WO2017096392A1

WO2017096392A1 - Autonomous unmanned aerial vehicle system for logistical delivery

Info

Publication number: WO2017096392A1
Application number: PCT/US2016/064995
Authority: WO
Inventors: Simon Yuen; Derek Stevens
Original assignee: Skycart Inc
Current assignee: Skycart Inc
Priority date: 2015-12-04
Filing date: 2016-12-05
Publication date: 2017-06-08
Anticipated expiration: 2018-06-04

Abstract

This disclosure generally relates to a method and system for autonomous UAV systems for logistic delivery. The present technology relates techniques that enable an efficient logistic delivery using a UAV in conjunction with an automatic latching assembly. By enabling an autonomous loading method, the present technology can achieve logistic delivery with improved efficiency and scalability.

Description

AUTONOMOUS UNMANNED AERIAL VEHICLE SYSTEM FOR LOGISTICAL

DELIVERY

TECHNICAL FIELD

[0001] The disclosure relates generally to autonomous aircrafts. More specifically, certain aspects of the technology relate to a system and method for logistical delivery using an unmanned aerial vehicle (UAV).

BACKGROUND

[0002] An UAV or a drone is an autonomous aircraft that performs functions without a pilot aboard. In recent years, civil applications for UAVs have increased significantly across various industries such as agriculture, construction, environment protection, and logistic delivery. In particular, aerial delivery using UAVs have potential economic and efficacy advantages over traditional logistic delivery systems, such as cars.

[0003] However, manually loading or unloading the delivered article on each UAV is time consuming for a large number of shipments, therefore causing the scalability issue for UAV-enabled aerial delivery.

[0004] As UAVs begin to be used in urban areas, safety aspects become more important, and requirements for fail-safe and redundant systems become a requirement.

SUMMARY

[0005] Aspects of the present technology relate to techniques that enable an efficient logistic delivery using a UAV in conjunction with an automatic latching assembly. By enabling an autonomous loading method, the present technology can achieve logistic delivery with improved efficiency and scalability.

[0006] In accordance with one aspect of the present disclosure, the present technology discloses a latching assembly for transporting an object using an unmanned aerial vehicle. The latching assembly includes a base operable to attach to the unmanned aerial vehicle, wherein the base further includes an image sensor and a fastener. The latching assembly further includes an adapter operable to attach to the object, wherein the adapter has a stem that is operable to enable the fastener to secure the object during a flight of the unmanned aerial vehicle, and wherein the image sensor is operable to identify the adapter so that the fastener can engage the stem when the fastener is substantially aligned with the adapter.

[0007] According to some examples, the latching assembly further includes a gimbal between the unmanned aerial vehicle and the base. The gimbal provides flexible movement of the latching assembly so that it can be substantially aligned with the adapter. [0008] According to some examples, the latching assembly further includes a lidar system installed on the base, the lidar system further comprising at least one laser scanner component. The lidar system can determine a distance between the base and a surface of the object.

[0009] In accordance with another aspect of the present disclosure, the present technology discloses a latching assembly for transporting an object using an unmanned aerial vehicle. The latching assembly comprises a base that is attached to the unmanned aerial vehicle, wherein the base further includes a guiding element to locate the object and a gimbal to flexibly connect the base to the unmanned aerial vehicle. The latching assembly further comprises a fastener operable to attach to the base, wherein the fastener includes a number of retractable pins to engage the stem of the adapter and at least one rotary actuator to control the number of retractable pins. The latching assembly further includes an adapter with a stem to attach to the object. The guiding element is operable to locate the adapter so that the fastener can engage the stem when the fastener is substantially aligned with the adapter.

[0010] In accordance with another aspect of the present disclosure, the present technology discloses an unmanned aerial vehicle system for logistic delivery. The system includes an unmanned aerial vehicle to transport an object and a latching assembly coupled to the unmanned aerial vehicle. The latching assembly further includes a base operable to attach to the unmanned aerial vehicle via a gimbal, wherein the base includes an image sensor and a fastener. Additionally, the latching assembly includes an adapter with a stem to attach to the object. In the system, the image sensor can identify the adapter so that the fastener can engage the stem when the fastener is substantially aligned with the adapter. The unmanned aerial vehicle further includes a plurality of triangular landing frames to provide optimized stability in flight and landing.

[0011] In accordance with another aspect of the present disclosure, the present technology discloses a base operable to couple with an unmanned aerial vehicle for transporting an object, comprising a guiding element operable to locate the object and a fastener which further comprises a plurality of pins operable to fasten an adapter associated with the object, and at least one rotary actuator operable to control the plurality of pins.

[0012] In accordance with yet another aspect of the present disclosure, the present technology discloses an adapter operable to attach to an object for transporting the object using an unmanned aerial vehicle, comprising a first flange having a fixation mechanism operable to secure the adapter to the object, a second flange, and a stem connected to the first flange and the second flange, the stem being operable to enable the object being secured during a flight of the unmanned aerial vehicle. [0013] In accordance with another aspect of the present disclosure, the present technology discloses a gimbal that attaches the base to the UAV, allowing the more accurate maneuvering of the UAV, and allowing greater efficiency in the attachment process.

[0014] In accordance with yet another aspect of the present disclosure, the present technology discloses a Parachute Ejection System that can automatically release a parachute to execute an emergency landing. It further discloses a Drone Fail-Safe system in connection to an Emergency Recovery System.

[0015] Although many of the examples herein are described with reference to the aerial logistic delivery using UAVs, it should be understood that these are only examples and the present technology is not limited in this regard. Rather, the present technology can be used in other UAV applications wherein the UAV carries one or more payloads, e.g., a camera, or a pesticide carrier.

[0016] Additional features and advantages of the disclosure will be set forth in the description which follows, and, in part, will be obvious from the description, or can be learned by practice of the herein disclosed principles. The features and advantages of the disclosure can be realized and obtained by means of the instruments and combinations particularly pointed out in the appended claims. These and other features of the disclosure will become more fully apparent from the following description and appended claims, or can be learned by the practice of the principles set forth herein.

BRIEF DESCRIPTION OF THE DRAWINGS

[0017] In order to describe the manner in which the above-recited and other advantages and features of the disclosure can be obtained, a more particular description of the principles briefly described above will be rendered by reference to specific examples thereof which are illustrated in the appended drawings. Understanding that these drawings depict only examples of the disclosure and are not therefore to be considered to be limiting of its scope, the principles herein are described and explained with additional specificity and detail through the use of the accompanying drawings in which:

[0018] FIG. 1 illustrates a perspective view of a UAV system, according to some examples of the present technology;

[0019] FIG. 2 illustrates a magnified view of the UAV system, according to some examples of the present technology;

[0020] FIG. 3 illustrates a perspective view of a latching system, according to some examples of the present technology; [0021] FIG. 4 illustrates another perspective view of a latching assembly, according to some examples of the present technology;

[0022] FIG. 5 illustrates a top view of a latching assembly, according to some examples of the present technology;

[0023] FIG. 6 illustrates a bottom view of a latching assembly with a focus on the base, according to some examples of the present technology;

[0024] FIG. 7 illustrates another perspective view of a latching assembly, according to some examples of the present technology;

[0025] FIG. 8 illustrates a side view of a closing process of the retractable pins, according to some examples of the present technology;

[0026] FIG. 9 illustrates another side view of the retractable pins associated with a base, according to some examples of the present technology;

[0027] FIG. 10 illustrates a side view of a serrated frame associated with a base, according to some examples of the present technology;

[0028] FIG. 11 illustrates a perspective view of another UAV system, according to some examples of the present technology;

[0029] FIG. 12 illustrates a magnified view of the UAV system, according to some examples of the present technology;

[0030] FIG. 13 illustrates a bottom view of the latching assembly with a focus on the base, according to some examples of the present technology;

[0031] FIG. 14 illustrates another perspective view of a latching assembly, according to some examples of the present technology;

[0032] FIG. 15 illustrates a top view of a latching assembly, according to some examples of the present technology;

[0033] FIG. 16 illustrates a sectional view of a base associated with a latching assembly, according to some examples of the present technology;

[0034] FIG. 17 illustrates a top view of a latching assembly according to some embodiments;

[0035] FIG. 18 illustrates another perspective view of a latching assembly, according to some examples of the present technology;

[0036] FIG. 19 illustrates another perspective view of a UAV system, according to some examples of the present technology;

[0037] FIG. 20 illustrates a magnified view of the UAV system, according to some examples of the present technology; [0038] FIG. 21 illustrates a top view of a latching assembly, according to some examples of the present technology;

[0039] FIG. 22 illustrates another perspective view of a latching assembly, according to some examples of the present technology;

[0040] FIG. 23 illustrates a bottom view of a latching assembly with a focus on the base, according to some embodiments;

[0041] FIG. 24 illustrates a perspective view of an adapter, according to some examples of the present technology;

[0042] FIG. 25 illustrates a side view of an adapter, according to some examples of the present technology;

[0043] FIG. 26 illustrates a side view of a gimbal, according to some examples of the present technology;

[0044] FIG. 27 illustrates another side view of gimbal, according to some examples of the present technology;

[0045] FIG 28 illustrates a top and side view of a gimbal, according to some examples of the present technology;

[0046] FIG 29 illustrates a perspective view of a hexacopter drone, according to some examples of the present technology;

[0047] FIG. 30 illustrates the Parachute Ejection System, according to some examples of the present technology;

[0048] FIG. 31 illustrates a block diagram of the Drone Fail-Safe System in conjunction with the Emergency Recovery System; and

[0049] FIG. 32 illustrates a perspective view of an additional type of adapter.

DETAILED DESCRIPTION

[0050] Various examples of the present technology are discussed in detail below. While specific implementations are discussed, it should be understood that this is done for illustration purposes only. A person skilled in the relevant art will recognize that other components and configurations may be used without departing from the spirit and scope of the present technology.

[0051] FIG. 1 illustrates a perspective view of a UAV system 100, according to some examples of the present technology. It should be appreciated that the system topology in FIG. 1 is an example, and any other components including additional drone propellers or mechanical/electrical parts may be included in FIG. 1.

[0052] The UAV system 100, as illustrated in FIG. 1, can include a hexacopter 102 and a latching assembly 104 that can be coupled to an object for transportation, hexacopter 102 can be coupled to latching assembly 104 flexibly via various means such as detachable serrated fastening, etc.

[0053] FIG. 2 illustrates a magnified view of the UAV system 200, according to some examples of the present technology. Latching assembly 200 can include a base 202 and an adapter or a sticker 204. Sticker 204 is operable to be secured to the object for transportation.

[0054] FIG. 3 illustrated a perspective view of a latching system 300, which can include, for example, base 302 operable to be fastened to the UAV and an adapter 302 operable to be secured to an obj ect during a flight of the UAV.

[0055] FIG. 4 illustrates another perspective view of a latching assembly 400, according to some examples of the present technology. Latching assembly 400 can include, for example, a base 402 that further includes a plurality of retractable pins operable to grip a stem of an adapter 404. Further, adapter 404 can be securely attached to a surface of an object 406 via one or more fixation mechanisms. For example, the bottom flange of adapter can be coated with a sticky foam, a layer of mounting tape or glue, screws, bolts, or a combination thereof. According to some embodiments, adapter 404 can include one or more slots reserved for straps to go through and wrap around the object for secured delivery.

[0056] According to some examples, latching assembly 400 can be connected to a UAV (not shown) via one or more flexible connections, e.g., lines, thread or chains, such that the latching assembly 400 is relatively flexible with regard to the UAV. The flexible connections are connected to a winch that is attached to the drone. For example, when a UAV with latching assembly 400 approaches a certain area nearby the targeted object 406, latching assembly can be released from the drone via the flexible connection. After securing the object via various mechanisms disclosed herein, latching assembly 400 can be retracted via the flexible connections and securely coupled to the UAV for additional flight. By maintaining the UAV hover at a certain distance above the ground, the present approach renders multiple advantages such as eliminating potential personal or property damages caused by the UAV's high-speed propellers, or reducing risk-points associated with the UAV's landing and launching.

[0057] Further, base 402 can include at least one laser sensor that is operable to determine a distance between the base and a target area. For example, an embedded lidar system can use laser light to sample the surface of an object and produce location and distance data. The lidar system comprises, for example, one or more laser scanner components, a GPS (Global Positioning System) and EVIU (inertial measurement unit) that measures motions of the UAV. According to some examples, the F U includes motion sensors, e.g., accelerometers, and rotation sensors, e.g., gyroscopes, to calculate the motion of the UAV, such as orientation, velocity and speed.

[0058] Base 402 can hold a lidar system and a camera. These are used for viewing and sensing the distance to the ground or a package. The system can also contain a RADAR unit that allows the system to detect objects in the environment surrounding the drone in all directions. According to some examples, additional cameras and lidar systems can be installed on the arms of the UAV to view the ground and sense the distance to the ground when carrying a package. Also according to some examples, additional cameras, lidar systems, and radar systems can be attached to the body of the drone as well to allow detection of objects around the drone to enable collision avoidance, and to assist in releasing the package safely if objects are detected in the landing zone.

[0059] FIG. 5 illustrates a top view of a latching assembly 500, according to some examples of the present technology.

[0060] FIG. 6 illustrates a bottom view of a latching assembly 600 with a focus on the base, according to some examples of the present technology.

[0061] FIG. 7 illustrates another perspective view of a latching assembly, according to some examples of the present technology. The latching assembly can include, for example, a base 700 with a fastener 704, for example, a plurality of retractable pins. According to some examples, base 700 can be coupled to a first magnetic element 702, e.g. a magnet or a ferrous ( a metal with iron content) element, which is operable to interact with a second magnetic element 708, e.g. a corresponding magnet providing an attraction or a metal, such that fastener 704 can be guided to get substantially aligned with adapter 706.

[0062] According to some examples, when the latching assembly is released from the UAV and falls within a proximity of adapter 706, the magnetic force between first magnetic element 702 and second magnetic element 708 can pull fastener 704 closer to adapter 706. The retractable pins of adapter 706, upon the closing, can securely grip a stem of adapter 706.

[0063] FIG. 8 illustrates a side view of a closing process of the retractable pins, according to some examples of the present technology. The retractable pins 802, upon a determination that an adapter 804 is within a certain distance, can grip a stem of adapter 804 by closing retractable pins 802 According to some examples of the present technology, retractable pins 802 can employ an iris mechanism, or a variation of the iris mechanism. As shown in FIG. 8, retractable pins 802 are arranged on a horizontal plane so that the closed pins can provide maximized engaging force to secure the adapter (not shown).

[0064] FIG. 9 illustrates another side view of the retractable pins associated with a base 900, according to some examples of the present technology. The retractable pins, for example, can be controlled by one or more rotary actuators, e.g., servo motors, to provide torque for gripping the stem of an adapter. Additional rotary gears can be utilized to provide the necessary torque as well.

[0065] FIG. 10 illustrates a side view of a serrated frame associated with a base 1000, according to some examples of the present technology. Base 1000 can include a plurality of protrusions, which can be coupled to corresponding protrusions on the UAV. A plurality of flexible connections, e.g. lines, threads, or chains can be couple to various connection points on base 1000 to provide a range of freedom for base 1000.

[0066] FIG. 11 illustrates a perspective view of another UAV system, according to some examples of the present technology. It should be appreciated that the system topology in FIG. 11 is an example, and any other components including additional drone propellers or mechanical/electrical parts may be included in FIG. 11.

[0067] The UAV system, as illustrated in FIG. 11, can include a hexacopter 1102 and a latching assembly 1104 that can be rigidly coupled to an object for transportation. Hexacopter 1102 can be coupled to latching assembly 1104 via various fixed means such as being welded, using screws, or bolts etc.

[0068] FIG. 12 illustrates a magnified view of the UAV system, according to some examples of the present technology. Latching assembly 1202 can include a base and an adapter or a sticker. [0069] FIG. 13 illustrates a bottom view of the latching assembly with a focus on the base, according to some examples of the present technology.

[0070] FIG. 14 illustrates another perspective view of a latching assembly 1400, according to some examples of the present technology. Latching assembly 1400 can include, for example, a base 1402 that further includes a fastener 1406 such as a plurality of retractable pins operable to grip a stem of an adapter 1414. Further, adapter 1414 can be securely attached to a surface of an object via one or more fixation mechanisms.

[0071] Base 1402 can include at least one laser sensor 1408 that is operable to determine a distance between the base and a target area. As such laser sensor for range determination is well-known in the art, further disclosure is not needed.

[0072] According to some examples of the present technology, when a UAV with latching assembly 1400 approaches a certain area nearby a targeted object (not shown), an image sensor 1404, e.g., a camera, associated with base 1402 can capture image information and determine whether adapter 1414 and fastener 1406 are substantially aligned with each other using, for example, one or more lidar systems and cameras. For example, image sensor 1404 is operable to identify the adapter using at least one pattern identification algorithm. Further, image sensor 1404, or additional image sensors can be installed on the UAV. In some examples, the image sensor 1404 or an accelerometer of the UAV can be used to determine whether the adapter 1414 is placed in a loading position relative to the fastener 1406.

[0073] After identifying the target object and determining the adapter 1414 is in a loading position, one or more rotatory actuators, e.g., servo motors 1410 and 1412 or other motors, can provide sufficient torque to a shaft 1422 to enable fastener 1406 or ledge to grip a portion of adapter 1414, e.g., a stem 1418.

[0074] Adapter 1414 can include, for example, a first flange 1420 having a fixation mechanism operable to secure adapter 1414 to the object, a second flange 1416 that is connected to first flange 1420 via a stem 1418. The stem can have a predetermined size and length so that it can be securely gripped by fastener 1406. For example, first flange 1420 can be coated with a sticky foam, a layer of mounting tape or glue, screws, bolts, or a combination thereof. According to some examples, adapter 1404 can include one or more slots reserved for tapes or straps to go through and wrap around the object for secured delivery.

[0075] FIG. 15 illustrates a top view of a latching assembly 1502, according to some examples of the present technology.

[0076] FIG. 16 illustrates a sectional view 1604 of a base 1602 associated with a latching assembly, according to some examples of the present technology. [0077] FIG. 17 illustrates a top view of a latching assembly 1702 according to some examples of the present technology.

[0078] FIG. 18 illustrates another perspective view of a latching assembly, according to some examples of the present technology. The latching assembly can include, for example, a base 1802 with a fastener comprising a plurality of retractable pins. According to some examples, base 1802 can be coupled to an image sensor, e.g., a camera, which is operable to identify adapter 1804 using one or more pattern recognition algorithms, such that the fastener can be guided to get substantially aligned with adapter 1804. The camera is configured to read various identification tags such as QR code, Apriltag, or Barcode to perform the necessary delivery operations and allow the UAV to receive delivery information from the cloud network. In addition, the camera is configured to determine distance between different objects. According to some examples of the present technology, the camera is configured to identify tracked object and obstacle, such as boxes, people, trees, houses, and cars. According to some examples, an IR LED, or IR Laser is used for additional illumination to allow improved detection of objects near the system.

[0079] According to some examples, base 1802 includes light detection and ranging technique such as a lidar system to measure distance from objects or obstacles to base 1802. The embedded lidar system uses laser light to sample the surface of an object and produce location and distance data. The lidar system comprises, for example, one or more laser scanner components, a GPS (Global Positioning System) and EVIU (inertial measurement unit) that is used to measure motions of the UAV. According to some examples, the EVIU includes motion sensors, e.g., accelerometers, and rotation sensors, e.g., gyroscopes, to calculate the motion of the UAV, such as orientation, velocity and speed.

[0080] FIG. 19 illustrates another perspective view of a UAV system, according to some examples of the present technology. It should be appreciated that the system topology in FIG. 19 is an example, and any other components including additional drone propellers or mechanical/electrical parts may be included in FIG. 19.

[0081] The UAV system, as illustrated in FIG. 19, can include a hexacopter 1902 and a latching assembly 1904 that can be coupled to an object for transportation. Hexacopter 1902 can be coupled to latching assembly 1904 via various means either flexibly or rigidly.

[0082] FIG. 20 illustrates a magnified view of the UAV system, according to some examples of the present technology. Latching assembly 2002 can include a base and an adapter or a sticker. [0083] FIG. 21 illustrates a top view of a latching assembly 2102, according to some examples of the present technology. A base of the latching assembly 2102 can include one or more rotating gears 2104 and/or 2106 to provide at least a portion of torque necessary to grip an adapter.

[0084] FIG. 22 illustrates another perspective view of a latching assembly, according to some examples of the present technology. The latching assembly can include, for example, a base 2202 with a fastener 2206, for example, a plurality of retractable pins. According to some examples, base 2202 can be coupled to an image sensor which is operable to identify adapter 2208 using one or more pattern recognition algorithms, such that fastener 2206 can be placed close to adapter 2208. One or more rotating gears 2204 can provide at least a portion of torque to enable fastener 2206 to grip adapter 2208. Further, in addition to rotating gears 2204, servo motors can be utilized to provide the requisite torque.

[0085] FIG. 23 illustrates a bottom view of a latching assembly 2302 with a focus on the base, according to some examples of the present technology. According to some examples of the present technology, IR LED's and IR Laser Diodes are used with the latching assembly 2302 and the drone to illuminate the ground for object detection. The addition of IR LED's and IR Laser Diodes allows the system to perform in an enhanced manner, and may allow deployment under varied atmospheric conditions, including night, and cloudy conditions.

[0086] FIG. 24 illustrates a perspective view of an adapter 2402, according to some examples of the present technology. Adapter 2402 can include, for example, a first flange 2404 having a fixation mechanism operable to secure adapter 2402 to an object 2408, a second flange 2406 that is connected to first flange 2404 via a stem at an appropriate size and length. For example, first flange 2404 can be coated with a sticky foam, a layer of mounting tape or glue, screws, bolts, or a combination thereof. According to some examples, adapter 2402 can include one or more slots reserved for straps to go through and wrap around the object for secured delivery. Further, the sizes of first flange 2404 and second flange 2406 can be various pursuant to the size, weight and delivering requirements of the object.

[0087] FIG. 25 illustrates a side view of an adapter 2502, according to some examples of the present technology. Adapter 2502 can include, for example, a first flange 2510, a stem 2512 and a second flange 2508. As shown in FIG. 25, the flange 2510 is tapered upward before it becomes horizontal as it attaches to the stem 2512. This allows an improved centering action and easier alignment with the latching assembly. According to some examples, adapter 2502 can include a magnetic element to interact with another magnetic element associated with a base of a latching assembly. According to some examples, adapter 2502 can include a unique identification code, e.g., a QR code 2506. For example, an image sensor associated with the latching assembly or the UAV can scan QR code 2506 to identify a target object from a plurality of objects. Other identification tag such as Apriltag or Barcode can be used as well. Additionally, other identification technology such as Near Field Communication (NFC) can be utilized for the purpose of the present technology.

[0088] FIG. 26 illustrates a side view of a gimbal 2600 that enables the latching assembly to adjust the facing angle and be substantially aligned with the adapter. Due to winds and other interferences, a UAV often has difficulty to precisely align and engage with the adapter. To solve this problem, a gimbal is used to dynamically adjust the position of the latching assembly in relation to the adapter. According to some examples of the present technology, gimbal 2600 can include a gimbal adapter 2602 that is configured to couple or connect to the UAV (not shown). As shown in FIG 26, gimbal adapter 2602 can include a flange element that is fastened to the UAV via screws or other conventional fixation means. . According to some examples of the present technology, gimbal 2600 can further include a gimbal joint 2604 that is configured to have flexible movement so that a base of latching assembly 2606 can be parallel and aligned with an adapter as described in the present disclosure. Gimbal joint 2604 can provide pivoted support that enables the relative free rotation of the attached latching assembly 2606.

[0089] According to some examples of the present technology, an embedded processor (not shown) is configured to receive various data such as image data from a camera, angular velocity and linear acceleration data from sensors such as Inertial Measurement Unit (FMU) sensors. The embedded processor can determine and adjust a corresponding angle of gimbal 2600 so that the base of latching assembly 2606 can maintain a facing direction for parcel pickup while compensating for unwanted UAV pitch and roll caused by the forces of wind. Additionally, one or more gimbal motors (not shown) can provide the tilting force to adjust the gimbal angle.

[0090] FIG. 27 illustrates another side view of gimbal 2700, according to some examples of the present technology. Gimbal joint 2704 can be turned to allow latching assembly 2706 to be parallel and aligned with previously described adapter (not shown).

[0091] FIG 28 illustrates a top and side view of a gimbal 2800 with a gimbal adapter 2802, a first gimbal joint 2804 and a second gimbal joint 2806, according to some examples of the present technology. As shown in FIG 28, a base of latching assembly 2808 is securely fixed to gimbal 2800 which can pivot around two gimbal axes in relation to the UAV. The first gimbal joint 2804 is configured to enable pivotal movement of the base of latching assembly 2808 at a first gimbal axis, while the second gimbal joint 2806 is configured to enable pivotal movement at a second gimbal axis that is perpendicular to the first gimbal axis. The two collaborated gimbal joints 2804 and 2806 thus enable multiple directional pivotal movement of the latching assembly 2808 for a precise engagement with a stem of the adapter. Additionally, more than two gimbal joints can be employed so that latching assembly 2808 can rotate around multiple gimbal axes. According to some examples of the present technology, the base of latching assembly 2708 can include a plurality of retractable pins, which are driven by one or more rotary actuators, e.g., servo motors, to provide torque for gripping the stem of an adapter. Additional rotary gears can be utilized to provide the necessary torque as well.

[0092] FIG 29 illustrates a perspective view of a hexacopter drone 2900 having a plurality of triangular landing frames that provide optimized stability in flight and landing. As shown in the figure, two jointed struts 2904 and 2908 are connected at elbow joint 2906 at an angle. These jointed struts generate a stabilized structure with reduced weight and improved mobility. Further, the number of the triangular landing frames can be decided by various flight parameters, such as weight of the drone or wind condition. Generally, more landing frames help the drone's stability, but lead to a heavier self-weight. The Fuselage, 2902 houses the batteries and the major electrical components (not shown), which protects the internal components and reduces aerodynamic drag. Propeller guards are attached to the end of the arms to provide protection from the propellers.

[0093] Hexacopter drone 2900 has multiple motors arranged in a circular configuration. Each motor is attached to a single arm that protrudes from Fuselage, 2902. Below the main body of the drone, but still contained within Fuselage 2902 is a bay where the electrical and propulsion system batteries are held. Under this bay, a base 2912 is attached to hexacopter drone 2900 via gimbal 2910 for picking up the parcel.

[0094] Additionally, hexacopter drone 2900 can be constructed of various aerial-enabling materials such as composites, metal, or plastic, or combinations of these.

[0095] FIG. 30 illustrates the Parachute Ejection System, 3000 which comprises, for example, a parachute tube 3002, a servo motor 3004 and a C0₂ cartridge 3006. Parachute Ejection System is part of the drone's emergency recovery system that handles emergency landing of the UAV. At a critical condition that triggers an emergency situation, e.g., one or more engine failures, the parachute ejection system 3000 allows a parachute to rapidly deploy so that the UAV and the parcel can land safely without being crushed. This emergency recovery system also prevents unwanted damages to human, animals and property alike.. According to some examples, after determining that an emergency landing is necessary, the system deploys a piercing block to pierce C0₂ cartridge 3006, which consequently expels C02 to deploy the parachute from parachute tube 300₂. One or more servo motors 3204 can initiate the process by releasing the cocked piercing block. In addition, Parachute Ejection System 3000 can incorporate other parachute launching mechanisms that are well-known in the art. Both parachutes are controlled by the independent controller. The second parachute is deployed if the first parachute does not slow the descending drone fast enough.

[0096] According to some examples, the system can include two parachutes. The main parachute is controlled by hardware and deploys when there is loss of main power or backup power, and loss of the operational flight controller. The secondary parachute is deployed by an independent controller with its own power source.

[0097] FIG. 31 illustrates a block diagram of the Drone Fail-Safe System in conjunction with the Emergency Recovery System. The Drone Fail-Safe System provides redundant controls of the drone for safety measures. The system consists of two Onboard Computers, 3102, and two Flight Controllers, 3106. The Emergency Recovery Computer, 3108, is an independent controller with its own battery. All computers monitor and share the status of the onboard avionics in a continuous fashion, and determines if any failure occurs.

[0098] The Switch Network, 3104, can be controlled by all computers as avionics system status is shared among all the computers. If one of the Onboard Computers fails, the alternate Onboard Computer takes over. The Switch Network is then controlled by the currently active Onboard Computer. The Switch Network also controls the Telemetry Switch, 3114, to ensure that telemetry for the system comes from the currently active Flight Controller.

[0099] FIG. 31 also illustrates the system consists of a GPS, 3112, that is also redundant and connects to its own Flight Controller. The Servo Switch, 3110, is controlled by the Switch Network and transfers drone servo and motor communications to the current operational Flight Controller. If both GPS's fail, the system will switch to an inertial navigation system to land safely. The system has a smaller backup battery to allow a controlled landing if the main batteries are not functioning.

[00100] As the Emergency Recovery Computer monitors the status of the system, if it determines that both of the Flight Controllers 3106, or both of the GPS's have failed, it initiates a shutdown of the motors, and deploys a parachute. If the system detects that the parachute is not working correctly, it deploys a secondary parachute. If the system detects a motor failure, it tries to stabilize and then land at the nearest emergency landing area. If this is not possible the parachute is deployed. The parachute has its own independent battery to ensure that this system will continue to operate if the main batteries are not functioning.

[00101] According to some examples of the present technology, to further enhance safety, the system performs a weight analysis before taking off, ensuring that the maximum weight and performance limits of the system are not exceeded. According to some examples, the system can determine a maximum flight range for a determined cargo weight and limit the flight distance accordingly. According some other examples, an onboard computer can determine a total takeoff weight that is sensed by the onboard computer. The onboard computer performs this weight test over a short duration of time and receives throttle and distance information from the flight controller to determine total takeoff weight. If the drone with the parcel is overweight, it will perform a landing, otherwise it will continue to fly the mission

[00102] FIG. 32 illustrates an additional type of adapter 3204 and base assembly 3202 that can be used to allow larger packages. In this example, the retractable pins 3208 are closed when the base 3208 connects to the adapter 3204. The pins 3208 are then retracted, and the opposite edge of the pin is then engaged in a slot inside the adapter 3204. This embodiment allows the lifting of larger and heavier objects more securely. According to some examples of this technology, a QR code 3210 or other identification tag such as Apriltag or Barcode can be used as well to identify the adapter as in the previous examples.

Claims

CLAIMS What is claimed is:

1. A latching assembly for transporting an object using an unmanned aerial vehicle, comprising:

a base operable to attach to the unmanned aerial vehicle, comprising:

an image sensor;

a fastener; and

an adapter operable to attach to the object, comprising:

a stem that is operable to enable the fastener to secure the object during a flight of the unmanned aerial vehicle,

wherein the image sensor is operable to identify the adapter so that the fastener can engage the stem when the fastener is substantially aligned with the adapter.

2. The latching assembly of claim 1, further comprising:

a gimbal connecting the unmanned aerial vehicle and the base, the gimbal operable to provide flexible movement of the latching assembly so that it can be substantially aligned with the adapter.

3. The latching assembly of claim 2, wherein the gimbal further comprises:

at least two gimbal joints operable to enable the latching assembly to rotate around multiple gimbal axes.

4. The latching assembly of claim 2, wherein the gimbal further comprises:

one or more gimbal motors operable to provide tilting force to adjust an angle of the latching assembly.

5. The latching assembly of claim 1, further comprises:

a lidar system installed on the base, the lidar system further comprising at least one laser scanner component,

wherein the lidar system operable to determine a distance between the base and a surface of the obj ect.

6. The latching assembly of claim 1, wherein the image sensor is operable to identify the adapter using at least one pattern identification algorithm.

7. The latching assembly of claim 1, wherein the base further comprises at least one of a rotary actuator or a rotating gear operable to provide at least a portion of torque for driving the fastener.

8. The latching assembly of claim 1, wherein the fastener employs an iris mechanism, and wherein the fastener further comprises:

a plurality of retractable pins operable to fasten the stem of the adapter; and one or more rotary actuators operable to drive the plurality of retractable pins.

9. The latching assembly of claim 8, wherein the retractable pins are arranged on a flat surface so that the retractable pins can provide maximized engaging forces.

10. The latching assembly of claim 1, further comprises:

a fixation mechanism to secure the adapter to the object, wherein the fixation mechanism comprises at least one of a glue, a screw, or a fastener operable to secure the adapter on a surface of the obj ect.

11. A latching assembly for transporting an object using an unmanned aerial vehicle, comprising:

a base operable to attach to the unmanned aerial vehicle, comprising:

a guiding element operable to locate the object;

a gimbal operable to flexibly connect the base to the unmanned aerial vehicle, a fastener operable to attach to the base, comprising:

a plurality of retractable pins, and

at least one rotary actuator operable to control the plurality of retractable pins;

an adapter operable to attach to the object, the adapter further comprising a stem,

wherein the guiding element is operable to locate the adapter so that the fastener can engage the stem when the fastener is substantially aligned with the adapter; and wherein the stem is operable to enable the fastener to secure the object during a flight of the unmanned aerial vehicle.

12. The latching assembly of claim 11, wherein the guiding element comprises at least one of a magnetic element, an image sensor, or a combination thereof.

13. The latching assembly of claim 11, further comprising:

14. The latching assembly of claim 11, wherein the gimbal further comprises: one or more gimbal joints operable to enable the latching assembly to rotate around one or more gimbal axes.

15. The latching assembly of claim 11, wherein the adapter further comprises: a first flange having a fixation mechanism operable to secure the adapter to the object; and

a second flange connected to the first flange by the stem.

16. The latching assembly of claim 11, wherein the adapter further comprises: an identification tag operable to be identified by an image sensor on the base.

17. An unmanned aerial vehicle system for logistic delivery comprising:

an unmanned aerial vehicle operable to transport an object; and a latching assembly coupled to the unmanned aerial vehicle via a gimbal, the latching assembly further comprising:

a base operable to attach to the unmanned aerial vehicle, comprising: an image sensor; and

a fastener;

an adapter operable to attach to the object, comprising:

a stem that is operable to enable the fastener to secure the object during a flight of the unmanned aerial vehicle, and wherein the image sensor is operable to identify the adapter so that the fastener is substantially aligned with the adapter.

18. The unmanned aerial vehicle system of claim 17, wherein the unmanned aerial vehicle further comprises a plurality of triangular landing frames operable to provide optimized stability in flight and landing.

19. The unmanned aerial vehicle system of claim 17, wherein the unmanned aerial vehicle further comprises a Parachute Ejection System operable to automatically release a parachute at an emergency landing, wherein the Parachute Ejection System includes more than one parachute.

20. The unmanned aerial vehicle system of claim 17, wherein the unmanned aerial vehicle is operable to perform a weight analysis before taking off.