Flying vehicle systems and methods
An unmanned aerial vehicle according to certain embodiments generally includes a chassis, a power supply mounted to the chassis, a control system operable to receive power from the power supply, at least one rotor operable to generate lift under control of the control system, and a winch mounted to the chassis. The winch includes a reel and a motor. The reel has a line wound thereon, the line having a free end. The reel includes a circumferential channel in which a wound portion of the line is wound onto the reel. The circumferential channel includes an inner portion, an outer portion, and a passage connecting the inner portion and the outer portion. The motor is operable to rotate the reel under control of the control system to thereby cause the line to wind onto and off of the reel, thereby causing the free end of the line to raise and lower.
1. An unmanned aerial vehicle, comprising:
a chassis;
a power supply mounted to the chassis;
a control system operable to receive power from the power supply;
at least one rotor operable to generate lift under control of the control system; and
a winch mounted to the chassis, the winch comprising:
a reel having a line wound thereon, the line having a free end; and
a motor operable to rotate the reel under control of the control system to thereby cause the line to wind onto and off of the reel, thereby causing the free end of the line to raise and lower;
wherein the control system is configured to operate the motor to cause the free end of the line to:
lower toward a surface below the unmanned aerial vehicle at a controlled speed as the free end of the line passes through a first portion of a distance between the unmanned aerial vehicle and a surface below the unmanned aerial vehicle; and
accelerate toward the surface as the free end of the line passes through a second portion of the distance;
wherein the first portion of the distance is above the second portion of the distance.
2. The unmanned aerial vehicle of claim 1 , wherein the control system is further configured to operate the motor to cause the free end of the line to decelerate as the free end of the line passes through a third portion of the distance; and
wherein the third portion of the distance is below the second portion of the distance.
3. The unmanned aerial vehicle of claim 1 , wherein the controlled speed is a constant speed.
4. The unmanned aerial vehicle of claim 1 , further comprising a position sensor in communication with the control system;
wherein the line extends through an armature such that the armature moves between a first position and a second position in response to a pulling force being applied to the free end of the line;
wherein movement of the armature between the first position and the second position alters an output of the position sensor; and
wherein the control system is configured to determine a loaded/unloaded condition of the winch based upon the output of the position sensor.
5. The unmanned aerial vehicle of claim 1 , further comprising a sensor operable to detect a loaded/unloaded condition of the line;
wherein the control system is further configured to operate the motor to cause the free end of the line to raise in response to information generated by the sensor indicating that the line is unloaded.
6. The unmanned aerial vehicle of claim 1 , wherein the control system comprises a downward-facing ranging-and-detection device, and is operable to determine the distance between the unmanned aerial vehicle and the surface based upon information generated by the ranging-and-detection device.
7. An unmanned aerial vehicle, comprising:
a chassis;
a power supply mounted to the chassis;
a control system operable to receive power from the power supply;
at least one rotor operable to generate lift under control of the control system;
a motor operable to lower a free end of a line, wherein the free end of the line is operable to engage a parcel to be delivered by the unmanned aerial vehicle; and
a load sensor operable to detect a loaded/unloaded state of the line;
wherein the control system is configured to operate the motor to cause the free end of the line to:
lower toward a delivery surface while information generated by the load sensor indicates that the line is loaded; and
begin to raise away from the delivery surface in response to the information generated by the load sensor indicating that the line is unloaded.
8. The unmanned aerial vehicle of claim 7 , wherein to lower toward the delivery surface comprises:
to lower toward the delivery surface at a controlled speed as the free end of the line passes through a first portion of a distance between the unmanned aerial vehicle and the delivery surface; and
to accelerate toward the delivery surface as the free end of the line passes through a second portion of a distance below the first portion of the distance.
9. The unmanned aerial vehicle of claim 8 , wherein to lower toward the delivery surface further comprises to decelerate as the free end of the line passes through a third portion of the distance below the second portion of the distance.
10. The unmanned aerial vehicle of claim 8 , further comprising a downward-facing ranging-and-detection device;
wherein the control system is configured to determine the distance between the unmanned aerial vehicle and the delivery surface based upon information generated by the ranging-and-detection device.
11. The unmanned aerial vehicle of claim 7 , wherein the load sensor comprises a mechanical switch.
12. The unmanned aerial vehicle of claim 7 , wherein the line passes through a movable armature; and
wherein the load sensor is configured to detect the loaded/unloaded state of the line based upon a position of the movable armature.
13. A method of operating an unmanned aerial vehicle (UAV), the method comprising:
navigating the UAV to a destination comprising a designated surface, wherein the UAV comprises a winch including a line having a delivery load releasably coupled to a free end of the line;
operating the winch to lower the delivery load toward the designated surface, comprising:
limiting a delivery speed of the delivery load through a first zone of a distance between the UAV and the designated surface; and
increasing the delivery speed of the delivery load through a second zone of the distance, wherein the second zone is located below the first zone.
14. The method of claim 13 , wherein operating the winch to lower the delivery load toward the designated surface further comprises reducing the delivery speed of the delivery load through a third zone of the distance; and
wherein the third zone is located below the second zone.
15. The method of claim 13 , further comprising determining the distance between the UAV and the designated surface.
16. The method of claim 15 , wherein determining the distance between the UAV and the designated surface comprises operating a downward-facing ranging and detection device of the UAV.
17. The method of claim 13 , wherein the navigating, the determining, and the operating are performed by a control system of the UAV.
18. The method of claim 13 , further comprising:
sensing release of the delivery load via a load sensor of the winch; and
operating the winch to begin raising the free end of the line in response to sensing release of the delivery load.
19. The method of claim 18 , wherein the load sensor comprises a position sensor associated with a movable armature through which the line extends; and
wherein sensing release of the delivery load comprises sensing a position of the armature.
20. The method of claim 13 , further comprising releasing the delivery load from a carriage of the UAV;
wherein at least a portion of the operating the winch to lower the delivery load toward the designated surface is performed after releasing the delivery load from the carriage.