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Патент США №	10099786
Автор(ы)	Bar-Zeev и др.
Дата выдачи	16 октября 2018 г.

Unmanned aerial vehicle protection airbag

РЕФЕРАТ

An unmanned aerial vehicle (UAV) airbag may protect protection for a UAV or other objects when making contact with one another. The UAV airbag may at least partially surround the UAV while allowing the UAV to remain at least partially operable. In some embodiments, the UAV airbag may be inflated just prior to making contact with another object. After inflation, the UAV airbag may be at least partially sealed to reduce or inhibit deflation of the UAV airbag, but possibly not to completely prevent airflow from the UAV airbag upon contact with another object. The UAV airbag may exhaust some air upon impact, thereby reducing a deceleration of a UAV contained inside of the UAV airbag.

Авторы:

Avi Bar-Zeev (Oakland, CA), Gur Kimchi (Bellevue, WA)

Патентообладатель:

Имя	Город	Штат	Страна	Тип
Amazon Technologies, Inc.	Seattle	WA	US

Заявитель:

Amazon Technologies, Inc. (Seattle, WA)

ID семейства патентов

61526258

Номер заявки:

15/867,622

Дата регистрации:

10 января 2018 г.

Отсылочные патентные документы США


Application Number	Filing Date	Patent Number	Issue Date
14668729	Mar 25, 2015	9914539

Класс патентной классификации США:	1/1
Класс совместной патентной классификации:	B64D 1/14 (20130101); B64C 39/024 (20130101); B64C 27/006 (20130101); B64C 2201/128 (20130101); B64C 25/56 (20130101); B64D 2201/00 (20130101)
Класс международной патентной классификации (МПК):	B64C 25/56 (20060101); B64C 27/00 (20060101); B64C 39/02 (20060101); B64D 1/12 (20060101); B64D 1/14 (20060101)

Использованные источники

[Referenced By]

Патентные документы США


2363249	November 1944	Hutchinson
2785775	March 1957	Stevinson
2887055	May 1959	Bagdanovich
2958487	November 1960	Fraebel
2974912	March 1961	Namsick
3921944	November 1975	Morrison
4923145	May 1990	Broadhurst
5259574	November 1993	Carrot
5560568	October 1996	Schmittle
5568902	October 1996	Hurley, Jr.
5944282	August 1999	Clausnitzer
6237875	May 2001	Menne et al.
6607166	August 2003	Pichkhadze et al.
7090248	August 2006	Jenkins et al.
8556290	October 2013	Fischer
8888044	November 2014	Mailliu
8979023	March 2015	Wang
2004/0176836	September 2004	Kari et al.
2016/0167793	June 2016	Geneste
2016/0332739	November 2016	Wong
2017/0011333	January 2017	Greiner et al.
2017/0152051	June 2017	Sugaya

Другие источники

Office action for U.S. Appl. No. 14/668,729, dated Feb. 28, 2017, Bar-Zeev, "Airlift Package Protection Airbag", 12 pages. cited by applicant .
Office Action for U.S. Appl. No. 14/668,729, dated Aug. 16, 2017, Bar-Zeev, et al.,"Airlift Package Protection Airbag", 12 pages. cited by applicant .
Office Action for U.S. Appl. No. 14/668,821, dated Feb. 23, 2018, Bar-Zeev, "Airlift Package Rotection Airbag Container", 5 pages. cited by applicant.

Главный эксперт: Green; Richard R
Уполномоченный, доверенный или фирма: Lee & Hayes, PLLC

Текст решения-прецедента

ПЕРЕКРЕСТНЫЕ ССЫЛКИ НА РОДСТВЕННЫЕ ЗАЯВКИ

This Application is a continuation of U.S. application Ser. No. 14/668,729, filed Mar. 25, 2015, the entire disclosure of which is incorporated herein by reference.

ФОРМУЛА ИЗОБРЕТЕНИЯ

What is claimed is:

1. An unmanned aerial vehicle (UAV) assembly comprising: a frame; one or more propulsion units coupled to the frame; a system controller, coupled to the frame, configured to at least adjust power of the one or more propulsion units; a UAV airbag, coupled to the frame, comprising: an elongated tubular inflatable vessel, forming a cavity, that at least partially winds around the frame and is located at least partially below the one or more propulsion units to reduce interference with downdraft caused by the one or more propulsion units, a filling orifice in fluid communication with the elongated tubular inflatable vessel to receive gas to inflate the elongated tubular inflatable vessel, and an exhaust orifice in fluid communication with the elongated tubular inflatable vessel configured to release air from the elongated tubular inflatable vessel upon an impact to the UAV airbag; and an inflator, coupled to the frame, to at least partially inflate the elongated tubular inflatable vessel via the filling orifice.

2. The UAV assembly as recited in claim 1, further comprising a sealer, coupled to the filling orifice, configured to seal the filling orifice after at least partial inflation of the airbag.

3. The UAV assembly as recited in claim 1, further comprising a one directional valve, coupled to the filling orifice, that allows airflow into the elongated tubular inflatable vessel and inhibits deflation of the elongated tubular inflatable vessel.

4. The UAV assembly as recited in claim 1, further comprising at least one sensor, coupled to the system controller, configured to detect objects and generate a signal used by the inflator.

5. The UAV assembly as recited in claim 1, further comprising a wireless network interface, coupled to the system controller, wherein the system controller initiates deployment of the UAV airbag in response to receiving a signal or detection of a triggering event.

6. The UAV assembly as recited in claim 1, wherein the inflator includes a compressed gas reservoir to selectively exhaust gas into the elongated tubular inflatable vessel to at least partially inflate the elongated tubular inflatable vessel.

7. A system comprising: an unmanned aerial vehicle (UAV); an airbag including a continuous inflation chamber that, when at least partially inflated forms a cavity and, at least partially winds around the UAV, the airbag configured to dissipate energy caused by the UAV contacting another object or the ground; and an inflator to at least partially inflate the airbag after receipt of a signal or detection of a triggering event.

8. The system as recited in claim 7, wherein the triggering event includes at least one of a loss of power, a loss of control, a detection of a collision, or a detection of an imminent collision.

9. The system as recited in claim 7, wherein the airbag is formed at least partly by a plurality of compartments that include apertures to provide airflow between adjacent compartments of the plurality of compartments.

10. The system as recited in claim 7, wherein the inflator includes a compressed gas reservoir to selectively exhaust gas into the airbag to at least partially inflate the airbag.

11. The system as recited in claim 7, wherein the airbag includes a valve to selectively open and close a filling orifice of the airbag.

12. The system as recited in claim 7, wherein the UAV includes one or more propulsion units and wherein the airbag extends below the one or more propulsion units to reduce interference with downdraft caused by the one or more propulsion units.

13. The system as recited in claim 7, wherein the continuous inflation chamber that, when at least partially inflated, creates a helical structure.

14. The system as recited in claim 7, further comprising one or more sensors to detect obstacles, wherein the one or more sensors include at least one of an image sensor, a thermal sensor, an infrared sensor, a time of flight sensor, an accelerometer, a pressure sensor, a weather sensor, or an airflow sensor, and wherein the one or more sensors are configured to generate the signal used by the inflator.

15. A method comprising: receiving a signal or detecting a triggering event; and inflating, at least partially, an airbag in response to receiving the signal or detecting the triggering event, wherein the airbag includes a continuous inflation chamber that, when at least partially inflated, forms a cavity and at least partially winds around an unmanned aerial vehicle (UAV), the airbag configured to dissipate energy caused by the UAV contacting another object or the ground.

16. The method as recited in claim 15, wherein the airbag includes a valve to selectively open and close a filling orifice of the airbag, and further comprising manipulating the valve to close the filling orifice.

17. The method as recited in claim 15, wherein receiving a triggering event comprises detecting at least one of a loss of power, a loss of control, a collision, or an imminent collision.

18. The method as recited in claim 15, wherein inflating the airbag includes using a compressed gas reservoir to selectively exhaust gas into the airbag to at least partially inflate the airbag.

19. The method as recited in claim 15, further comprising sealing the airbag to inhibit, at least temporarily, deflation of the airbag.

20. The method as recited in claim 15, further comprising releasing air through at least one orifice of the airbag upon an impact to the airbag.

ОПИСАНИЕ

УРОВЕНЬ ТЕХНИКИ

Currently, most containers that are prepared for delivery use some sort of internal packing material or "dunnage" to prevent damage to or shifting of contents of the containers during transit. Examples include use of Styrofoam, use of inflated packing pillows, and use of crumpled paper, each being inserted inside a container (e.g., a corrugated box) with the contents to be delivered.

Package delivery by an unmanned aerial vehicle (UAV) may present additional challenges and design considerations. When delivering containers with a UAV, size and weight of a containers (and items within the containers) are both considered prior to initiating the delivery. If a container is too big or too heavy, the UAV may be unable to transport it.

Another aspect of UAV operation is energy consumption. Both size and weight of a container impacts energy consumption for various reasons, such as energy required to lift a container during flight, wind resistance considerations with a large, but relatively light container, and other considerations. In addition, UAVs, like most aircraft, expend extra energy during vertical or upward-directed flight (e.g., climbing to altitude, etc.). Thus, UAVs may conserve energy if they minimize changes in altitude.

КРАТКОЕ ОПИСАНИЕ РИСУНКОВ

The detailed description is described with reference to the accompanying figures. In the figures, the left-most digit(s) of a reference number identifies the figure in which the reference number first appears. The same reference numbers in different figures indicate similar or identical items.

FIG. 1 is a pictorial flow diagram of a process to deliver a package, equipped with an airlift package protection airbag, to a destination with an unmanned aerial vehicle (UAV), inflate the airbag, and then drop the package from within a predetermined height range.

FIG. 2A is a side elevation view of an illustrative UAV that transports an inflatable airlift package protection airbag.

FIG. 2B is a top plan view of an illustrative UAV configured with a movable inflation mechanism configured to inflate the airlift package protection airbag during flight.

FIG. 2C is a top plan view of an illustrative UAV configured with a dedicated inflation device configured to inflate airlift package protection airbag during flight.

FIGS. 3A-3C show an illustrative helical airbag having a continuous tubular air cavity that surrounds a package. FIG. 3A is a side elevation view of the illustrative helical airbag. FIG. 3B is a cross-sectional side elevation view of the helical airbag shown in FIG. 3A. FIG. 3C is a top plan view of the illustrative helical airbag.

FIG. 4A is an isometric view of an illustrative compartmental airbag having a plurality of air cavities that surround a package. FIG. 4B is a cross-sectional bottom plan view of one of the compartments of the illustrative compartmental airbag shown in FIG. 4A. FIG. 4C is a cross-sectional bottom plan view of another one of the compartments of the illustrative compartmental APP airbag shown in FIG. 4A.

FIG. 5A is an isometric view of an illustrative continuous airbag having a plurality of support structures that structurally couple an outer container to an inner container. FIG. 5B is a first cross-sectional bottom plan view of the illustrative continuous airbag shown in FIG. 5A. FIG. 5C is a second cross-sectional bottom plan view the illustrative continuous airbag shown in FIG. 5A.

FIGS. 6A-6C show side elevation view of various inflation apparatus used to inflate an airbag.

FIGS. 7A and 7B are side elevation views of an illustrative UAV airbag. FIG. 7A shows the airbag prior to inflation. FIG. 7B shows the airbag after inflation.

FIG. 8 is a block diagram of an illustrative control system of the UAV.

ПОДРОБНОЕ ОПИСАНИЕ

This disclosure is directed to an airlift package protection (APP) airbag used to protect a package (e.g., an item or a number of items) that may be dropped from within a predetermined height range by an unmanned aerial vehicle (UAV). For example, the predetermined height range may be between 5 feet and 25 feet, depending on the size and weight of the package. In some embodiments, the APP airbag may be inflated just prior to dropping of the package from the UAV. After inflation, the APP airbag may be at least partially sealed to reduce or inhibit deflation of the APP airbag, but possibly not to completely prevent airflow from the APP airbag upon contact with the ground. For example, the APP airbag may operate similar to a stunt airbag, which releases air when impacted, thereby absorbing the impact and reducing deceleration of a person. Likewise, the APP airbag may exhaust some air upon impact with the ground, thereby reducing the magnitude of deceleration shock to a package contained inside of the APP airbag.

The APP airbag may be formed of polyethylene (or other materials having similar properties) to create a volume having an inner non-pressurized cavity to contain a package. The APP airbag may be formed as any one of a helical airbag having a continuous tubular air cavity that surrounds a package, a compartmental airbag having a plurality of air cavities that surround a package, a continuous airbag having a plurality of support structures (e.g., rods, biasing devices, etc.) that structurally couple an outer container to an inner container, and/or other similar volume structures as would be understood by those having ordinary skill. The design of the APP may be configured for quick inflation with minimal air pressure, which may enable the airbag to be filled with air from sources such as a downdraft of air produced as a byproduct of the UAV's rotors, which provide thrust and lift to sustain flight of the UAV. In various embodiments, the APP airbag may be inflated by dedicated inflation devices, such as a dedicated fan, or a compressed air cartridge (e.g., a CO.sub.2 cylinder, etc.).

In some embodiments, the UAV may include an APP airbag that may be inflated automatically if the UAV becomes unresponsive to controls and/or loses some or all power to rotor motors that support flight of the UAV. The APP may be preconfigured around at least some features of the UAV to minimize damage of the UAV and/or of another object in the event that the UAV contacts an object, a building, and/or the ground.

The techniques and systems described herein may be implemented in a number of ways. Example implementations are provided below with reference to the following figures.

FIG. 1 is a pictorial flow diagram of a process 100 to deliver a package, equipped with an airlift package protection airbag, to a destination with a UAV, to inflate the airlift package protection airbag, and then to drop the package from within a predetermined height range.

At 102, a UAV 104 may transport cargo 106 by air travel to a destination. The cargo 106 may include a package 108 that is at least partially covered in an airlift package protection (APP) airbag 110. The package 108 may be an item, multiple items, or a container that contains one or more items. For example, the package may be an item wrapped in retail packaging, a bag of groceries, a bouquet of flowers, and/or other items that may or may not be contained in a bag, box, or other container. The APP airbag 110 may be fully inflated, fully deflated, or partially inflated during at least part of the transit by air travel. For example, the package 108 may be inserted, wrapped, or otherwise configured within the APP airbag 110 at a fulfillment center. The UAV 104 may then couple to the cargo 106 (the package 108 with the APP airbag 110), such as by grabbing the cargo 106 with grippers, securing to coupling features on the APP airbag, loading the cargo 106 into a cargo bay of the UAV 104, and/or otherwise coupling to the cargo 106.

At 112, the UAV 104 may inflate the APP airbag 110 during transit to the destination and/or while hovering above or near a drop location, such as a backyard or patio of a residential dwelling that is a destination for the package. The UAV 104 may inflate the APP airbag by causing an inflation mechanism 114 to provide airflow into the APP airbag 110. In some embodiments, the airflow may be a downdraft caused by propulsion units (e.g., rotors, etc.) that support flight by the UAV by creating downward thrust. In various embodiments, the UAV 104 may cause a dedicated inflation device to fill the APP airbag with a gas, such as with air, CO.sub.2, or other gases. In accordance with one or more embodiments, the APP airbag 110 may be at least partially filled with air prior to transport by the UAV, such as by filling the APP airbag 110 with air at the fulfillment center.

At 116, the UAV 104 may at least partially seal the APP airbag 110 to restrict or inhibit airflow from the APP airbag 110. The APP airbag 110 may be sealed using a heat sealer that melts or otherwise fuses together portions of a material used to form the APP airbag, such as polyethylene. The APP airbag 110 may be sealed using an adhesive, such as an adhesive tape or fluid adhesive (e.g., glue), by pressure caused by a rubber band or other elastic constriction band, or by other devices that cause at least partial closure of a filling orifice of the APP airbag 110.

At 118, the UAV 104 may determine whether a drop zone 120 is clear of certain objects, such as people, animals, fragile objects, and so forth. For example, the UAV 104 may use cameras, proximity sensors, and/or other image sensors to survey the drop zone 120. The size of the drop zone may be determined by the height of the UAV 104 from the ground. The determination may also include detecting movement of objects outside of the drop zone, but near the drop zone. For example, the detection may determine whether a living being (e.g., a person or an animal) is moving toward the drop zone at a speed which may cause the living being to enter the drop zone 120 between a time of a release of the cargo 106 and the cargo 106 landing in the drop zone 120. When the drop zone is determined not to be clear (i.e., following the route "no" from the decision operation 118), then the process 100 may proceed to an operation 122. At 122, the UAV 104 may implement a delay to allow a moving object to pass through the drop zone or may move to another location (down, side to side, etc.) to possibly relocate or resize the drop zone to identify a clear drop zone. The operation 122 may then follow another instance of the decision operation 118.

When the drop zone 120 is determined to be clear (following the route "yes" from the decision operation 118), then the process 100 may proceed to an operation 124. At 124, the UAV 104 may drop the cargo 106, which includes the package 108 at least partially surrounded by the APP airbag 110. Upon impact with the ground with the drop zone 120, the APP 110 may at least slightly deflate, thereby reducing a deceleration of the package 108 and preventing damage to the package 108. In some embodiments, the drop zone 120 may not be directly below the UAV 104. In some embodiments, the UAV 104 may be configured to cause the cargo 106 move partially horizontally after detaching the cargo from the UAV 104 in order to cause the cargo 106 to land at the drop zone 120, such as when the drop zone is an elevated balcony of a tall building.

FIG. 2A is a side elevation view of an illustrative UAV 200 that transports an inflatable APP airbag, shown as inflated. The UAV 200 may include a chassis 202 (or airframe) configured to support propulsion units 204. In some embodiments, the propulsion units 204 may include rotors to provide thrust and lift to sustain flight of the UAV 200. The rotors may be driven by one or more electric motors or other drive mechanisms.

The UAV 200 may include a body 206, which may contain control systems (discussed below with reference to FIG. 8), among other possible components. The UAV 200 may also include a cargo bay 208, which may be configured to accommodate placement or suspension of the cargo 106. For example, the cargo 106 may hang in the cargo bay 208, which may enable inflation of the APP airbag 110 with less air pressure than if the cargo 106 were resting on a surface of the UAV 104. The cargo 106 may include the package 108 that is at least partially surrounded by the APP airbag 110. The cargo 106 may be secured by securing mechanisms 210 (e.g., movable arms, tie-downs, electrostatic grippers, and/or other securing mechanisms), which may be used to secure the cargo 106 during at least part of the flight of the UAV 200, and then unsecured to enable release (dropping) of the package 108 at a destination. The securing mechanisms 210 may accommodate a change in the size of the cargo 106 due to inflation of the APP airbag 110. For example, the securing mechanisms 210 may be elastic or partially elastic, may be biased by springs or other biasing devices, and/or may be mechanically movable to accommodate changes in the size of the cargo 106. In some embodiments, the securing mechanisms 210 may project through apertures or gaps in the APP airbag 110 to enable contact with the package 108, and thus couple to the package 108 rather than to the APP airbag 110. In such a configuration, the APP airbag 110 may be inflated without interference from the securing mechanisms 210, which may later release or be released to drop the package 110 above a destination.

The UAV 200 and/or the cargo 106 may include the inflation mechanism 114 to provide airflow into the APP airbag 110. In some embodiments, the airflow may be a downdraft caused by at least one of the propulsion units 204, which is shown in greater detail in FIG. 2B. The inflation mechanism 114 may be supported by movable supports 212, which may relocate at least part of the inflation mechanism 114 to another location (such as under a rotor of the UAV), to inflate the APP airbag 110. In various embodiments, the inflation mechanism 114 may include a dedicated inflation device to fill the APP airbag 110 with a gas, such as with air, CO.sub.2, or other gases, which is shown in greater detail in FIG. 2C. For example, the inflation mechanism 114 may include a dedicated fan or a CO.sub.2 cylinder used to inflate the APP airbag 110.

The UAV 104 and/or the cargo 106 may include a sealing mechanism 214 to at least partially seal or close a filling orifice of the APP airbag 110. The sealing mechanism 214 may use a heat sealer, an adhesive (e.g., glue, tape, etc.), an elastic constriction band (e.g., a rubber band, etc.), and/or other sealing mechanisms to at least partially close the filling orifice of the APP airbag 110. In some embodiments, the sealing mechanism may include a clamp to clamp at least a portion of the APP airbag 110, thereby compressing the portion and causing the gas (e.g., air) from within the portion to be relocated to another portion of the APP airbag 110. By clamping the portion of the airbag, the remaining portion of the APP airbag 110 may experience a higher pressurization and/or may receive more gas. After the clamping, the sealing mechanism may seal the APP airbag 110, excluding the clamped portion, to maintain the air in the remaining portion of the APP airbag 110.

FIG. 2B is a top plan view of an illustrative UAV 220 configured with a movable inflation mechanism 222 configured to inflate the APP airbag during flight. The moveable inflation mechanism 222 may be moved by moveable supports 212 between a stowed position 224 and an inflation position 226. The moveable supports 212 may, for example, rotate and/or extend in length to move the moveable inflation mechanism 222. The inflation position 226 may be proximate to a propulsion unit 204 to enable the moveable inflation mechanism 222 to capture downdraft generated from thrust by the propulsion unit 204. The downdraft airflow may travel through an extended neck 228 of the airbag (which may be coupled to the moveable inflation mechanism) to fill the APP airbag 110 with air. When the moveable inflation mechanism 222 is moved into the stowed position 224, the moveable inflation mechanism 222 may be stowed for later use to reduce drag or reduction in other flight handling characteristics.

FIG. 2C is a top plan view of an illustrative UAV 230 configured with a dedicated inflation device 232 configured to inflate the APP airbag during flight. The dedicated inflation device 232 may include a fan 234 driven by a motor. The fan 232, when operated, may inflate the APP airbag 110 with air. However, the dedicated inflation device 232 may use other devices/techniques to inflate the APP airbag 110, as discussed herein and shown in FIGS. 6A-6C.

FIGS. 3A-3C show an illustrative helical APP airbag 300 having a continuous tubular air cavity that surrounds a package. The helical APP airbag 300 is shown as inflated with a gas, such as air. FIG. 3A is a side elevation view of the helical APP airbag 300. The helical APP airbag 300 includes an inner cavity 302 which is configured to secure or contain a package, such as the package 108 discussed with reference to FIG. 1. The inner cavity 302 may be defined by walls of an elongated tube 304 that form the helical APP airbag, as shown in FIG. 3B. FIG. 3B is a cross-sectional side elevation view of the helical APP airbag 300 along section lines A-A shown in FIG. 3A. The elongated tube 304 may be a pressure vessel configured to receive air from a filling orifice and maintain the air, at least temporarily based on design requirements.

The helical APP airbag 300 may be formed by wrapping the elongated tube 304 around a package, which may result in formation of a helical structure that covers sides of the package, as shown in FIGS. 3A-3C. However, embodiments of the helical APP airbag 300 may be manufactured with the helical shape, and thus not require any actual warping of the elongated tube 304 by a worker in a fulfillment center. Instead, a deflated helical APP airbag 300 may appear more like a conventional bag or container where adjacent portions of the elongated tube 304 are coupled (joined, integrally formed, adhered, etc.) to one another to create a continuous structure having the helical shape. As shown in FIG. 3C, a portion of the elongated tub 304 may be coiled to create at least a portion of a base 306 (e.g., top, bottom, or both) for the helical structure. FIG. 3C is a top plan view of the illustrative helical airbag 300. A top of the helical APP airbag 300 may include a flap 308, or other feature to enable insertion of the package into the inner cavity 302 without puncturing the helical APP airbag. Once the package is stowed inside the helical APP airbag 300, the flap 308 and a surface of the adjacent portion of the airbag may be coupled by hook and loop closures, adhesive, tap, and/or any other coupling feature.

As shown in both FIGS. 3A and 3B, the helical APP airbag 300 may include a filling orifice 310, which may be closed by the sealing feature 312. The sealing feature 312 may be a seal created by use a heat sealer (e.g., resulting in melted polyethylene, etc.), an adhesive (e.g., glue, tape, etc.), an elastic constriction band (e.g., a rubber band, etc.), and/or other sealing features to at least partially close the filling orifice of the helical APP airbag 300.

The helical APP airbag 300, during inflation, may enable air to flow through the elongated tube 304 to fill the elongated tube with air (or any other gas). The diameter of the elongated tube may be based on the size and weight of a package to be placed in the inner cavity 302 and a maximum distance the package is expected to be dropped. For example, the diameter of the elongated tube 304 may be between 2 inches and 6 inches in some embodiments; however, other diameters may also be used. The helical APP airbag 300 may, upon impact, cause air near a side of the impact to move to another portion of the elongated tube, thereby absorbing some of the impact of the ground and reducing deceleration of the package contained in the inner cavity 302. In some embodiments, the helical APP airbag 300 may bulge upon impact and/or release air through the filling orifice 310 and/or other apertures to increase absorption of the energy caused by impacting the ground, similar to the way a stunt airbag dissipates energy when a person lands on it.

FIG. 4A is an isometric view of an illustrative compartmental airbag 400 having a plurality of air cavities that surround a package. The compartmental APP airbag 400 is shown as inflated with a gas, such as air. The compartmental APP airbag 400 includes an inner cavity 402 which is configured to secure or contain a package, such as the package 108 discussed with reference to FIG. 1. The inner cavity 402 may be defined by inner surfaces of each of a plurality of compartments 404 that form the compartmental APP airbag 400. The plurality of compartments, collectively, may form a pressure vessel configured to receive air from a filling orifice and maintain the air, at least temporarily based on design requirements. FIG. 4B is a cross-sectional bottom plan view of one of the compartments 404(1) of the illustrative compartmental APP airbag 400 shown in FIG. 4A. FIG. 4C is a cross-sectional bottom plan view of another one of the compartments 404(N) of the illustrative compartmental APP airbag 400 shown in FIG. 4A. The compartmental APP airbag 400 may be formed by stacking individual ones of the compartments 404. Some of the compartments 404 may include an interior surface 406 that creates the inner cavity 402, as shown in FIG. 4C.

In some embodiments, the compartments 404 may include apertures 408 that enable airflow between the various adjacent compartments 404. The apertures 408 may be offset from one another for adjacent ones of the compartments 404, thereby causing turbulent airflow within the compartmental APP airbag 400 and reducing a speed at which the compartmental APP airbag 400 can be deflated.

In use, the compartmental APP airbag 400 may operate more like a conventional bag or container where adjacent ones of the compartments 400 are coupled (joined, integrally formed, adhered, etc.) to one another to create a continuous structure having the inner cavity 402. A top of the compartmental APP airbag 400 may include a flap 410, or other feature to enable insertion of the package into the inner cavity 402 without puncturing the compartmental APP airbag 400. For example, the compartment 404(1) may separate from an adjacent compartment to enable insertion of the package. Once the package is stowed inside the compartmental APP airbag 400, the flap 410 (e.g., the compartment 400(1)) and a surface of the adjacent compartment may be coupled by hook and loop closures, adhesive, tap, and/or any other coupling feature.

As shown in both FIGS. 4A and 4B, the compartmental APP airbag 400 may include a filling orifice 412, which may be closed by the sealing feature 414. The sealing feature 414 may be a seal created by use a heat sealer (e.g., resulting in melted polyethylene, etc.), an adhesive (e.g., glue, tape, etc.), an elastic constriction band (e.g., a rubber band, etc.), and/or other sealing features to at least partially close the filling orifice of the compartmental APP airbag 400.

The compartmental APP airbag 400, during inflation, may enable air (or any other gas) to flow through the compartments 404 via the apertures 408. The thickness of the compartments 404 may be based on the size and weight of a package to be placed in the inner cavity 402 and a maximum distance the package is expected to be dropped. In some embodiments, multiple compartments may be used to form a top or bottom of the compartmental APP airbag 400. The compartmental APP airbag 400 may, upon impact, cause air near a side of the impact to move to another portion of the compartmental APP airbag 400, thereby absorbing some of the impact of the ground and reducing deceleration of the package contained in the inner cavity 402. In some embodiments, the compartmental APP airbag 400 may bulge upon impact and/or release air through the filling orifice 412 and/or other apertures to increase absorption of the energy caused by impacting the ground, similar to the way a stunt airbag dissipates energy when a person lands on it.

Although the compartments 404 are shown as being stacked horizontally to form layers of the compartmental APP airbag 400, other arrangements using compartments with apertures to provide airflow between adjacent compartments may also be implemented without departing from the scope of the disclosure. For example, the compartments may be arranged as cubes, vertically, diagonally, and in different sizes to create the compartmental APP airbag 400.

FIG. 5A is an isometric view of an illustrative APP continuous airbag 500 having a plurality of support structures that structurally couple an outer container to an inner container. FIG. 5B is a first cross-sectional bottom plan view of the illustrative continuous APP airbag 500 shown in FIG. 5A. FIG. 5C is a second cross-sectional bottom plan view the illustrative continuous APP airbag 500 shown in FIG. 5A. The continuous APP airbag 500 is shown as inflated with a gas, such as air. The continuous APP airbag 500 includes an inner cavity 502 which is configured to secure or contain a package, such as the package 108 discussed with reference to FIG. 1. The inner cavity 502 may be defined inner surfaces 506 of the continuous APP airbag 500, shown in FIG. 5C. The APP continuous airbag 500 may form a pressure vessel configured to receive air from a filling orifice and maintain the air, at least temporarily based on design requirements.

In some embodiments, the APP continuous airbag 500 may include support structures 508 that couple the inner surface 506 to an outer surface 504 of the continuous APP airbag 500 while enabling airflow throughout the continuous APP airbag 500. The support structures 508, may be biasing structures, malleable rods or other types of structures, which may be formed of the same material as the continuous APP airbag 500 (e.g., polyethylene, etc.) or of a different material, and act to maintain a gap 507 having a width between the inner surface 506 and the outer surface 504, as shown in FIG. 5C. The support structures 508 may be projected in different directions to counteract one another and prevent some deformation of the airbag upon impact with the ground. The support structures 508 may form a biasing device, and thus may be formed of a material or configuration that enables flexing, elongation, and/or other controlled or predictable movement between the outer surface 504 and the inner surface 506. The support structure 508 may absorb energy when the package 108 contacts the ground after being dropped from the air, thus dissipating energy and preventing damage to the package 108.

In use, the continuous APP airbag 500 may operate more like a conventional bag or container. A top of the continuous APP airbag 500 may include a flap 510, or other feature to enable insertion of the package into the inner cavity 502 without puncturing the continuous APP airbag 500. For example, a compartment may separate from an adjacent compartment to enable insertion of the package. Once the package is stowed inside the continuous APP airbag 500, the flap 510 may be closed by hook and loop closures, adhesive, tap, and/or any other coupling feature.

As shown in both FIGS. 5A and 5B, the continuous APP airbag 500 may include a filling orifice 512, which may be closed by the sealing feature 514. The sealing feature 514 may be a seal created by use a heat sealer (e.g., resulting in melted polyethylene, etc.), an adhesive (e.g., glue, tape, etc.), an elastic constriction band (e.g., a rubber band, etc.), and/or other sealing features to at least partially close the filling orifice of the continuous APP airbag 500.

The continuous APP airbag 500, during inflation, may enable air (or any other gas) to flow through the continuous APP airbag 500. The width of the gap 507 of the continuous APP airbag 500 may be based on the size and weight of a package to be placed in the inner cavity 502 and a maximum distance the package is expected to be dropped. The continuous APP airbag 500 may, upon impact, cause air near a side of the impact to move to another portion of the continuous APP airbag 500, while causing deflection of some of the support structures 508, thereby absorbing some of the impact of the ground and reducing deceleration of the package contained in the inner cavity 502. In some embodiments, the continuous APP airbag 500 may bulge upon impact and/or release air through the filling orifice 512 and/or other apertures to increase absorption of the energy caused by impacting the ground, similar to the way a stunt airbag dissipates energy when a person lands on it.

In some embodiments, the APP airbag may include coupling features to couple to the securing mechanisms 210 shown in FIG. 2A. The coupling features may include loops or other features that enable the UAV to secure couple to the cargo.

FIG. 6A is a side elevation view of a funnel inflation apparatus 600 used to inflate the APP airbag. The funnel inflation apparatus 600 may be used to inflate an APP airbag 602, such as any one of the APP airbags discussed herein. The funnel inflation apparatus 600 may include a funnel 604 that directs airflow from a larger aperture 606 to a smaller aperture 608 and into the filling orifice 610 of the APP airbag 602. The airflow may be generated by a rotor 612, which may be one of the propulsion units 204 of the UAV 200 shown and discussed with reference to FIG. 2A. Thus, the funnel inflation apparatus 600 may direct downdraft from one or more of the propulsion units into the funnel to inflate the APP airbag 602. In some embodiments, the rotor 612 may be implemented as a dedicated fan for use with the funnel inflation apparatus 600, and thus be separate from the propulsion units of the UAV.

In some embodiments, the funnel inflation apparatus 600 may include a valve 614 to selectively allow or prevent airflow into or out from the APP airbag 602. For example, the valve may be closed until the APP airbag is ready to be filled with air, at which point the valve may be opened to allow downdraft from the propulsion units to fill the APP airbag 602 with air. The valve 614 may be a one-directional valve that allows airflow into the APP airbag 602 and inhibits deflation of the APP airbag 602. A coupler 616 may be used to couple the APP airbag 602 to the funnel inflation apparatus 600. The coupler 616 may be an elastic constriction band (e.g., rubber band, etc.), a clamp, or any other type of coupling device.

In various embodiments, a movement mechanism 618 may be used to position the funnel inflation apparatus 600 under or proximate to one or more propulsion units so that the downdraft from the propulsion unit(s) is directed into the funnel inflation apparatus 600 via the larger aperture 606. The movement mechanism 618 may be coupled to the UAV, such as in a cargo bay of the UAV, and move the funnel inflation apparatus 600 toward or away from downdraft of the propulsion units, for example.

In some embodiments, at least a portion of the funnel inflation apparatus 600 may be coupled to the APP airbag and intended to be dropped with the package at the destination. For example, the funnel 604 may be attached to the airbag and dropped with the package at the destination.

FIG. 6B is a side elevation view of an inflation apparatus 620 used to inflate the APP airbag. The inflation apparatus 620 may use compressed gas to fill the APP airbag. For example, the compressed gas may be stored in a cylinder 622, such as a small version of a scuba tank or a CO.sub.2 cylinder, typically used to inflate bicycle tires. A valve 624 may regulate flow of air or gas from the cylinder. The inflation apparatus 620 may include the coupler 616. The APP airbag 602 may include the filler orifice 610, which receive the inflow of air or gas from the inflation apparatus 620.

FIG. 6C is a side elevation view of a clamping inflation apparatus 626 used to increase an amount of air or gas enclosed in the APP airbag. The clamping inflation apparatus 626 may cause an actuator to clamp at least a portion of the APP airbag 602, thereby compressing the portion and causing the gas (e.g., air) from within the portion to be relocated to another portion of the APP airbag 602. By clamping the portion of the airbag, the remaining portion of the APP airbag 602 may experience a higher pressurization and/or may receive more air or gas. After the clamping, a sealing mechanism may seal the APP airbag 602 at a location 628, excluding the clamped portion, to maintain the air in the remaining portion of the APP airbag 602. The coupler 616 may be used to seal the APP airbag 602 prior to the clamping. The clamping inflation apparatus 626 may be used with any of the inflation techniques described herein.

While FIGS. 6A-6C depict an APP airbag similar to the helical APP airbag 300, it should be understood by those having ordinary skill any of the APP airbags discussed herein may be used or adapted to be used with any combination of the inflation apparatuses.

FIGS. 7A and 7B are side elevation views of an illustrative UAV airbag 700. FIG. 7A shows a UAV 702 with the UAV airbag 700 prior to inflation. The UAV airbag 700 may be formed using any of the configurations described above for the APP airbag, including any combination of inflation techniques. The UAV 702 may be preconfigured with the UAV airbag 700 before flight. The UAV airbag 700 may be inflated in various situations, such as after the UAV becomes unresponsive to controls, experiences power failure, and/or at other times. The UAV airbag 700 may be filled by compressed air or compressed gas in some embodiments, which may inflate the UAV airbag automatically in response to a trigging event, such as a power failure or loss of control signals for a threshold amount of time.

FIG. 7B shows the UAV airbag 700 after inflation. In accordance with one or more embodiments, the UAV airbag 700 may be configured to avoid obstructing control features and propulsion units of the UAV so that the UAV 702 may regain flight or control even after the UAV airbag is inflated.

FIG. 8 is a block diagram of an illustrative control system 800 of the UAV. In various examples, the block diagram may be illustrative of one or more aspects of the UAV control system 800 that may be used to implement the various systems, devices, and techniques discussed above. In the illustrated implementation, the UAV control system 800 includes one or more processors 802, coupled to a non-transitory computer readable storage medium 820 via an input/output (I/O) interface 810. The UAV control system 800 may also include a propeller motor controller 804, power supply module 806 and/or a navigation system 808. The UAV control system 800 further includes an inventory engagement mechanism controller 812, a UAV airbag inflation controller 814, a network interface 816, and one or more input/output devices 818.

In various implementations, the UAV control system 800 may be a uniprocessor system including one processor 802, or a multiprocessor system including several processors 802 (e.g., two, four, eight, or another suitable number). The processor(s) 802 may be any suitable processor capable of executing instructions. For example, in various implementations, the processor(s) 802 may be general-purpose or embedded processors implementing any of a variety of instruction set architectures (ISAs), such as the x86, PowerPC, SPARC, or MIPS ISAs, or any other suitable ISA. In multiprocessor systems, each processor(s) 802 may commonly, but not necessarily, implement the same ISA.

The non-transitory computer readable storage medium 820 may be configured to store executable instructions, data, flight paths, and/or data items accessible by the processor(s) 802. In various implementations, the non-transitory computer readable storage medium 820 may be implemented using any suitable memory technology, such as static random access memory (SRAM), synchronous dynamic RAM (SDRAM), nonvolatile/Flash-type memory, or any other type of memory. In the illustrated implementation, program instructions and data implementing desired functions, such as those described above, are shown stored within the non-transitory computer readable storage medium 820 as program instructions 822, data storage 824 and flight path data 826, respectively. In other implementations, program instructions, data and/or flight paths may be received, sent or stored upon different types of computer-accessible media, such as non-transitory media, or on similar media separate from the non-transitory computer readable storage medium 820 or the UAV control system 800. Generally speaking, a non-transitory, computer readable storage medium may include storage media or memory media such as flash memory (e.g., solid state memory), magnetic or optical media (e.g., disk) coupled to the UAV control system 800 via the I/O interface 810. Program instructions and data stored via a non-transitory computer readable medium may be transmitted by transmission media or signals such as electrical, electromagnetic, or digital signals, which may be conveyed via a communication medium such as a network and/or a wireless link, such as may be implemented via the network interface 816.

In one implementation, the I/O interface 810 may be configured to coordinate I/O traffic between the processor(s) 802, the non-transitory computer readable storage medium 820, and any peripheral devices, the network interface or other peripheral interfaces, such as input/output devices 818. In some implementations, the I/O interface 810 may perform any necessary protocol, timing or other data transformations to convert data signals from one component (e.g., non-transitory computer readable storage medium 820) into a format suitable for use by another component (e.g., processor(s) 802). In some implementations, the I/O interface 810 may include support for devices attached through various types of peripheral buses, such as a variant of the Peripheral Component Interconnect (PCI) bus standard or the Universal Serial Bus (USB) standard, for example. In some implementations, the function of the I/O interface 810 may be split into two or more separate components, such as a north bridge and a south bridge, for example. Also, in some implementations, some or all of the functionality of the I/O interface 810, such as an interface to the non-transitory computer readable storage medium 820, may be incorporated directly into the processor(s) 802.

The propeller motor(s) controller 804 communicates with the navigation system 808 and adjusts the power of each propeller motor to guide the UAV along a determined flight path. The power supply module 806 may control the charging and any switching functions associated with one or more power modules (e.g., batteries) of the UAV.

The navigation system 808 may include a GPS or other similar system that can be used to navigate the UAV to and/or from a location. The inventory engagement mechanism controller 812 communicates with the actuator(s) or motor(s) (e.g., a servo motor) used to engage and/or disengage inventory. For example, when the UAV is positioned over a level surface at a delivery location, the inventory engagement mechanism controller 812 may provide an instruction to a motor that controls the inventory engagement mechanism to release the inventory.

The UAV airbag inflation controller 814 may operate to cause the UAV airbag 700 to be inflated with air or gas in response to a triggering event. The triggering event may be a loss of control signals, a power failure, and/or other events.

The network interface 816 may be configured to allow data to be exchanged between the UAV control system 800, other devices attached to a network, such as other computer systems, and/or with UAV control systems of other UAVs. For example, the network interface 816 may enable wireless communication between numerous UAVs. In various implementations, the network interface 816 may support communication via wireless general data networks, such as a Wi-Fi network. For example, the network interface 816 may support communication via telecommunications networks such as cellular communication networks, satellite networks, and the like.

Input/output devices 818 may, in some implementations, include one or more displays, image capture devices, thermal sensors, infrared sensors, time of flight sensors, accelerometers, pressure sensors, weather sensors, airflow sensors, etc. Multiple input/output devices 818 may be present and controlled by the UAV control system 800. One or more of these sensors may be utilized to assist in landings as well as avoiding obstacles during flight.

As shown in FIG. 8, the memory may include program instructions 822 which may be configured to implement the example processes and/or sub-processes described above. The data storage 824 may include various data stores for maintaining data items that may be provided for determining flight paths, retrieving inventory, landing, identifying a level surface for disengaging inventory, causing movement of ballast, etc.

In various implementations, the parameter values and other data illustrated herein as being included in one or more data stores may be combined with other information not described or may be partitioned differently into more, fewer, or different data structures. In some implementations, data stores may be physically located in one memory or may be distributed among two or more memories.

Those skilled in the art will appreciate that the UAV control system 800 is merely illustrative and is not intended to limit the scope of the present disclosure. In particular, the computing system and devices may include any combination of hardware or software that can perform the indicated functions, including computers, network devices, internet appliances, PDAs, wireless phones, pagers, etc. The UAV control system 800 may also be connected to other devices that are not illustrated, or instead may operate as a stand-alone system. In addition, the functionality provided by the illustrated components may in some implementations be combined in fewer components or distributed in additional components. Similarly, in some implementations, the functionality of some of the illustrated components may not be provided and/or other additional functionality may be available.

Those skilled in the art will also appreciate that, while various items are illustrated as being stored in memory or storage while being used, these items or portions of them may be transferred between memory and other storage devices for purposes of memory management and data integrity. Alternatively, in other implementations, some or all of the software components may execute in memory on another device and communicate with the illustrated UAV control system 800. Some or all of the system components or data structures may also be stored (e.g., as instructions or structured data) on a non-transitory, computer-accessible medium or a portable article to be read by an appropriate drive, various examples of which are described above. In some implementations, instructions stored on a computer-accessible medium separate from the UAV control system 800 may be transmitted to the UAV control system 800 via transmission media or signals such as electrical, electromagnetic, or digital signals, conveyed via a communication medium such as a wireless link. Various implementations may further include receiving, sending or storing instructions and/or data implemented in accordance with the foregoing description upon a computer-accessible medium. Accordingly, the techniques described herein may be practiced with other UAV control system configurations.

Although the subject matter has been described in language specific to structural features and/or methodological acts, it is to be understood that the subject matter defined in the appended claims is not necessarily limited to the specific features or acts described. Rather, the specific features and acts are disclosed as illustrative forms of implementing the claims.

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