Note: Descriptions are shown in the official language in which they were submitted.
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PAYLOAD CONTAINER FOR DELIVERING ITEMS USING A UAV AND PNUEMATIC DELIVERY
SYSTEM
BACKGROUND OF THE INVENTION
Unmanned Aerial Vehicles (UAVs) are used to deliver goods. Some logistics
companies have recently started to commercially deliver parcels using UAVs,
sometimes
referred to as "drones" for short. The majority of deliveries performed by
UAVs include
relatively small, light parcels.
One current use case for UAV delivery involves delivering critical medical
supplies or lab samples. UAVs have significantly reduced the delivery time
historically
experienced through traditional delivery methods. This has resulted in the
faster processing of
lab samples and more rapid deployment of critical medical supplies during
emergencies.
SUMMARY OF THE INVENTION
At a high level, aspects described herein relate to a payload container for
delivering items using a UAV and a pneumatic delivery system.
A payload container comprises an outer wall that surrounds a chamber and
forms an open end and a closed end of the payload container. The payload
container is
configured to receive a canister at the open end and position the canister
within a chamber of
the payload container. The canister can be used to contain items that are
delivered using the
payload container. In doing so, the payload container can be coupled to a UAV,
and the payload
container can release or retrieve the canister from the pneumatic delivery
system.
To aid in receiving or releasing the canister to the pneumatic delivery
system,
the payload container comprises a bumper at the closed end, at which the
canister contacts and
comes to a rest within the chamber of the payload container. At the open end,
the payload
container comprises one or more retaining members. The retaining members are
biased toward
the center of the payload container as defined by the outer wall, which is
cylindrical in many
cases. Once the canister passes into the chamber, the retaining members hold
the canister within
the chamber due to the bias. The retaining members can be depressed against
the bias to release
the canister into the pneumatic delivery system.
This summary is intended to introduce a selection of concepts in a simplified
form that are further described below in the detailed description section of
this disclosure. This
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summary is not intended to identify key or essential features of the claimed
subject matter, nor
is it intended to aid in determining the scope of the claimed subject matter.
Additional objects, advantages, and novel features of the technology will be
set
forth in part in the description that follows, and in part will become
apparent to those skilled in
the art upon examination of the following or learned by practice of the
technology.
BRIEF DESCRIPTION OF THE DRAWING
The present technology is described in detail below with reference to the
attached drawing figures, wherein:
FIG. 1 is a perspective view of an example payload container, in accordance
with an embodiment described herein;
FIG. 2 is another perspective view of the payload container of FIG. 1 carrying
an example canister, in accordance with an embodiment described herein;
FIGS. 3A-3C illustrate a payload container receiving a canister from an
example pneumatic delivery system, in accordance with an embodiment described
herein;
FIGS. 4A-4C illustrate the payload container providing the canister to example
pneumatic delivery system of FIGS. 3A-3C, in accordance with an embodiment
described
herein;
FIG. 5 is another example payload container operationally coupled to a UAV
for delivering a canister, in accordance with an embodiment described herein;
and
FIG. 6 is an example pneumatic delivery system having a depressed landing
platform for a UAV to align a payload container for delivery of a canister to
the pneumatic
delivery system, in accordance with an aspect described herein.
DETAILED DESCRIPTION OF THE INVENTION
As noted, UAVs and other unmanned systems have been used to deliver parcels.
One challenge for delivering parcels with unmanned systems is how best to load
parcels onto
such systems. This is particularly the case with UAVs, which many times carry
smaller loads.
Thus, many UAVs are loaded with individual parcels or only a few parcels for
delivery. It can
be challenging to continually load UAVs by hand, especially for high volume
delivery
companies utilizing UAVs.
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The present disclosure provides systems and methods that use a payload
container for delivering payloads. The payload container can be coupled to
UAVs to facilitate
the automatic loading and unloading of payloads, such as canisters carrying
items for delivery.
While described in the context of UAV delivery, it will be understood that the
payload
container, and other systems described herein, can be used by other unmanned
or manned
delivery systems.
One example payload container is coupled to a UAV and comprises an open
end and a closed end. The payload container can receive a canister into the
open end, thus
allowing the canister, and any items inside, to be delivered by the UAV. The
payload container
may further comprise a bumper at the closed end. As the canister is received
within the payload
container, the canister moves into a chamber of the payload container,
contacts the bumper,
and comes to rest within the chamber of the payload container.
To further facilitate moving the canister into the payload container chamber,
the
payload container may also comprise a gas vent. The gas vent opens into the
chamber at the
closed end and opens at an external site to of the payload container. As the
canister is moved
into the chamber, the air within the chamber can escape through the gas vent,
thus allowing the
canister to move into the chamber within experiencing an airlock or other
increase in air
pressure that would otherwise resist the canister.
The gas vent may extend toward the open end and be configure to couple to an
air house outlet of a pneumatic delivery system. In such cases, the pneumatic
delivery system
may eject the canister from the payload container by pushing air through the
gas vent and into
the closed end of the payload canister chamber. The canister is ejected into a
tube of the
pneumatic delivery system, where it can be moved through the tube to another
location for
delivering items within the canister.
It will be realized that the systems previously described are only examples
that
can be practiced from the description that follows, and it is provided to more
easily understand
the technology and recognize its benefits. Additional examples are now
described with
reference to the figures.
Turning now to FIG. 1, an example payload container 100 is illustrated. As
will
be further discussed, payload container 100 may be configured to mate with a
terminal end of
a tube, which will be further described, and receive a canister, as will be
illustrated and
discussed. Payload container 100 may be permanently or removably coupled to a
UAV, as will
be illustrated and discussed.
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Regarding payload container 100 of FIG. 1, payload container 100 comprises a
cylindrical outer wall 102. Cylindrical outer wall 102 has open end 104 and
closed end 106.
Cylindrical outer wall 102 surrounds chamber 108. In some aspects, closed end
106 comprises
a rounded portion, e.g., a rounded end. The rounded end may have a concave
inner wall within
chamber 108. The rounded end of closed end 106 may form void 103 within
chamber 108. As
previously noted, while depicted as cylindrical, a payload container may take
the form of
another shape.
Payload container 100 further comprises gas vent 110. As illustrated, gas vent
110 is external to outer wall 102. It will be appreciated that gas vent 110
may also be, in whole
or in part, integrated within outer wall 102, or may be positioned internal to
outer wall 102 and
within chamber 108.
In the example illustrated by FIG. 1, gas vent 110 comprises first gas vent
opening 112 and second gas vent opening 114. First gas vent opening 112 is
located at closed
end 106. Second gas vent opening 114 is located at open end 104. First gas
vent opening
provides fluid access between chamber 108 and gas vent 110. Second gas vent
opening 114
provides fluid access between gas vent 110 an area external from cylindrical
wall 102. By
providing fluid access, it is meant that a fluid, such as air or a liquid, may
pass through. Thus,
in this way, air within chamber 108 may flow from chamber 108 into gas vent
110 through first
opening 112, pass through gas vent 110 and flow from gas vent 110 to an area
external from
cylindrical wall 102.
Payload container 100 of FIG. 1 also comprises bumper 116. In general, bumper
116 dampens an opposing force experienced by an obj ect, such as a canister,
when pressed
against bumper 116. Bumper 116 may comprise a rubber, foam, or synthetic
polymer. In an
implementation, bumper 116 comprises a magnet configured to attract to a
magnet associated
with a canister, wherein the magnet secures the canister within payload
container 100. In a
particular aspect, bumper 116 comprises a material having a shore harness of
equal to or less
than 85 on the Shore A scale. In addition to, or in lieu of these materials,
bumper 116 may
comprises a spring or other mechanical feature that absorbs force over a
distance. As illustrated,
a suitable location for bumper 116 is at the closed end and positioned at
about a center of
chamber 108, as measured inward from cylindrical outer wall 102, illustrated
in FIG. 1 using
theoretical dot¨dash line 118. In aspects where there is void 103, bumper 116
may be
positioned, in whole or in part, within void 103. That is, at least a portion
of bumper 116 is
within void 103.
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Referencing now FIG. 2, another view of the payload container 100 of FIG. 1
is provided. Payload container 100 is illustrated as holding canister 200 with
chamber 108.
In this example, canister 200 is held in place by one or more retaining
member,
such as any one or more of retaining members 120A and 120B. It will be
recognized that other
aspects of payload container 100 may include only one retaining member, or may
include more
than the two illustrated. As illustrated, retaining members 120A and 120B are
located at open
end 104 of payload container 100.
Retaining members 120A and 120B may have a bias toward the center
(illustrated in FIG. 1 using theoretical dot¨dash line 118) of chamber 108 of
payload container
100 as defined by cylindrical outer wall 102. To bias retaining members 120A
and 120B toward
the center, payload container 100 comprises bias members, such as bias member
122, which is
best illustrated in association with retaining clamp 120B. As an example, bias
member 122 is
a spring, but it could be any material having elastic properties that exerts a
force on retaining
clamp 120B in the direction of the center of chamber 108.
As illustrated, canister 200 also comprises lip 202. Lip 202 in general is a
location where canister 200 is held within payload container 100 by retaining
members 120A
and 120B. In this case, lip 202 circumferentially extends around canister 200
at a first end. Lip
202 could be located at an end cap of canister 200. Extending
circumferentially is beneficial
because the allows canister 200 to be held by retaining members 120A and 120B
regardless of
the radial orientation in which canister 200 is placed within payload
container 100. in some
aspects, canister 200 comprises second lip 204 on a second end of the canister
that is opposite
the first end. As illustrated, canister 200 comprises second lip 204, which is
located at a second
end of the canister opposite a first end having lip 202. Second lip 811 is
beneficial in that it
allows retaining members 120A and 120B to hold canister 802 in place within
chamber 108 of
payload container 100 regardless of the directional orientation in which
canister 200 is placed
within payload container 100.
With reference now to FIGS. 3A-3C, an example operation of payload
container 302 receiving canister 310 from example pneumatic delivery system
300 is provided.
Pneumatic delivery system 300 is illustrated as comprising tube 304. FIGS. 3A-
3C illustrate
an example method for engaging payload container 302 with tube 304 in a manner
that
facilitates movement of canister 310 from tube 304 into payload container 302.
Payload container 302 is configured to engage tube 304. By configured to
engage, it is meant that payload container 302 is positioned relative to tube
304 so that a
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canister, such as canister 310, illustrated in FIG. 3C, may pass from tube 304
into payload
container 302 or from payload container 302 to tube 304. In some cases,
payload container 302
comprises payload container seal 305 at the open end. Payload container seal
305 generally
seals or at least partially seals the engagement between payload container 302
and tube 304 so
that air pressure can be adjusted within tube 304 and payload container 302.
Among other
locations, payload container seal 305 may be positioned on an inside surface
of an outer wall
associated with payload container 302, as illustrated in FIGS. 3A-3C. In
another case, payload
container seal 305 may be positioned on terminal edge of the open end of
payload container
302. The terminal edge may be an exposed surface of the outer wall between the
inside surface
and an outside surface. In another aspect, the seal is positioned on the
outside surface of the
outer wall at the open end of payload container 302. Payload container 302 may
engage tube
304 by releasably coupling to tube 304 at the open end. Payload container 302
may engage
tube 304 by being positioned so that an opening of the open end is aligned
with tube opening
307, which may be a terminal opening in particular aspects. In the example
illustrated by FIG.
3A, the open end of payload container 302 is configured to engage tube 304 by
mating to
external surface 308 of tube 304. In this case, the outer wall of payload
container 302 is
positioned around external surface 308 of tube 304.
FIG. 3B illustrates an example of how payload container 302 may engage tube
304 in this manner. In one example, payload container 302 engages tube 304,
such that the
engagement seals a connection between payload container 302 and tube 304,
thereby allowing
pressure to be increased and decreased within payload container 302 and tube
304. In an
implementation, payload container 302 engages tube 304 in a manner that does
not depress one
or more retaining members 306 of payload container 302. In this configuration,
the system is
ready to transfer canister 310 from tube 304 to payload container 302, and in
doing so, canister
310 pushes through one or more retaining members 306. This prevents canister
310 from
rebounding back out of payload container 302, since one or more retaining
members 306 will
secure canister 310 back towards the center of payload container 302 when
canister 310 moves
through tube opening 307 and an outer edge of payload container 302. FIG. 3C
illustrates
canister 310 being moved to a position within payload container 302 from tube
304 after
payload container 302 has engaged tube 304. One or more retaining members,
such retaining
member 306 secures canister 310 within payload container 302.
As illustrated in FIGS. 3A-3C, gas vent 312 may engage air tube 314 when
payload container 302 engages tube 304. As illustrated, a second opening of
gas vent 312
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engages air hose 314 to provide fluid access between gas vent 312 and air hose
314. This allows
air to pass from within payload container 302, through gas vent 312, and into
air hose 314.
Similarity, air can be passed from air hose 314, though gas vent 312, and into
payload container
302. In some cases, gas vent 312 can be equipped with a valve that releases
air within payload
container 302 to an area external from payload container 302. Thus, as
canister 310 enters
payload container 302, air within the chamber of payload container 302 can
escape through gas
vent 312 to an area external to the canister. As canister 302 approaches and
enters payload
container 302, the air within payload container 302 is moved out through a
first opening of gas
vent 312. In another example, air pressure is reduced on the same side as the
direction of
movement, in this case, the side opposite tube opening 307. To do so, air may
be pulled out
using air hose 314, which reduces air pressure within payload container 302,
thereby moving
canister 310 from within tube 302 to within payload container 302.
Gas vent 312 further permits air from air hose 314 to flow into payload
container
302. This is beneficial because it allows forced air from air hose 314 to
enter payload container
302 at the closed end so as to move canister 310 from within payload container
302 to within
tube 304 (as will be further described with reference to FIGS 4A-4C), but
reduces back
pressure into air hose 314 when canister 310 is moved from within tube 304 to
within payload
container 302, during which the air from within payload container 302 is moved
out through
gas vent 312.
Turning now to FIGS. 4A-4C, the figures illustrate payload container 302
providing canister 310 to example pneumatic delivery system 300 of FIGS. 3A-
3C. The figures
illustrate an example of payload container 302 engaging tube 304 in a manner
that facilitates
removal of canister 310 from payload container 302 into tube 304. In this
example, payload
container 302 comprises within it canister 310. Payload container 302 engages
tube 304. In
FIG. 4A, payload container 302 is disengaged from tube 304. As illustrated in
FIG. 4B, an
outer edge of payload container 302 engages tube 304 by externally sliding
over external
surface 308 of tube 304. A lip of tube 304, in this example, depresses one or
more retaining
members 306 against a bias, thereby releasing canister 310 from being secured
within payload
container 302 by one or more retaining members 306. Using pneumatic methods
described
throughout this disclosure, canister 310 may be moved from within payload
container 302 to
within tube 304 based on the depression of one or more retaining clamps 306 by
tube 304, as
illustrated by FIG. 4C.
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For instance, canister 302 may be placed within tube 304 so that it moves
through tube 304 using air pressure. Canister 310 can be moved by increasing
air pressure on
the side of canister 302 opposite the direction of movement through tube 304.
Further, canister 310 may be positioned within payload container 302. This
might occur after a delivery, such as a delivery by a UAV having payload
container 302, an
example aspect of which will be described in more detail. To move canister
310, air may be
pushed through air hose 314 by using an air compressor. This increases air
pressure within
payload container 302 at the end of canister 310 opposite the movement, which
in this case, is
out of payload container 302 and into tube 304, and away from tube opening
307. In another
aspect, air pressure is decreased in the same direction of the movement, e.g.,
the air pressure
of tube 304 is decreased to facilitate movement of canister 310 out of payload
container 302
and through tube 304, away from tube opening 307.
One benefit of the particular example configuration illustrated by FIGS. 3A-3C
and FIGS 4A-4C is that the same tube can be used by payload container 302 for
receiving
canister 310 from tube 304 (as in FIGS. 3A-3C) and for providing canister 310
to tube 304 (as
in FIGS. 4A-4C) based on a position of payload container 302 relative to tube
304. For
instance, as illustrated in FIGS. 3A-3C, payload container 302 is in a first
position relative to
tube 304. In the first position, retaining members, such as retaining member
306, are in a
locking position due to their bias, meaning that canister 310 is locked within
payload container
302 by the retaining members as container 302 enters into a chamber of payload
container 302.
However, as illustrated in FIGS. 4A-4C, payload container 302 is in a second
position relative
to tube 304. In the second position, the retaining members, such as retaining
member 306, are
depressed against the bias by tube 304. Here, the retaining members are in a
releasing position,
which permits canister 310 to move from a position within the chamber of
payload container
302 to a position within tube 304.
Additionally, a method of manufacturing a payload container, such as those
previously described, is provided. One example method includes forming a
cylindrical outer
wall. The cylindrical outer wall may be formed from a synthetic polymer,
including a synthetic
plastic material. A few examples among many suitable for use include high-
density
polyethylene (HDPE), PVC, polypropylene (PP), and polyethylene terephthalate
(PET).
Synthetic polymers may include thermoplastics. Using a thermoplastic, the
outer wall of the
payload container can be molded from the thermoplastic. In some cases,
synthetic polymers
can be extruded, inj ection molded, or three-dimensionally (3D) printed. The
method may
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further include closing one end of the outer wall. Closing one end of the
outer wall may
similarity be done by molding, extruding, 3D printing, and so forth. This can
be done via a
separate process or as part of the same process as forming the outer wall.
Each may be separate
components that are combined, e.g., by welding, or may be integrally formed.
All of such
examples can be used to form a payload container having the cylindrical outer
wall with a
closed end and an open end.
The method of manufacture can include forming a gas vent of the payload
container. Any of the described methods can be used to form the gas vent. The
gas vent may
be formed of the same materials as other components of the payload container,
including the
outer wall or closed end. The gas vent may be formed in the same process as
the outer wall or
closed end, or may be formed using a different process and coupled to the
other components
of a payload container. Welding can be used to couple the components. In
another example,
for instance, those using molding of thermoplastics, injection molding, 3D
printing, and the
like, the gas vent may be formed as part of the same process and integrally
part of other
components of the payload container. Forming the gas vent may include creating
a first opening
through the outer wall and into the gas vent, where the first opening is
created at the closed
end. For instance, the first opening can be formed by removing part of the
outer wall, such as
drilling the hole, or creating the opening by forming the outer wall around
the opening. Forming
the gas vent may include creating a second opening from the gas vent to an
area external to the
outer wall. Similar methods can be used to create this opening, which include
forming the gas
vent to have a tube-like structure, where the second opening is at the end of
the tube-like
structure. The tube-like structure can facilitate the passage of air through
the tube between the
first opening and the second opening.
The method of manufacture may include positioning a bumper within a chamber
of the payload container. In a specific case, the bumper is positioned at the
closed end of the
payload container. The bumper may be positioned within a void created by a
rounded closed
end. Positioning the bumper within the chamber may include coupling the bumper
to an inner
surface of payload container within the chamber.
The method of manufacture may include coupling one or more retaining clamps
on the payload container at the open end. In a specific case, the one or more
retaining clamps
is coupled to the inner surface of the payload container. A bias member can be
added to the
one or more retaining clamps to bias all or a portion of the one or more
retaining clamps toward
a center of the chamber of the payload container.
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Any of the pneumatic systems and canisters, in any combination, can be
employed in conjunction with a UAV to facilitate delivery. One method of using
a pneumatic
system comprises navigating a UAV having coupled to the UAV a payload
container. For
instance, payload container 100 is one suitable example payload container that
can be employed
with a UAV.
To illustrate, FIG. 5 provides an example of UAV 500 comprising payload
container 502. Any payload container described herein may be used as payload
container 502.
In the example illustrated by FIG. 5, payload container 502 is coupled to UAV
500 on a bottom
side of UAV 500. However, payload container 302 may be located at any point on
UAV 500
and in any position or orientation. In some cases, payload container 502 is
integrated within a
fuselage or another part of UAV 500. In an implementation, payload container
502 is not a
separate element from UAV 500, but is a void integrated in the UAV fuselage.
An aspect of payload container 502 comprises a gas vent having a first gas
vent
opening located at the closed end and providing fluid access between a chamber
of payload
container 502 and the gas vent, and a second gas vent opening located at the
open end of
payload container 502, the second gas vent opening providing fluid access
between the gas
vent and the air hose. In some cases, payload container 502 also comprises a
bumper within
the chamber at the closed end. Payload container 502 might also comprise one
or more retaining
clamps at the open end. As illustrated, payload container 302 comprises within
its chamber
canister 504, and as such, UAV 500 can deliver canister 504 using payload
container 502.
Payload container 502 may be used to retrieve or provide canister 504 from a
pneumatic
delivery system, as will be further described.
A method of delivery using UAV 500 is also provided. UAV 500 may be
positioned so that an open end of payload container 302 is positioned
proximate a tube opening
from which a canister, such as canister 504, may be received. By proximate, it
is meant that the
open end of payload container 502 may be positioned about equal to or less
than 6 inches from
the tube opening. In cases where transfer arm of the pneumatic system is used,
payload
container 502 of UAV 500 may be positioned at a distance equal to or less than
a length of the
transfer arm. In a particular example, the open end of payload container 502
of UAV 500 is
configured to couple to the tube opening. Some payload containers may include
a gas vent. In
some configurations, the gas vent will couple to an air tube of the pneumatic
system.
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Once positioned, a canister, such as canister 504, may be received by the
pneumatic system and received within payload container 502. As canister 504 is
received
within payload container 502, air within payload container 502 may escape at
an end opposite
the open end by moving from within payload container 502 through the gas vent
and out of an
outer wall of payload container 502. If payload container 502 also comprises
retaining
members, canister 504 may be retained within payload container 502 by the
retaining members.
FIG. 5 illustrates UAV 500 having payload container 502 having received
canister 504 for delivering items within canister 504. After having received
canister 504 within
payload container 502, UAV 500 may navigate away from the pneumatic delivery
system,
including the pneumatic delivery tube from which it received canister 504. In
some cases,
canister 504 will contain an item for delivery, and UAV 500 navigates away
from the
pneumatic delivery system to begin the delivery of the item.
In some cases. UAV 500 is delivering an item to a pneumatic delivery system.
For instance, in the example illustrated in FIG. 5, UAV 500 comprises payload
container 502
coupled to UAV 500, and illustrated within payload container 502 is canister
504, which can
be delivered from or to a pneumatic delivery system. By coupled to, it is
meant payload
container 502 may be permanently affixed or releasable affixed to UAV 500, or
may be
integrally formed as part of UAV 500.
The method may include UAV 500 positioning payload container 502
proximate a tube opening of a pneumatic delivery system in the manner
previously described,
including positioning the open end of payload container 502 proximate the tube
opening of the
pneumatic delivery system, at a distance about equal to or less than a
transfer arm of the
pneumatic delivery system, or a position where the open end of payload
container 502 is
coupled to the tube opening of the tube of the pneumatic delivery system. In
some cases, a gas
vent of payload container 502 is coupled to an air hose of the pneumatic
delivery system.
After positioning payload container 502 of UAV 500, canister 504 is released
from within payload container 502. Retaining members can be actively moved to
a non-
retaining position by UAV 500. In some cases, retaining members are passively
moved to a
non-retaining position. For instance, retaining members can be moved against
their bias
mechanically by interaction with the pneumatic delivery system. That is, a
portion of the
pneumatic delivery system may engage retaining members by positioning of UAV
500, such
that the engagement exerts a force on the retaining members against their
bias, thereby
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releasing canister 504 from payload container 502. In some cases, releasing
canister 504
includes canister 504 moving to a position out of payload container 502 of UAV
500.
In an example. canister 504 is released from and moved out of payload
container
502 using air pressure. For instance, the air hose of the pneumatic delivery
system may force
air into payload container 502 at a location corresponding to an end of
canister 504 opposite
an end of canister 504 corresponding to the open end of payload container 502.
This could be
at a closed end of payload container 502. By forcing air into the end of
payload container 502
opposite the opening end, canister 504 is moved from within payload container
502, through
the opening end of payload container 502, and to the pneumatic delivery
system. Container 504
can be released directly into the tube opening or released and positioned by
the pneumatic
delivery system into the tube opening, such as by using a transfer arm,
canister funnel, or other
like mechanism.
Some examples of the method of delivering canister 504 from or to a pneumatic
delivery system using UAV 500 and payload container 502 are illustrated and
described in
relation to FIGS. 3A-3C and FIGS. 4A-4C.
With reference now to FIG. 6, an example pneumatic delivery system 600
having a depressed landing platform 604 for UAV 622 to align payload container
626 for
delivery of a canister to or from pneumatic delivery system 600 is provided.
In this example,
pneumatic delivery system 600 comprises tube 602. Tube 602 comprises a tube
wall and a
channel extended through the tube wall, wherein the tube is configured to move
a canister
through the channel.
Pneumatic delivery system 600 is further illustrated as comprising depressed
landing platform 604. Depressed landing platform 604 comprises landing
platform void 608
formed by a depression in a landing platform surface 606. The depression forms
void 608. In
the example illustrated, landing platform surface 606 slopes inward in a
direction from an edge
of landing platform surface 606 to an inner area, such as the center, of
landing platform surface
606. While the slope of landing platform surface 606 forms a pyramid
structure, it will be
recognized that the depression formed by landing platform surface 606 may take
the form of
any shape. The pyramid structure illustrated has particular benefits in that
it comprises four
sloped sides that make up landing platform surface 606, and as such, a UAV,
such as UAV
622, may land anywhere on landing platform surface 606 and is then moved
toward the center
of landing platform surface 606, as will be further discussed.
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In some cases, depressed landing platform 600 comprises bottom fluid opening
616. Bottom fluid opening 616 may extend from void 608 and through depressed
landing
surface 606. This allows liquid to be moved away from depressed landing
surface 606.
As illustrated, landing platform surface 606 comprises surface opening 618.
Surface opening 618 corresponds with tube opening 610 of tube 602. That is,
when depressed
landing platform 604 is in some positions, tube opening 610 aligns with
surface opening 618
or tube opening 608 is positioned at least partially within void 608 by
extending tube 602 at
least partially through surface opening 618. Put another way, depressed
landing platform 604
may be positioned or moved to a position where tube opening 610 opens within
void 608.
In some cases, tube opening 610 is at a terminal end of tube 602, as
illustrated
in FIG. 6, being located at a termination end of tube 602. In FIG. 6, the
position of depressed
landing platform 604 is such that, at the terminal end of tube 602, tube
opening 610 at least
partially opens within void 608 of depressed landing platform 604.
The particular example of FIG. 6 illustrates pneumatic delivery system 600 as
comprising actuation member 620. As illustrated, actuation member 620 is
coupled to tube 602
at a first actuation member end and coupled to depressed landing platform 604
at a second
actuation member end. Actuation member 620 is configured to move between a
first actuation
member position and a second actuation member position. In FIG. 6, the
direction of movement
between the first actuation member position and the second actuation member
position is
represented by arrow 630. Actuation member 620 can generally be any device
capable of
moving depressed landing platform 604 or a portion thereof For instance,
actuation member
620 may be a linear actuation member. Actuation member 620 may comprise a
hydraulic
system; a mechanical actuator, including those using screw, wheel and axle, or
cam actuators;
a pneumatic system; an electromechanical system, including those using roller
screw designs;
and so forth.
In one particular scenario, when actuated, actuation member 620 moves
depressed landing platform 604 relative to tube 602 and tube opening 610. For
instance, moving
depressed landing platform 604 changes the position of tube 602 and tube
opening 610 relative
to landing surface opening 618. In one case, tube opening 610 is outside of
void 608 in a first
actuation member position. In a second actuation member position, tube opening
610 opens
within void 608 in the second actuation member position. "[his is beneficial
because it can
permit a canister entry from void 608 to tube 602 by way of tube opening 618.
In another
aspect, second actuation position places tube opening 618 partially within the
void, while in
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others, tube opening 618 is positioned wholly within void 608. Actuation
member 620 can be
used to position tube opening 618 or an external surface of tube 602 relative
to a payload
container of a UAV so that one or more retaining clamps can be depressed when
retrieving a
canister or not depressed when delivering a canister, as has been described.
Working in conjunction with pneumatic delivery system 1100, and in particular
with depressed landing platform 604, is UAV 622 picking up a canister from or
delivering a
canister to pneumatic delivery system 600. To do so, UAV 622 is illustrated as
comprising
landing gear 624 shaped congruent with the depression formed by landing
platform surface
606. For instance, one or more pieces of landing gear, such as landing gear
624 can be formed
into or arranged so that the shape of the one or more pieces of landing gear
is in the shape of
the depression or arranged in the shape of the depression. As illustrated in
FIG. 6, both landing
gear 624 and landing platform surface 606 take the shape of a pyramid. Said
differently, landing
gear 624 may take a similar shape to the depression formed by the landing
platform surface
606, such that UAV 622 or landing gear 624 can at least partially fit within
void 608 when
picking up or delivering a canister to tube 602 of pneumatic delivery system
600.
In operation, UAV 622 navigates to landing platform 604 and orients an open
end of payload container 626 in the direction of tube opening 618. UAV 622 may
descend in
the direction of landing platform surface 606. Upon making contact with
landing platform
surface 606, UAV 622 comes to a rest in a position determined by the shape of
landing platform
surface 606 and landing gear 624. In general, the position may be the same for
each landing
regardless of the location in which UAV 622 makes contact with landing
platform surface 606.
This allows UAV 622 to have less accuracy from landing to landing, and reduces
the intricate
movements needed to land in a same position each time. Thus, for instance, UAV
622 may
make contact with landing platform surface 606 at a first location and, based
on the shape of
landing platform surface 606 and landing gear 624, UAV 622 comes to a rest at
a landing
location. When UAV 622 makes contact with landing platform surface 606 at a
second location
that is different from the first location, UAV 622 still comes to a rest at
the same landing
location because of the shape of landing platform surface 606 and landing gear
624.
Once UAV 622 has landed on landing platform surface 606 and come to rest at
the landing location, actuating member 620 can be moved to position depressed
landing
platform 600. Depressed landing platform 604 can be moved from a first
position to a second
position where tube opening 618 opens within void 608. in this position, the
open end of
payload container 626 may be in a position to facilitate release of a canister
into tube opening
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618, or accepting a canister from tube opening 618 using any of the mechanism
described
herein.
After the canister has been released within tube opening 618 or accepted from
tube opening 618, UAV 622 may navigate away from depressed landing platform
600.
The subject matter of the present technology is described with specificity
herein
to meet statutory requirements. However, the description itself is not
intended to limit the scope
of this disclosure. Rather, the inventors have contemplated that the claimed
or disclosed subject
matter might also be embodied in other ways, to include different steps or
combinations of
steps similar to the ones described in this document, in conjunction with
other present or future
technologies. Moreover, although the terms "step" or "block" might be used
herein to connote
different elements of methods employed, the terms should not be interpreted as
implying any
particular order among or between various steps herein disclosed unless and
except when the
order of individual steps is explicitly stated.
For purposes of this disclosure, the word "including- or "having- has the same
broad meaning as the word "comprising." In addition, words such as "a" and
"an," unless
otherwise indicated to the contrary, include the plural as well as the
singular. Thus, for example,
the constraint of -a feature" is satisfied where one or more features are
present. Furthermore,
the term "or" includes the conjunctive, the disjunctive, and both (a or b thus
includes either a
or b, as well as a and b).
From the foregoing, it will be seen that this technology is one well adapted
to
attain all the ends and objects described above, including other advantages
that are obvious or
inherent to the structure. It will be understood that certain features and
subcombinations are of
utility and may be employed without reference to other features and
subcombinations. This is
contemplated by and is within the scope of the claims. Since many possible
embodiments of
the described technology may be made without departing from the scope, it is
to be understood
that all matter described herein or illustrated the accompanying drawings is
to be interpreted as
illustrative and not in a limiting sense.
Some example aspects that can be practiced from the forgoing disclosure
include:
Aspect 1: A pneumatic delivery system comprising: a tube; a tube opening at a
terminal end of the tube; an air hose comprising an air hose outlet located at
the terminal end
of the tube; and a payload container comprising: an open end and a closed end,
the open end
configured to couple to the terminal end of the tube, the payload container
further comprising
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a gas vent having a first gas vent opening located at the closed end of the
payload container
and providing fluid access between a chamber of the payload container and the
gas vent, and a
second gas vent opening located at the open end of the payload container and
configured to
couple to the air hose outlet, the second gas vent opening providing fluid
access between the
gas vent and the air hose.
Aspect 2: Aspect 1, further comprising a bumper within the chamber and located
at the closed end of the payload container.
Aspect 3: A pneumatic delivery system comprising: a tube comprising a tube
wall and a channel extended through the tube wall, wherein the tube is
configured to move a
canister through the channel; a tube opening through the tube wall; and a
depressed landing
platform comprising a landing platform void formed by a depression in a
landing platform
surface of the depressed landing platform, wherein the landing platform
surface comprises a
surface opening corresponding to the tube opening.
Aspect 4: Aspect 3, wherein the tube opening is at a terminal end of the tube.
Aspect 5: Any of Aspects 3-4, further comprising an actuation member, the
actuation member coupled to the tube at a first actuation member end and
coupled to the
depressed landing platform at a second actuation member end, the actuation
member
configured to move between a first actuation member position and a second
actuation member
position.
Aspect 6: Any of Aspects 3-5, wherein the tube opening is outside of the void
in the first actuation member position and the tube opening opens within the
void in the second
actuation member position.
Aspect 7: Any of Aspects 3-6, wherein the depressed landing platform further
comprises a bottom fluid opening within the void.
Aspect 8: Any of Aspects 3-7, further comprising an unmanned aerial vehicle
comprising landing gear shaped congruent with the depression of the depressed
landing
platform.
Aspect 9: Any of Aspects 3-8, wherein the UAV further comprises a payload
container with an open end configured to couple to the tube opening.
Aspect 10: A pneumatic delivery system comprising: a tube; a tube opening at
a terminal end of the tube; an air hose comprising an air hose outlet located
at the terminal end
of the tube; and a payload container comprising: an outer wall; an open end
and a closed end,
the open end configured to couple to the terminal end of the tube; and a gas
vent having a first
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gas vent opening located at the closed end of the payload container and
providing fluid access
between a chamber of the payload container and the gas vent, and a second gas
vent opening
located at the open end of the payload container and configured to couple to
the air hose outlet,
the second gas vent opening providing fluid access between the gas vent and
the air hose.
Aspect 11: Aspect 10, wherein the payload container further comprises a
payload container seal positioned at the open end on an inside surface of the
outer wall, the
payload container seal configured to seal an engagement between the tube and
the payload
container.
Aspect 12: Any of Aspects 10-11, wherein the closed end is rounded to form a
void within the chamber.
Aspect 13: Aspect 12, wherein the payload container further comprises a
bumper within the void of the chamber at the closed end.
Aspect 14: Any of Aspects 10-13, wherein the payload container further
comprises a magnet at the closed end.
Aspect 15: Any of Aspects 10-14, wherein the payload container further
comprises a retaining member at the open end.
Aspect 16: Aspect 15, wherein the retaining member is biased toward a center
of the chamber defined by the outer wall.
Aspect 17: Any of Aspects 10-16, wherein the outer wall of the payload
container is a cylindrical outer wall.
Aspect 18: An unmanned aerial vehicle (UAV) system comprising: a UAV; and
a payload container coupled to the UAV, the payload container comprising: an
outer wall; an
open end and a closed end; and a gas vent having a first gas vent opening
located at the closed
end and providing fluid access between a chamber of the payload container and
the gas vent,
and a second gas vent opening providing fluid access between the gas vent and
an area external
from the outer wall.
Aspect 19: Aspect 18, wherein the closed end of the payload container is
rounded to form a void within the chamber.
Aspect 20: Aspect 19, wherein the payload container further comprises a
bumper within the void of the chamber at the closed end of the payload
container.
Aspect 21: Any of Aspects 18-20, wherein the payload container further
comprises a magnet at the closed end.
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Aspect 22: Any of Aspects 18-21, wherein the payload container further
comprises a retaining member at the open end, the retaining member haying a
bias toward a
center of the chamber defined by the outer wall.
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