly tapered walls on an interior of the payload guiding member that are configured to conform to the tapered upper walls of the payload.

### Claim 2 (depends on 1)

The payload retrieval system of claim 1, wherein the interior of the payload guiding member tapers inwardly from an open bottom end toward the payload receptacle.

### Claim 3 (depends on 2)

The payload retrieval system of claim 2, wherein the payload guiding member is positioned at least in part externally from the underside of the UAV.

### Claim 4 (depends on 2)

The payload retrieval system of claim 2, wherein the payload guiding member is positioned at least in part internally within the underside of the UAV.

### Claim 5 (depends on 1)

The payload retrieval system of claim 1, wherein the payload coupling apparatus includes a swing arm or latch that is extendable and retractable, the swing arm or latch adapted to secure the handle of the payload within the payload receptacle.

### Claim 6 (depends on 5)

The payload retrieval system of claim 5, wherein a switch or sensor is positioned within the payload receptacle operable to determine when the swing arm or latch should be extended through an aperture in the handle of the payload.

### Claim 7 (depends on 6)

The payload retrieval system of claim 6, wherein the first end of the tether is secured to a winch positioned within the UAV; and wherein upon activation of the switch or sensor, the payload coupling apparatus is adapted to move upwardly by the winch, and a cam follower adjacent the payload coupling apparatus is adapted to extend the swing arm or latch through the aperture in the handle of the payload.

### Claim 8 (depends on 5)

The payload retrieval system of claim 5, wherein the first end of the tether is secured to a winch positioned within the UAV, and when the winch is operated to lower the payload coupling apparatus having the swing arm or latch extended through the aperture of the handle of the payload, the swing arm or latch is adapted to automatically disengage from the handle of the payload when the payload is lowered to the ground and the payload coupling apparatus is further lowered by the winch.

### Claim 9

A method of payload retrieval including the steps of:
providing a payload retrieval system comprising:
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 in an underside of the UAV for guiding, during retrieval of a payload having tapered upper walls and an upwardly extending handle, at least part of the payload into the payload receptacle to enable the payload coupling apparatus positioned with the payload receptacle to be secured to the handle of the payload, wherein the payload guiding member includes inwardly tapered walls on an interior of the payload guiding member that are configured to conform to the tapered upper walls of the payload; positioning the UAV over the payload;
lowering the UAV until a portion of the handle of the payload is positioned within the payload guiding member;
guiding the handle of the payload with the payload guiding member towards the payload receptacle;
further lowering the UAV until the portion of the handle of the payload is in a desired position within the payload receptacle;
securing the handle of the payload to the payload coupling apparatus within the payload receptacle; and
flying the UAV with the payload secured within the payload receptacle.

### Claim 10 (depends on 9)

The method of claim 9, wherein the payload coupling apparatus includes a swing arm or latch that is extendable and retractable, and the step of securing the handle of the payload to the payload coupling apparatus includes moving the swing arm or latch through an aperture of the handle to secure the payload within the payload receptacle.

### Claim 11 (depends on 10)

The method of claim 10, wherein the step of securing the handle of the payload to the payload coupling apparatus involves having a portion of the handle above the aperture in the handle force the swing or latch inwardly until the portion of the handle above the aperture moves past the swing arm or latch and the swing arm or latch is extended through the aperture in the handle of the payload.

### Claim 12 (depends on 10)

The method of claim 10, wherein a switch or sensor is positioned within the payload receptacle that is triggered to cause the swing arm or latch to extend through the aperture in the handle of the payload, and wherein upon activation of the switch or sensor, the payload coupling apparatus is moved upwardly with a winch positioned in the UAV, and a cam follower adjacent the payload coupling apparatus causes the swing arm or latch to extend through the aperture in the handle of the payload, as the payload coupling apparatus is moved upwardly by the winch.

### Claim 13 (depends on 10)

The method of claim 10, wherein the first end of the tether is secured to a winch positioned within the UAV, and further including the step of delivering the payload at a payload delivery site wherein the winch is operated to lower the payload coupling apparatus having the swing arm or latch extended through the aperture of the handle of the payload, and the swing arm or latch automatically disengages from the handle of the payload when the payload is lowered to the ground and the payload coupling apparatus is further lowered by the winch.

### Claim 14

A method of payload retrieval including the steps of:
providing a payload retrieval system comprising:
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 in an underside of the UAV for guiding, during retrieval of a payload having tapered upper walls and an upwardly extending handle, at least a portion of the payload into the payload receptacle to enable the payload coupling apparatus positioned within the payload receptacle to be secured to the handle of the payload, wherein the payload guiding member includes inwardly tapered walls on an interior of the payload guiding member that are configured to conform to the tapered upper walls of the payload;
landing the UAV on a payload loading apparatus at a payload retrieval site, where the payload is positioned beneath the UAV;
pushing the payload upwardly until the handle of the payload is positioned within the payload guiding member;
guiding the handle of the payload with the payload guiding member towards the payload receptacle;
further pushing the payload upwardly until the handle of the payload is in a desired position within the payload receptacle;
securing the handle of the payload to the payload coupling apparatus within the payload receptacle; and
flying the UAV with the payload secured within the payload receptacle from the payload retrieval site.

### Claim 15 (depends on 14)

The method of claim 14, wherein upon landing the UAV on the payload loading apparatus the payload guiding member is positioned within the payload loading apparatus.

### Claim 16 (depends on 14)

The method of claim 14, wherein the payload coupling apparatus includes a swing arm or latch that is extendable and retractable, and the step of securing the handle of the payload to the payload coupling apparatus includes moving the swing arm or latch through an aperture of the handle to secure the payload within the payload receptacle.

### Claim 17 (depends on 16)

The method of claim 16, the step of securing the handle of the payload to the payload coupling apparatus involves having a portion of the handle above the aperture in the handle force the swing or latch inwardly until the portion of the handle above the aperture moves past the swing arm or latch and the swing arm or latch is extended through the aperture in the handle of the payload.

### Claim 18 (depends on 16)

The method of claim 16, wherein a switch or sensor is positioned within the payload receptacle that is triggered to cause the swing arm or latch to extend through the aperture in the handle of the payload, wherein upon activation of the switch or sensor, the payload coupling apparatus is moved upwardly with a winch positioned in the UAV, and a cam follower adjacent the payload coupling apparatus causes the swing arm or latch to extend through the aperture in the handle of the payload, as the payload coupling apparatus is moved upwardly by the winch.

### Claim 19 (depends on 16)

The method of claim 16, wherein the first end of the tether is secured to a winch positioned within the UAV, and further including the step of delivering the payload at a payload delivery site wherein the winch is operated to lower the payload coupling apparatus having the swing arm or latch extended through the aperture of the handle of the payload, and the swing arm or latch automatically disengages from the handle of the payload when the payload is lowered to the ground and the payload coupling apparatus is further lowered by the winch.

### Claim 20 (depends on 14)

The method of claim 14, wherein the step of guiding the handle toward the payload receptacle includes engaging tapered upper sides of the payload with inwardly tapered walls on the interior of the payload guiding member.