US 12,623,782 B2 · UAV autoloader systems and methods

Abstract

A method includes determining, by an unmanned aerial vehicle (UAV), a position of an autoloader device for the UAV; based on the determined position of the autoloader device, causing the UAV to follow a descent trajectory in which the UAV moves from a starting position to a first nudged position in order to deploy a tethered pickup component of the UAV to a payout position on an approach side of the autoloader device; deploying the tethered pickup component of the UAV to the payout position; causing the UAV to follow a side-step trajectory in which the UAV moves laterally to a second nudged position in order to cause the tethered pickup component of the UAV to engage the autoloader device; and retracting the tethered pickup component of the UAV to pick up a payload from the autoloader device.

Claims18

Dependent claims

A payload retrieval apparatus comprising:

an upwardly extending member;
a channel having a first end and a second end, the channel coupled to the upwardly extending member, and the channel adapted to receive a payload retriever;
a first tether engager coupled to the upwardly extending member, the first tether engager including a primary member that forms a lower edge that extends in a first direction from the first end of the channel, and an upper guide member that forms an upper edge that is positioned above the channel;
and
a payload holder positioned on the second end of the channel and configured to hold a payload for retrieval by the payload retriever.

2 more elements

A payload retrieval apparatus comprising:

an upwardly extending member;
a channel having a first end and a second end, the channel having a first tether slot extending from the first end of the channel to the second end of the channel, and the channel configured to receive a payload retriever;
wherein the second end of the channel includes a curved portion, the channel coupled to the upwardly extending member and the first tether slot extending through the curved portion of the channel;
and
a first tether engager that extends in a first direction from the first end of the channel, the first tether engager including a primary member that forms a lower edge that extends in a first direction from the first end of the channel, and an upper guide member that forms an upper edge that is positioned above the channel;
and
a payload holder positioned on a curved portion of the second end of the channel and configured to hold a payload for retrieval by the payload retriever.

4 more elements

A method of retrieving a payload from a payload retrieval apparatus, including:

causing a tether suspended from an uncrewed aerial vehicle (UAV) to engage a first tether engager attached to an upwardly extending member of the payload retrieval apparatus, the first tether engager including a primary member that forms a lower edge that extends in a first direction from the first end of the channel, and an upper guide member that forms an upper edge that is positioned above the channel;
causing the tether to be drawn into a first tether slot positioned in a first end of a channel coupled to the upwardly extending member;
causing a payload retriever attached to the tether to be drawn into the channel;
causing the payload retriever to exit a curved portion on a second end of the channel;
adjusting an angle of the payload retriever as it exits the channel using the configuration of the curved portion of the second end of the channel;
and
causing the payload retriever to engage a handle of a payload positioned on a payload holder located on the curved portion of the second end of the channel and retrieve the payload.

4 more elements

Dependencies are inferred from the claim text.

UAV autoloader systems and methods

Life of this patent

UAV autoloader systems and methods

Life of this patent

Abstract

Claims18