Delivery drop platforms, tethers, and stabilization
An unmanned aerial vehicle (UAV) can deliver a package to a delivery destination. Packages delivered by a UAV may be lowered towards the ground while the UAV continues to fly rather than the UAV landing on the ground and releasing the package. Packages may sway during lowering as a result of wind or movement of the UAV. A package sway may be monitored and mitigated by rapidly paying out a tether, when using a winch mechanism, to dissipate the energy of the sway as downward energy. Further, the UAV may navigate in the direction of the sway or reduce the altitude of the UAV to dissipate the energy of the sway. Open-loop and/or closed loop drop techniques may be utilized to lower a package from the UAV, and the package may be released in the air or on the ground.
1. An unmanned aerial vehicle (UAV) comprising:
an airframe;
a power source coupled to the airframe to selectively provide power to propulsion units of the UAV to transport an item to a delivery destination;
a package assembly to secure the item;
an attachment mechanism to attach the package assembly to the UAV;
a tether coupled to the package assembly;
a tension sensor coupled to the tether to generate tension data based at least in part on a tension of the tether;
an image sensor to generate image data capturing at least a portion of the package assembly and a reference point at the delivery destination;
a lowering mechanism coupled to the airframe and coupled to the tether to selectively lower the package assembly via the tether;
a sway controller coupled to the airframe to determine a sway of the package assembly based at least in part on the tension data and relative motion between the package assembly and the reference point represented in the image data, wherein the sway controller is configured to:
determine that an amount of the sway is increasing, wherein the amount of the sway is based at least in part on a distance between a location of the package assembly and an equilibrium position of the package assembly; and
provide, based at least in part on the amount of the sway increasing, the tension data, and the image data, a signal to the lowering mechanism to adjust a rate of lowering the package assembly to reduce the sway of the package assembly; and
a package attachment controller coupled to the airframe to selectively operate the attachment mechanism to release the package assembly at least partially above the delivery destination.
2. The UAV of claim 1 , further comprising:
a wind speed sensor coupled to the UAV to generate third data, wherein the amount of the sway is further based at least in part on the third data.
3. The UAV of claim 1 , wherein the tension sensor generates the tension data based at least in part on the tension in the tether and a rate of lowering the package assembly.
4. The UAV of claim 1 , wherein the tension sensor generates the tension data based at least in part on the tension in the tether and at least one physical characteristic of the package assembly.
5. A method comprising:
lowering a package assembly from an unmanned aerial vehicle (UAV) at a delivery location using a lowering mechanism of the UAV to lower the package assembly coupled to a tether;
determining tension data representing tension in the tether with a sensor of the UAV;
receiving image data representing at least a portion of the package assembly and a reference point at the delivery location;
determining a sway of the package assembly based at least in part on the tension in the tether represented by the tension data and relative motion between the package assembly and the reference point represented in the image data;
determining that an amount of the sway is increasing, wherein the amount of the sway is based at least in part on a distance between a location of the package assembly and an equilibrium position of the package assembly; and
providing, based at least in part on the amount of the sway increasing, the tension data, and the image data, a signal to the lowering mechanism to adjust a rate of lowering the package assembly to reduce the sway of the package assembly.
6. The method of claim 5 , wherein lowering the package assembly from the UAV comprises lowering the package assembly to a surface at the delivery location using the lowering mechanism.
7. The method of claim 5 , wherein determining the sway of the package assembly is further based at least in part on the rate of lowering the package assembly.
8. The method of claim 5 , wherein determining the sway of the package assembly is further based at least in part on physical characteristics of the package assembly.
9. The method of claim 5 , further comprising:
releasing the package assembly in response to the sway being less than a threshold sway.
10. The method of claim 5 , further comprising:
releasing the package assembly from the UAV at or above the delivery location.
11. The method of claim 10 , further comprising:
prior to releasing the package assembly, determining, based at least in part on the tension being below a threshold, that the package assembly is on a ground surface.
12. The method of claim 5 , wherein the signal is a first signal and the rate is a first rate, and further comprising:
determining, after providing the first signal, continued sway of the package assembly based at least in part on the tension in the tether and the image data; and
providing a second signal to the lowering mechanism to adjust a second rate of lowering the package assembly to further reduce the sway of the package assembly.
13. The method of claim 5 , wherein the sensor is a first sensor, and further comprising:
monitoring a wind speed with a second sensor of the UAV, and
wherein determining the sway of the package assembly is further based at least in part on the wind speed.
14. The method of claim 5 , wherein the sensor is a first sensor, further comprising:
monitoring, via a second sensor, a change in an angle of the tether with respect to the UAV, and
wherein determining the sway of the package assembly is further based at least in part on the change in the angle of the tether.
15. An unmanned aerial vehicle (UAV) comprising:
an airframe;
a plurality of propulsion units coupled to the airframe;
an attachment mechanism to attach a package assembly to the UAV;
a lowering mechanism coupled to the airframe to lower the package assembly using a tether;
one or more sensors coupled to the airframe;
one or more processors coupled to the airframe; and
memory coupled to the one or more processors, the memory including one or more computer-executable instructions that are executable by the one or more processors to perform operations comprising:
causing the propulsion units to position the UAV at a predetermined height above a delivery location;
lowering the package assembly from the UAV at the delivery location using the lowering mechanism of the UAV to dispense the tether;
determining tension data representing a tension in the tether coupled to the package assembly using the one or more sensors;
receiving, from the one or more sensors, image data representing at least a portion of the package assembly and a reference point at the delivery location;
determining a sway of the package assembly based at least in part on the tension in the tether represented by the tension data and relative motion between the package assembly and the reference point represented in the image data;
determining that an amount of the sway is increasing, wherein the amount of the sway is based at least in part on a distance between a location of the package assembly and an equilibrium position of the package assembly; and
providing, based at least in part on the amount of the sway increasing, the tension data, and the image data, a signal to the lowering mechanism to adjust a rate of lowering the package assembly to reduce the sway of the package assembly.
16. The UAV of claim 15 , wherein the operations performed by the one or more processors further comprise:
releasing the package assembly from the UAV at or above the delivery location.
17. The UAV of claim 16 , wherein the operations performed by the one or more processors further comprise:
prior to releasing the package assembly, determining, based at least in part on the tension being below a threshold, that the package assembly is on a ground surface.
18. The UAV of claim 15 , wherein the signal is a first signal and the rate is a first rate, and the operations performed by the one or more processors further comprise:
determining, after providing the first signal, continued sway of the package assembly based at least in part on the tension in the tether; and
providing a second signal to the lowering mechanism to adjust a second rate of lowering the package assembly to further reduce the sway of the package assembly.
19. The UAV of claim 15 , wherein the operations performed by the one or more processors further comprise:
monitoring, using at least one of the one or more sensors, a wind speed with the one or more sensors of the UAV, and
wherein determining the sway of the package assembly is further based at least in part on the wind speed.
20. The UAV of claim 15 , wherein the operations performed by the one or more processors further comprise:
monitoring, using at least one of the one or more sensors, a change in angle of the tether with respect to the UAV, and
wherein determining the sway of the package assembly is further based at least in part on the change in the angle of the tether.