# US 11,993,380 B2 · Methods and systems for raising and lowering a payload

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- Number: US 11,993,380 B2
- Document ID: US11993380B2
- Status: Granted
- Kind: B2
- Application number: 18/133,873
- Filed: 2023-04-12
- Published: 2023-08-31
- Granted: 2024-05-28
- Earliest claimed: 2016-09-09
- Assignees: Wing Aviation LLC
- Applicants: Wing Aviation LLC
- Inventors: Trevor Shannon; Andre Prager
- Web page: https://patentgrep.com/patent/US11993380B2

## CPC

- B64D 1/22: Taking-up articles from earth's surface
- B64D 1/12: Releasing
- B66D 1/12: incorporating electric motors
- B66D 1/485: {electrical}
- B66D 1/60: adapted for special purposes
- G05D 1/0858: {specially adapted for vertical take-off of aircraft}
- G05D 1/46: Control of position or course in three dimensions [3D]
- G06Q 10/083: Shipping
- B64U 2101/64: for parcel delivery or retrieval
- B64U 2101/66: for retrieving parcels
- B64U 2101/67: the UAVs comprising tethers for lowering the goods
- 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
- B66D 2700/0141: Electrically actuated
- B64D: EQUIPMENT FOR FITTING IN OR TO AIRCRAFT; FLIGHT SUITS; PARACHUTES; ARRANGEMENT OR MOUNTING OF POWER PLANTS OR PROPULSION TRANSMISSIONS IN AIRCRAFT
- B66D: CAPSTANS; WINCHES; TACKLES, e.g. PULLEY BLOCKS; HOISTS (winding or unwinding ropes or cables for feeding or storage purposes B65H; rope or cable winding or unwinding mechanisms for lifts B66B)
- 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
- B64U: UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR

## 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.

## Claims

### Claim 1

A winch system for an unmanned aerial vehicle (UAV), the winch system comprising:
a spool;
a line carried by the spool;
a motor operatively coupled to the spool to wind and unwind the line;
a payload coupling apparatus carried by the line and configured to carry a payload;
a controller operatively coupled to the motor, the controller having instructions that, when executed:
direct the motor to unwind the line; and
in response to an indication that the payload has touched the ground, direct the motor to further unwind the line to disengage the payload coupling apparatus from the payload,
wherein the payload coupling apparatus is configured to detach passively and automatically from the payload as a result of the motor further unwinding the line.

### Claim 2 (depends on 1)

The winch system of claim 1 wherein the payload coupling apparatus is weighted to cause the apparatus to rotate downwardly as it disengages from the payload.

### Claim 3 (depends on 2)

The winch system of claim 2 wherein the payload coupling apparatus is positioned to continue descending in response to the line further unwinding and as the payload remains stationary on the ground.

### Claim 4 (depends on 3)

The winch system of claim 3 wherein the payload coupling apparatus has no moving parts.

### Claim 5 (depends on 1)

The winch system of claim 1, further comprising at least one sensor positioned to determine when the payload is at or near the ground.

### Claim 6 (depends on 5)

The winch system of claim 5 wherein the at least one sensor is operatively coupled to the motor to detect a current drawn by the motor.

### Claim 7 (depends on 6)

The winch system of claim 6 wherein the instructions, when executed, determine a position of the payload based at least in part on the detected current.

### Claim 8 (depends on 7)

The winch system of claim 7 wherein the instructions, when executed, determine that the payload has reached the ground, based at least in part on the detected current.

### Claim 9 (depends on 8)

The winch system of claim 8 wherein the detected current is a first detected current, and wherein the instructions, when executed, determine whether the payload is detached from the payload coupling apparatus, based at least in part on a second detected current.

### Claim 10 (depends on 5)

The winch system of claim 5 wherein the at least one sensor is positioned to identify an unwound length of the line, and wherein the instructions, when executed, determine a position of the payload based at least in part on the unwound length.

### Claim 11 (depends on 10)

The winch system of claim 10 wherein the at least one sensor is a first sensor, and wherein the winch system further comprises a second sensor operatively coupled to the motor to detect a current drawn by the motor, and wherein the instructions, when executed:
determine that an unwound length of the line is greater than a threshold length;
determine that the detected current drawn by the motor is less than a threshold current; and
monitor the current to confirm that the payload has touched down.

### Claim 12 (depends on 11)

The winch system of claim 11 wherein the detected current is a first detected current, and wherein the instructions, when executed:
determine, based at least in part on a second detected current drawn by the motor, that the payload is separated from the payload coupling apparatus.

### Claim 13 (depends on 10)

The winch system of claim 10 wherein the at least one sensor is a first sensor, and wherein the winch system further comprises a second sensor operatively coupled to the motor to detect a current drawn by the motor, and wherein the instructions, when executed:
direct the motor to wind the line;
determine that both (a) an unwound length of the line is greater than a threshold length and (b) the detected current drawn by the motor is greater than a threshold current;
direct the motor to unwind the line; and
after directing the motor to unwind the line, direct the motor to resume winding the line.

### Claim 14 (depends on 1)

The winch system of claim 1 wherein the payload coupling apparatus includes a slot positioned to receive a handle of the payload.

### Claim 15 (depends on 14)

The winch system of claim 14, further comprising the payload.

### Claim 16 (depends on 15)

The winch system of claim 15 wherein at least a portion of the payload tapers from wide to narrow in an upward direction.

### Claim 17 (depends on 16)

The winch system of claim 16 wherein an upper portion of the payload includes the handle, and wherein the handle includes at least one hole positioned to receive at least a portion of the payload coupling apparatus.

### Claim 18 (depends on 1)

The winch system of claim 1, further comprising a mechanical device positioned to secure the payload relative to the UAV.

### Claim 19 (depends on 18)

The winch system of claim 18 wherein the mechanical device includes one or more pins.

### Claim 20 (depends on 18)

The winch system of claim 18, further comprising a downwardly-facing receptacle through which the line passes, and wherein the mechanical device is engaged when the payload coupling apparatus is pulled into the receptacle.

### Claim 21 (depends on 20)

The winch system of claim 20 wherein the mechanical device includes at least one protrusion.

### Claim 22 (depends on 21)

The winch system of claim 21, wherein the at least one protrusion includes two protrusions, each having surfaces positioned to engage with corresponding surfaces of the receptacle to rotate the payload coupling apparatus to a target position.

### Claim 23 (depends on 22)

The winch system of claim 22 wherein the corresponding surfaces of the receptacle include a helical cam surface.

### Claim 24

A winch system for an unmanned aerial vehicle (UAV), the winch system comprising:
a spool;
a line carried by the spool;
a motor operatively coupled to the spool to wind and unwind the line;
a payload coupling apparatus carried by the line and configured to carry a payload;
a controller operatively coupled to the motor, the controller having instructions that, when executed:
direct the motor to unwind the line;
in response to an indication that the payload has touched the ground, direct the motor to further unwind the line to disengage the payload coupling apparatus from the payload; and
determine that the payload coupling apparatus is mechanically coupled to the payload.

### Claim 25

A winch system for an unmanned aerial vehicle (UAV), the winch system comprising:
a spool;
a line carried by the spool;
a motor operatively coupled to the spool to wind and unwind the line;
a payload coupling apparatus carried by the line and configured to carry a payload;
a controller operatively coupled to the motor, the controller having instructions that, when executed:
direct the motor to unwind the line;
in response to an indication that the payload has touched the ground, direct the motor to further unwind the line to disengage the payload coupling apparatus from the payload; and
direct the motor to retract the payload toward the spool during a pickup operation.

### Claim 26

An unmanned aerial vehicle (UAV), comprising:
a multicopter having:
at least four rotors;
at least four propulsion motors, one for each rotor;
a winch carried by the multicopter, the winch including:
a spool;
a line carried by the spool;
a payload coupling apparatus carried to the line and coupleable to a payload, the payload coupling apparatus being weighted and positioned to detach passively and automatically from the payload in response to the payload touching the ground;
a motor operatively coupled to the spool to wind and unwind the line; and
a sensor operatively coupled to the motor to detect a current drawn by the motor; and
at least one controller operatively coupled to the motor, the controller having instructions that, when executed:
direct the motor to unwind the line;
determine that the payload has reached the ground, based at least in part on a first detected current; and
determine whether the payload is detached from the payload coupling apparatus, based at least in part on a second detected current.

### Claim 27 (depends on 26)

The UAV of claim 26, further comprising a downwardly-facing receptacle positioned to receive the payload coupling apparatus, and wherein the payload coupling apparatus includes protrusions with surfaces positioned to engage with corresponding helical cam surfaces of the receptacle to rotate the payload coupling apparatus to a target position.

### Claim 28 (depends on 27)

The UAV system of claim 27 wherein the sensor is a first sensor, and wherein the UAV further comprises a second sensor positioned to identify an unwound length of the line, and wherein the instructions, when executed, determine a position of the payload based at least in part on the unwound length.

### Claim 29 (depends on 28)

The UAV of claim 28, further comprising the payload, and wherein the payload includes:
a handle with a linear shape positioned to fit into slot of the payload coupling apparatus; and
a portion that tapers from wide to narrow in an upward direction.