UAV with upper door including winch and method of operation
A unmanned aerial vehicle (UAV) includes a fuselage body including a cavity that forms a cargo bay for transporting a payload, an upper access opening for receiving the payload into the cargo bay from a first direction, and a lower access opening for lowering the payload from the cargo bay. The UAV also includes an upper door associated with the upper access opening that is movable between a closed position in which the upper access opening is obstructed and an open position providing a path for the payload into the cargo bay. The upper door includes a winch configured to unwind or retract a tether secured to the payload.
1. An unmanned aerial vehicle (UAV) comprising:
a fuselage body including:
a cavity that forms a cargo bay for transporting a payload,
an upper access opening for receiving the payload into the cargo bay from a first direction, and
a lower access opening for lowering the payload from the cargo bay; and
an upper door associated with the upper access opening and movable between a closed position in which the upper access opening is obstructed and an open position providing a path for the payload into the cargo bay, the upper door including a winch configured to unwind or retract a tether secured to the payload.
2. The UAV of claim 1 , wherein the upper door is detachable from the fuselage body.
3. The UAV of claim 1 , wherein the fuselage body forms the sides of a fuselage of the UAV and the upper door forms at least a portion of the top of the fuselage.
4. The UAV of claim 1 , wherein the upper door includes a receptacle for a payload retriever.
5. The UAV of claim 1 wherein the upper door includes a latch for securing the payload in place.
6. The UAV of claim 1 , wherein the upper door is attached to the fuselage body by a hinge.
7. The UAV of claim 6 , wherein, with the upper door in the open position, the path into the cargo bay is angled downward from above an end of the fuselage.
8. An unmanned aerial vehicle (UAV), comprising:
a fuselage body including:
a cavity that forms a cargo bay for transporting a payload,
an upper access opening for receiving the payload into the cargo bay from a first direction, and
a lower access opening for lowering the payload from the cargo bay; and
an upper door associated with the upper access opening, attached to the fuselage body by a hinge, and movable between a closed position in which the upper access opening is obstructed and an open position providing a path for the payload into the cargo bay, the upper door including a winch configured to unwind or retract a tether secured to the payload, wherein retraction of a first portion of the tether causes the upper door to close.
9. The UAV of claim 8 , further comprising a barrier secured to the fuselage body and configured to restrain a distal end of the tether with respect to the fuselage body such that retraction of the first portion of the tether causes the upper door to move toward the fuselage body.
10. The UAV of claim 9 , wherein the fuselage body forms a first end of the fuselage and the upper door forms a second end of the fuselage.
11. A method of loading a payload in an unmanned aerial vehicle (UAV), the method comprising:
receiving the payload in a cargo bay in a fuselage of the UAV through a first access opening in a fuselage body of the UAV;
when the payload is secured to a tether and the UAV is landed, retracting the tether with a winch of the UAV until the payload is suspended by the tether within the cargo bay and above a second access opening in the fuselage body;
after the payload is suspended, restraining movement of a distal end of the tether with respect to the fuselage body; and
further retracting the tether on the winch so as to cause an upper door of the UAV to move toward the fuselage and into a closed position.
12. The method of claim 11 , wherein the payload is loaded into the cargo bay before the payload is secured to the tether.
13. The method of claim 11 , further comprising:
determining a motor current of a motor of the winch when an unwound portion of the tether has a length in a predetermined range; and
confirming, based on the determined motor current, that the payload is secured to tether and suspended.
14. The method of claim 11 , further comprising securing the payload to the UAV by a latch.
15. A method of securing a payload in an unmanned aerial vehicle (UAV), the method comprising:
receiving the payload in a cargo bay in a fuselage of the UAV through an upper access opening in a fuselage body of the UAV;
when the payload is secured to a tether, restraining movement of a distal end of a tether with respect to the fuselage body, wherein the tether is retractable on a winch disposed in an upper door of the UAV; and
retracting the tether on the winch so as to cause the upper door of the UAV to move toward the fuselage into a closed position obstructing the upper access opening.
16. The method of claim 15 , wherein the payload is loaded into the cargo bay before the payload is secured to the tether.
17. The method of claim 15 , wherein the upper door is attached to the fuselage body by a hinge.
18. The method of claim 15 , wherein the movement of the distal end of the tether is restrained by a barrier attached to the fuselage body.
19. The method of claim 15 , wherein the barrier is configured to abut the payload to restrain the distal end of the tether.