Transport system

Abstract

A device includes hauling means for the movement of a payload while suspended from one or more lines. The or each line is suspended or suspendable from one end, the hauling means being provided at or in the region of the other end of the line/s and at which end the payload is situated in use.

Claims

1. A transport device suspended or suspendable from an aerial platform for delivering and/or collecting and/or moving and/or holding a payload using a line having an aerial platform end connected to the aerial platform and a payload end opposite the aerial platform end, the transport device is located at the payload end of the line and comprises a primary hauling mechanism that includes an onboard winch which controls vertical movement of the transport device and payload relative to the aerial platform by letting out or pulling in the line between the transport device and the aerial platform, the line is suspended or suspendable from the aerial platform, the transport device also comprises a multi-directional propulsion system to control horizontal movement of the transport device and payload.

2. The transport device as claimed in claim 1, in which a payload will be fixed directly to the transport device, underslung beneath the transport device, or deployed from the transport device.

3. The transport device as claimed in claim 2, in which the onboard winch is the only control of the vertical movement of the transport device and payload relative to the aerial platform.

4. The transport device as claimed in claim 1, comprising a braking system.

5. The transport device as claimed in claim 1, in which the propulsion system also controls orientation of the device.

6. The transport device as claimed in claim 1, in which the propulsion system comprises one or more rotors, fans, vanes, jet engines or rockets.

7. The transport device as claimed in claim 6, comprising three or four evenly spaced, sideways facing rotors.

8. The transport device as claimed in claim 7, in which the propulsion system comprises tilted rotors which are tilted for control of lateral orientation.

9. The transport device as claimed in claim 1, in which the transport device comprises one or more on-board sensors selected from the group consisting of: acoustic, vibration, chemical, electric current, electric potential, magnetic, radio, air flow, environment, weather, terrain recognition, moisture, humidity, navigation instruments, position, angle, displacement, distance, speed, acceleration, optical, light, imaging, photon, pressure, level, thermal, heat, temperature, proximity, ground proximity, presence, speed sensor, visual, audio, range finder; LIDAR; RADAR; SONAR; electro-optical, or ultra-sonic.

10. The transport device as claimed in claim 1, in which the line is a cable, rope, wire or chain.

11. The transport device as claimed in claim 1, in which the propulsion system is a multi-directional propulsion system comprising propellers and motors arranged in one of the following ways: two or more propellers fixed within the device pointing to provide thrust in fixed directions; one or more propellers with the ability to swivel to provide thrust in different directions; four fixed rotors arranged at approximately 90 degrees to each other, or one or more propellers providing thrust that is directed through vents to direct thrust in different directions.

12. The transport device as claimed in claim 1 and comprising onboard power.

13. The transport device as claimed in claim 1 and comprising local computing means which: processes and analyses on-device sensor signals; and/or host control algorithms; and/or generate demand signals for device actuators to demand lateral/vertical motion as required.

14. A transport system comprising an aerial platform and one or more transport devices as claimed in claim 1.

15. The transport system as claimed in claim 14, in which the one or more transport devices can transport one or multiple payloads.

16. The transport system as claimed in claim 14 for use with a payload, in which the payload is selected from the group consisting of: a package; a container; sensors; supplies; a person; an animal.

17. The transport system as claimed in claim 14 further comprising open or closed passenger pods/seating and/or a harness to transport people and/or animals.

18. The transport system as claimed in claim 14, in which the aerial platform is selected from the group consisting of: unmanned; manned; a UAV; a UAS; a rotor craft; a fixed wing aerial platform; a motor-glider; a paraglider; a hang glider; helicopter; gyrocopter; rotary wing vehicle; paramotor; tri-copter; quadcopter; octocopter; hybrid VTOL.

19. A drone delivery system comprising a device as claimed in claim 1 or a transport system as claimed in claim 14.

Description

(1) Example embodiments are described below in sufficient detail to enable those of ordinary skill in the art to embody and implement the systems and processes herein described. It is important to understand that embodiments can be provided in many alternate forms and should not be construed as limited to the examples set forth herein.

(2) Accordingly, while embodiments can be modified in various ways and take on various alternative forms, specific embodiments thereof are shown in the drawings and described in detail below as examples.

(3) There is no intent to limit to the particular forms disclosed. On the contrary, all modifications, equivalents, and alternatives falling within the scope of the appended claims should be included. Elements of the example embodiments are consistently denoted by the same reference numerals throughout the drawings and detailed description where appropriate.

(4) The terminology used herein to describe embodiments is not intended to limit the scope. The articles a, an, and the are singular in that they have a single referent, however the use of the singular form in the present document should not preclude the presence of more than one referent. In other words, elements referred to in the singular can number one or more, unless the context clearly indicates otherwise. It will be further understood that the terms comprises, comprising, includes, and/or including, when used herein, specify the presence of stated features, items, steps, operations, elements, and/or components, but do not preclude the presence or addition of one or more other features, items, steps, operations, elements, components, and/or groups thereof.

(5) Unless otherwise defined, all terms (including technical and scientific terms) used herein are to be interpreted as is customary in the art. It will be further understood that terms in common usage should also be interpreted as is customary in the relevant art and not in an idealized or overly formal sense unless expressly so defined herein.

(6) In the embodiment of FIG. 1 the device is intended for the movement of packages while suspended from a single line attached to an aerial platform (at the top end of the line) attached to a hauling mechanism on-board the device (at the bottom end of the line). In this embodiment the cable is ?2000 ft of thin (<1 mm) strong (>1 00 kg) line.

(7) In this embodiment a single line is made up of multiple threads either intertwined or running parallel for redundancy/safety.

(8) A winch provided onboard the device provides a hauling mechanism which controls the vertical movement of the device up and down the line.

(9) The device also has on-board sensors, processing, navigation, power, communications and horizontal actuators (fans and/or vanes) allowing fully autonomous mobility within a reachable area defined by the height of the aerial platform and length of line and thrust provided by the horizontal actuators. The device also has an attach and release mechanism allowing it to pick up, hold and drop packages.

(10) FIG. 2 shows an embodiment with a separate sensor pack. The sensor pack is detachable. Different sensors packs can therefore be attached to a device.

(11) FIG. 3 shows a further embodiment with a package attached under the device. A nose section is provided under the package and in this embodiment includes sensors such as a range finder.

(12) An example drop/descent profile is shown in FIG. 4.

(13) In one example an unmanned aerial platform loaded with a 10 kg package from a logistics store flies at an altitude above potential interference from the ground and within the local regulations provided for unmanned aerial platforms (potentially 400 ft above ground level). When approximately above the destination, the device descends from the aerial platform at speed on its own on-board winch, unreeling a strong, thin multi-filament non-stretch braided line (I mm diameter offers >100 kg braking strain). The device navigates towards the destination coordinates using GNSS or inertial sensors (etc.) and manoeuvring using active thrust and/or fins in the vertical airflow. A height sensor (LIDAR, etc.) measures the height above ground level. At the appropriate height, a brake (physical, electromagnetic, aerodynamic etc.) gradually slows the device maintaining a smooth deceleration profile until just above or impacting the ground at a safe speed (e.g. ?1 m/s). The package is released and the on-board winch rewinds device back up the line to the aerial platform.

(14) Some embodiments provide for generally constant G-force deceleration. For example a processor could look at remaining height and speed and then calculate how hard to brake with a generally constant force. Other embodiments may, for example provide for a slowly increasing or slowly decreasing profile.

(15) The system may monitor and control a speed and height profile.

(16) By providing the means for aerial platforms to drop from height, the device offers advantages over parachute drop, allowing a safe, low-signature (visual and acoustic) resupply to individuals at a precise location in a complex environment.

(17) The systems and devices provided by the present invention can provide solutions with unique advantages to drone delivery applications, such as: deliver packages vertically, while an efficient fixed-wing UAS remains in forward flight, circling in the overhead. precise, safe delivery in close proximity to other objects and peopleincluding to specific windows of a building. deliver multiple packages from a single UAV, sequentially using the same device, and simultaneously using multiple devices.

(18) Wind OffsettingFIG. 5

(19) To be feasible, devices may need cope with wind speeds of up to, for example, 15 m/s (?30 kts) at the surface or up to 30 m/s (?60 kts) at height.

(20) The device may counter a constant wind by off-setting the position of the aerial platform upwind from the destination, so the wind takes the device and payload/package back towards the destination.

(21) Some devices are provided with horizontal thrust capability, which can be used to help cope with wind variability whilst manoeuvring to the exact destination and away from ground obstacles.

(22) Wind Variability

(23) Example: 20 cm diameter propellers may produceION of thrust in any direction. Thrust will depend, for example on the propeller and motor combination. A turbofan of the same diameter may offer a lot greater thrust; a rocket even more so.

(24) A rough example is that ION of thrust is sufficient to push a 12 kg (10 kg for package, 2 kg for the device) up to approximately 5 degrees in any direction.

(25) Some embodiments may provide means for detecting telephone cables, power cables, trees or other potential obstructions for the device as it descends or ascends.

(26) Advantages

(27) The device allows the aerial platform the additional option to remain at height (up to 3000 ft above ground level) while picking up, moving and dropping off packages, without precluding the traditional options of landing or winching from a lower height (e.g. 10-100 ft).

(28) Compared to a UAV landing or using a short unguided winch, the present invention offers the following advantages: reduced acoustic and visual impact to observers on the ground reduced vulnerability of the aerial platform from ground-based obstacles (trees, urban wires) or intentions to cause damage increased safety of receiving personnel not being in close proximity to a large UAV increased range and efficiency of the aerial platform increased tempo of delivery

(29) FIGS. 6 and 7 show further embodiments.

(30) System description The embodiments of FIGS. 6 and 7 comprise one or more of the following onboard components: A winch (to control vertical movement), comprising a cable (one end remains attached to the aerial platform, one end is coiled around the onboard winch cable drum). Examples of the cable material may be an ultra-high molecular weight polyethylene (UHMWPE) such as Honeywell Spectra, or Kevlar based. The cable material is selected for high strength, low weight, low stretch, resistant to abrasion and radiation, low absorption of water, A cable drum and (onto which the cable is wound using a cable guide). A motor and gearing system (if required) possibly connected to a drum. A braking systemeither physical (disc brake etc), electromagnetic (generative braking, magnetic eddy current braking etc) or aerodynamic drag. A multi-directional propulsion system (to control horizontal movement), comprising one or both of the following: A system of propellers and motors. These could be arranged in the following ways 2 or more propellers fixed within the device pointing to provide thrust in fixed directions 1 or more propellers with the ability to swivel to provide thrust different directions 1 or more propellers providing thrust that is directed through vents to direct thrust in different directions A system of steerable vanes that use the airflow past the device during a fast descent to provide directional thrustsee FIG. 8, for example. An optional system to control orientation may be provided. A turning force could be generated in the following ways: A propeller providing an off-centre thrust Vanes positioned within airflow: either airflow past the device during a fast descent Airflow generated by a propeller (either a dedicated propeller or the propeller system used for horizontal movement) A generic package connection and release mechanism may be provided. Avionics may be provided. A power source may be provided, such as one or more batteries, or other forms of providing power. A charging mechanism may be provided, comprising one or both of the following to external means (connecting to the aerial platform, or other system) Re-generative braking. One or more sensors may be provided, such as: LIDAR/Laser Range Finderto provide height above ground level SONARto provide distances to nearby surfaces

(31) Opticalto provide imagery of destination and nearby objects. This could include, for example, using 2 or more optical sensors to generate a 3D model of surroundings using photogrammetry methods.

(32) Orientation control may not be provided/required in some embodiments.

(33) In some embodiments a winch drum is relatively large, which can be used to provide inherent gyroscopic stability as it spins. A navigation system may be provided, providing either absolute or relative positioning in order to guide to the destination. This may include one or more of:

(34) Global Navigation Satellite System

(35) Inertial Navigation System

(36) Compass

(37) Reference e.g. terrain referencing (i.e. comparing sensed surroundings with what is expected from a terrain database). Processing capability may be provided, for example relating to navigation, safety or decent profile. A communications system may be provided. The package may be either fixed directly to, or underslung, beneath the device. A container could stay with the device and be used to transport loose articles (requiring an opening/closing mechanism) and re-filled multiple times. This could include the use of a net or bag. The container could be connected/disconnected as a whole, requiring a new container to be attached. Sensors e.g. electro-optical, audio. Some embodiments are adapted to transport people/animals, for example within open or closed passenger pods/seating which may be strapped directly under the device. Such embodiments may have control means provided at the payload end, which could, for example, allow a passenger to exert at least some control over height and/or lateral movement and/or orientation of a pod. This could be for commercial and/or leisure purposes. The device can be an active participant in the control of its height/lateral position/orientation. Potential for passenger to control horizontal or vertical actuators of the device. Aerial platform

(38) Manned or unmanned

(39) Any type with ability to hover or ability to fly slowly (up to ?60 kts)

(40) Paramotor

(41) Fixed wing

(42) Single/multi-rotorcrafte.g. manned helicopter, tri-copter, quadcopter, octocopter etc.

(43) Hybrid VTOL Generic Process

(44) Offsetting for wind

(45) Rapid descent using constant G deceleration profile

(46) Approaching windows of buildings Ability to Descending through obstacles such as tree canopy, urban wires

(47) Devices may be able to receive and deliver to coordinates and/or home in on a beacon (active or passive).

(48) Devices may be able to deliver to stationary positions (e.g. a ground location, building window, person such as a person holding a mobile telecommunications device or locker) and/or moving positions (e.g. a vehicle such as a land or marine craft).

(49) Multiple packagesFIG. 9.

(50) Reloading a device at the UAV with one or more packages per descent.

(51) Single device loaded with multiple packages allowing sequential deliveries to same/nearby ground locations before returning to aerial platform. Packages may be released one at a time.

(52) Multiple devices suspended under single aerial platform allowing multiple packages to be delivered simultaneously and same/nearby locations.

(53) FIG. 9 shows sequential and simultaneous drop/delivery.

(54) FIG. 10 shows an embodiment with a line suspended from a building ceiling such as a warehouse.

(55) FIG. 11 shows a device formed according to a further embodiment. In a further embodiment a battery could be charged as the device descends.

(56) Braking could, for example, be applied by physical, electromagnetic (both magnetic eddy current or through regenerative mechanism using the motor) or aerodynamic or other means.

(57) Power generated as a device descends could be used to help retrieve the device e.g. by charging a batter, capacitor or supercapacitor.

(58) FIG. 12 shows a system for dropping from a moving fixed-wing aerial platform. The aerial platform could, for example be a motor-glider, paraglider or hang glider.

(59) FIG. 13 shows an example of a stowage system provided in some embodiments. Some embodiments have a container with a hinging nose cone or other means of allowing access to a container. The container is not delivered, but the contents thereof can be deployed/removed (which may be whole or could, for example, be in a further container/carrier such as a bag).

(60) In FIG. 14 the device can place packages on a wall-mounted hook next to or under a customer's window. This is a potential solution to home deliveries, especially to flats without any outside space. The hook requires an associated identification tag such as a QR code.

(61) In this embodiment the device is provided with an electro optical (EO) scanner. Other forms of sensor/tag could be used, such as radio frequency identification (RFID).

(62) FIG. 15 shows a passenger transport system formed in accordance with the principles of the present invention. In this embodiment a UAV is used to collect a passenger via a harness. The harness may be provided by the device; alternatively the passenger may have a harness to which the device can connect.

(63) FIG. 16 shows a passenger transport system formed in accordance with the principles of the present invention. In this embodiment a passenger pod is provided to which the device can connect.

(64) FIG. 17 shows an example functional breakdown.

(65) FIG. 18 shows an example system diagram.

(66) Features of other aspects and embodiments may include one or more of the following.

(67) 1. Vertical pick-up/drop-off from an aerial platform in forward flight, avoiding requirement to hover.

(68) 2. Pick up, hold, and drop off.

(69) 4. The device may be independent once separated from the aerial platform. A laser range finder (LRF) and/or height sensor measures height above ground and controls hauling means such as a winch without need to communicate with the aerial platform.

(70) 5. An aerial platform from which the device is suspended could, for example, wait for the device to return, or make assumption drop is complete after an appropriate time period and then continue en-route while the device rewinds up line.

(71) 6. The device may be independent once separated from aerial platform and not reliant on constant communication between the two.

(72) Although illustrative embodiments of the invention have been disclosed in detail herein, with reference to the accompanying drawings, it is understood that the invention is not limited to the precise embodiments shown and that various changes and modifications can be effected therein by one skilled in the art without departing from the scope of the invention as defined by the appended claims and their equivalents.