UAV facility

Abstract

Disclosed are transportable unmanned aerial vehicle (UAV) facilities. The facilities comprise a housing having an ingress port arranged to receive a payload for delivery by a UAV. The UAV facility is arranged to determine whether the payload corresponds to a delivery consignment based upon a comparison of one or more determined physical characteristics of the payload with one or more expected characteristics of the delivery consignment.

Claims

1. A UAV facility, comprising: a housing having an ingress port arranged to receive a payload for delivery by a UAV, wherein the received payload has one or more physical characteristics and is associated with a delivery consignment; a platform arranged to receive the UAV; a drive system configured to lower the platform, thereby to lower the UAV from a position outside the housing to a position inside the housing; a detector system, configured to: analyze the received payload to determine the one or more physical characteristics; a payload verification system, configured to: determine whether the payload corresponds to the delivery consignment based upon a comparison of the one or more determined physical characteristics with one or more expected characteristics of the delivery consignment; and in the event that it is determined that the payload corresponds to the delivery consignment, accept the payload for delivery by the UAV; and a payload positioning mechanism arranged to move the payload between an initial position and a loading position, wherein: the loading position is arranged beneath the platform; and the payload is engageable by the UAV when the payload is at the loading position.

2. The UAV facility of claim 1, wherein the detector system is further configured to obtain an identification code, wherein the identification code identifies the delivery consignment, and wherein the one or more expected characteristics are determined based upon the obtained identification code.

3. The UAV facility of claim 2, wherein the payload verification system is configured to: obtain the one or more expected characteristics of the delivery consignment, based upon the obtained identification code; and compare the one or more determined physical characteristics with the one or more expected characteristics.

4. The UAV facility of claim 3, wherein to obtain the one or more expected characteristics of the delivery consignment, the payload verification system is configured to: receive the one or more expected characteristics from a remote server.

5. The UAV facility of claim 4, wherein to obtain the one or more expected characteristics of the delivery consignment, the payload verification system is further configured to: transmit, to the remote server, a request for the one or more expected characteristics, wherein the request comprises the identification code.

6. The UAV facility of claim 3, wherein the payload verification system is configured to determine, based on the identification code, an item associated with the delivery consignment, and wherein to obtain the one or more expected characteristics of the delivery consignment, the payload verification system is configured to: retrieve, from a database, the one or more expected characteristics using data identifying the item, wherein the database comprises data indicating one or more expected characteristics associated with each of a plurality of items, the plurality of items including the determined item.

7. The UAV facility of claim 2, wherein the payload verification system is configured to: transmit the identification code and the one or more determined physical characteristics to a remote server configured to compare the one or more determined physical characteristics with the one or more expected characteristics; receive, from the remote server, an indication of a result of the comparison; and using the received indication, determine whether the payload corresponds to the delivery consignment.

8. The UAV facility of claim 2, wherein the UAV facility further comprises an order receipt system configured to: transmit the identification code to a remote delivery tracking system, thereby to indicate that the UAV facility has received the payload.

9. The UAV facility of claim 2, wherein the identification code is one of: a meal order identification code identifying a meal delivery consignment; an ecommerce identification code identifying an ecommerce delivery consignment; a medicine identification code identifying a medicine delivery consignment; and a grocery identification code identifying a grocery delivery consignment.

10. The UAV facility of claim 2, wherein the detector system comprises a scanner configured to read a machine-readable marker located on the payload, thereby to obtain the identification code.

11. The UAV facility of claim 10, wherein the scanner is arranged outside of the housing.

12. The UAV facility of claim 2, further comprising a payload packaging station, configured to: receive the payload; and package the payload in a container, the container being dimensioned to be transported by the UAV; wherein the payload packaging station is configured to: determine, based on the identification code, whether the received payload is already packaged in a standard container, wherein the standard container comprises an engagement mechanism configured to engage a coupling mechanism of the UAV; and in the event that it is determined that the payload is not already packaged in the standard container, package the payload in the container.

13. The UAV facility of claim 1, wherein the payload positioning mechanism comprises: a retractable arm, the retractable arm being moveable between an extended position and a retracted position; and a tray to receive the payload, wherein the tray is mounted on the retractable arm; wherein when the retractable arm is arranged in the extended position, the tray is positioned to receive the payload at the initial position, and wherein when the retractable arm is arranged in the retracted position the tray is positioned beneath the platform.

14. The UAV facility of claim 13, wherein when the retractable arm is arranged in the extended position the retractable arm extends out of the housing.

15. The UAV facility of claim 13, wherein: the ingress port is a first ingress port, and the housing comprises a second ingress port; and the at least one guide rail extends between the first ingress port and the second ingress port.

16. The UAV facility of claim 13, wherein: the one or more physical characteristics of the payload comprises a weight of the payload; the one or more expected characteristics of the delivery consignment comprises an expected weight of the delivery consignment; the detector system comprises a weight sensor configured to obtain weight sensor data associated with the payload; the detector system is configured to determine the weight of the payload based on the weight sensor data; and the weight sensor is coupled to the tray such that displacement of the tray generates the weight sensor data.

17. The UAV facility of claim 1, wherein the payload positioning mechanism comprises: at least one guide rail extending between at least the initial position and the loading position; and a tray to receive the payload, wherein the tray is moveably mounted on the at least one guide rail, thereby facilitating movement of the payload from the initial position to the loading position.

18. The UAV facility of claim 1, wherein the payload positioning mechanism comprises a conveyor system configured to move the payload from the initial position to the loading position.

19. The UAV facility of claim 18, wherein: the one or more physical characteristics of the payload comprises a weight of the payload; the one or more expected characteristics of the delivery consignment comprises an expected weight of the delivery consignment; the detector system comprises a weight sensor configured to obtain weight sensor data associated with the payload; the detector system is configured to determine the weight of the payload based on the weight sensor data; the conveyor system comprises a moveable conveyor platform; and the weight sensor is coupled to the conveyor platform such that displacement of the conveyor platform generates the weight sensor data.

20. The UAV facility of claim 1, wherein: the one or more physical characteristics of the payload comprises a weight of the payload; the one or more expected characteristics of the delivery consignment comprises an expected weight of the delivery consignment; the detector system comprises a weight sensor configured to obtain weight sensor data associated with the payload; and the detector system is configured to determine the weight of the payload based on the weight sensor data.

21. The UAV facility of claim 1, wherein the detector system comprises: at least one imaging device, configured capture an image of the payload; wherein at least one of the one or more physical characteristics of the payload are derivable from the captured image.

22. The UAV facility of claim 21, wherein the imaging device comprises: an electromagnetic radiation source configured to irradiate the payload; and an electromagnetic radiation detector, configured to detect an electrometric radiation signature of the payload, thereby to generate the captured image.

23. The UAV facility of claim 21, wherein the one or more physical characteristics of the payload comprises a shape of the payload, and wherein the one or more expected characteristics of the delivery consignment comprises an expected shape of the delivery consignment; and the payload verification system comprises an image recognition system configured to determine the shape of the payload based on the captured image.

24. The UAV facility of claim 21, wherein: the one or more physical characteristics of the payload comprises an exterior shape of the payload; and the detector system comprises: an image recognition system configured to determine the exterior shape of the payload based on the captured image; and a safety system configured to categorize the payload, based on the exterior shape, as being one of: suitable to jettison by the UAV during flight; and not suitable to jettison by the UAV during flight.

25. The UAV facility of claim 1, wherein the one or more physical characteristics of the payload comprises at least one size dimension of the payload, and wherein the one or more expected characteristics of the delivery consignment comprises at least one expected size dimension of the delivery consignment; and the detector system comprises one or more sensors configured to obtain sensor data associated with the payload, and wherein the detector system is configured to determine the least one size dimension of the payload based on the sensor data.

26. The UAV facility of claim 1, wherein the detector system further comprises an electromagnetic interference detector configured to: detect a signal emitted by the payload; and determine, based on the signal, whether the payload would cause electromagnetic interference with electronic components of the UAV.

27. The UAV facility of claim 1, wherein the detector system further comprises a hazardous material detection system configured to determine whether the payload comprises hazardous material.

28. The UAV facility of claim 27, wherein the hazardous material detection system comprises: a fan arranged to cause fluid to move relative to the payload; and a detector arranged to detect whether the fluid comprises particles associated with explosive or combustible devices.

29. The UAV facility of claim 1, further comprising a user terminal arranged outside of the housing, wherein the user terminal is configured to: receive authentication data; and provide access to the ingress port based on the authentication data.

30. The UAV facility of claim 1, further comprising a payload packaging station, configured to: receive the payload; and package the payload in a container, the container being dimensioned to be transported by the UAV.

31. The UAV facility of claim 1, wherein the housing comprises a payload storage facility and the payload positioning mechanism is further arranged to: move the payload from the initial position to the payload storage facility, thereby to store the payload for period of time; and move the payload from the payload storage facility to the loading position after the period of time has passed.

32. The UAV facility of claim 1, wherein: the one or more physical characteristics of the payload comprises a center of mass of the payload; the detector system comprises two or more sensors configured to obtain sensor data associated with the payload; and the detector system is configured to determine the center of mass of the payload based on the sensor data.

33. The UAV facility of claim 32, wherein: the payload verification system is configured to determine whether the center of mass of the payload satisfies a center of mass criterion; and in the event that the center of mass of the payload satisfies the center of mass criterion, the UAV facility is configured to accept the payload for delivery by the UAV.

34. The UAV facility of claim 33, wherein: the center of mass criterion is dependent upon one or more weather characteristics.

35. The UAV facility of claim 34, wherein the payload verification system is configured to: determine the one or more weather characteristics; and determine the center of mass criterion based on the determined one or more weather characteristics.

36. The UAV facility of claim 32, wherein: the payload verification system is configured to determine whether the center of mass of the payload satisfies a center of mass criterion; and in the event that the center of mass of the payload does not satisfy the center of mass criterion, the UAV facility is configured to reject the payload for delivery by the UAV.

37. The UAV facility of claim 36, wherein in the event that the center of mass of the payload does not satisfy the center of mass criterion, the UAV facility is configured to adjust a position of the payload; and after the position of the payload has been adjusted: the detector system is configured to obtain second sensor data associated with the payload; the detector system is configured to determine a second center of mass of the payload based on the second sensor data; and the payload verification system is configured to determine whether the second center of mass of the payload satisfies the center of mass criterion.

38. The UAV facility of claim 36, wherein in the event that the center of mass of the payload does not satisfy the center of mass criterion, a payload positioning mechanism is configured to move the payload to a location such that a user can adjust a position of the payload.

39. The UAV facility of claim 32, further comprising a payload positioning mechanism to move the payload between an initial position and a loading position, wherein: the payload positioning mechanism comprises a tray to receive the payload; the tray is moveable between the initial position and the loading position; the payload is received at the initial position and is engageable by the UAV at the loading position; and the two or more sensors are coupled to the tray such that displacement of the tray generates the sensor data.

40. The UAV facility of claim 32, wherein: the UAV facility comprises an agitator mechanism configured to agitate the payload after the detector system has determined the center of mass of the payload; after the payload has been agitated: the detector system is configured to obtain third sensor data associated with the payload; the detector system is configured to determine a third center of mass of the payload based on the third sensor data; and the payload verification system is configured to determine whether the third center of mass is substantially the same as the previously determined center of mass.

41. The UAV facility of claim 1, wherein: the one or more physical characteristics of the payload comprises an impact resistance of the payload; and the detector system is configured to determine the impact resistance of the payload; and the UAV facility is configured to transmit, to the UAV, data indicative of the impact resistance.

42. A UAV facility, comprising: a housing having an ingress port arranged to receive a payload for delivery by a UAV, wherein the received payload has one or more physical characteristics; a platform arranged to receive the UAV; a drive system configured to lower the platform, thereby to lower the UAV from a position outside the housing to a position inside the housing; a detector system, configured to: obtain an identification code, wherein the identification code identifies a delivery consignment; and analyze the received payload to determine the one or more physical characteristics; a payload verification system, configured to: determine whether the payload corresponds to the delivery consignment based upon a comparison of the one or more determined physical characteristics with one or more expected characteristics of the delivery consignment, wherein the one or more expected characteristics are determined based upon the obtained identification code; and in the event that it is determined that the payload corresponds to the delivery consignment, accept the payload for delivery by the UAV; and a payload positioning mechanism arranged to move the payload between an initial position and a loading position, wherein: the loading position is arranged beneath the platform; and the payload is engageable by the UAV when the payload is at the loading position.

43. A UAV system, comprising: a UAV configured to deliver a payload, wherein the payload has one or more physical characteristics and is associated with a delivery consignment, and wherein the UAV comprises a detector system configured to analyze the payload to determine the one or more physical characteristics; a UAV facility, comprising: a housing having an ingress port arranged to receive the payload for delivery by the UAV; a platform arranged to receive the UAV; a drive system configured to lower the platform, thereby to lower the UAV from a position outside the housing to a position inside the housing; and a payload positioning mechanism arranged to move the payload between an initial position and a loading position, wherein: the loading position is arranged beneath the platform; and the payload is engageable by the UAV when the payload is at the loading position; and a payload verification system, configured to: determine whether the payload corresponds to the delivery consignment based upon a comparison of the one or more determined physical characteristics with one or more expected characteristics of the delivery consignment; and in the event that it is determined that the payload corresponds to the delivery consignment, accept the payload for delivery by the UAV.

44. The UAV system of claim 43, wherein the UAV comprises the payload varication system.

Description

BRIEF DESCRIPTION OF THE DRAWINGS

(1) FIG. 1 shows an exemplary UAV facility;

(2) FIG. 2 shows exemplary tracks and holding trays of the UAV facility to allow the drone to attach to a package;

(3) FIG. 3A shows exemplary battery charging bays and a robotic arm of the UAV facility;

(4) FIG. 3B shows exemplary battery charging bays and a robotic arm holding a battery removed from a drone;

(5) FIG. 4 shows an exemplary flowchart for processing packages for delivery;

(6) FIG. 5 shows another exemplary flowchart for processing packages for delivery;

(7) FIG. 6 shows another exemplary flowchart for processing packages for delivery;

(8) FIG. 7 shows a drone deployed from a UAV facility to deliver a package to a destination;

(9) FIG. 8 shows an exemplary robot transfer system to deliver packages from a store to a UAV facility;

(10) FIG. 9 shows an exemplary drone delivery system comprising a safety barrier.

(11) FIG. 10A is a side view of another UAV facility in accordance with an example;

(12) FIG. 10B is a side view of the UAV facility of FIG. 10B at a later time;

(13) FIG. 11A is a side view of another UAV facility in accordance with an example;

(14) FIG. 11B is a side view of the UAV facility of FIG. 11B at a later time;

(15) FIG. 12 is a side view of another UAV facility in accordance with an example;

(16) FIG. 13 is a side view of another UAV facility in accordance with an example;

(17) FIG. 14A depicts a captured image of a payload in accordance with an example;

(18) FIG. 14B depicts an image of an expected delivery consignment in accordance with an example;

(19) FIG. 15 depicts a plan view of a system to measure the center of mass of a payload in accordance with an example;

(20) FIG. 16 depicts a side view of a system to measure the center of mass of a payload in accordance with an example;

(21) FIG. 17 depicts a perspective view of a system to agitate a payload in accordance with an example;

(22) FIG. 18 depicts the system depicted in FIG. 17 arranged in a different configuration;

(23) FIG. 19A depicts a side view of the arrangement in FIG. 17;

(24) FIG. 19B depicts a side view of the arrangement in FIG. 18; and

(25) FIG. 19C depicts a side view of the system of FIG. 17 after the payload has been agitated.

DETAILED DESCRIPTION OF CERTAIN INVENTIVE EMBODIMENTS

(26) Disclosed are example UAV facilities. A UAV facility is a unit which can house a UAV, store packages, provide a landing surface, or act as a UAV battery charging/replacement unit.

(27) In some embodiments, one or more UAVs are stored in or on a UAV facility, such as on top of a housing. The UAV facility may be, for example, a mobile trailer. One benefit of storing the UAVs at these facilities is that it reduces the time necessary to task a UAV to process an order and receive a payload/package for delivery. For instance, when the exemplary system receives a command to deliver a payload, one of the UAVs placed on top of a housing is processed to attach the payload to the UAV. The processing of the UAVs can be automated to reduce processing time. For example, during the processing operation, a UAV's battery may be automatically swapped with a fully charged battery. The UAV is deployed for delivery when the exemplary system has processed the UAV. Thus, the UAV delivers goods instantaneously, for example, within a few minutes or hours from the time a consumer places an order.

(28) FIG. 1 shows a first example of a UAV facility 100. The facility includes a housing with a roof 104, a base, and multiple side surfaces 110 located between the roof and the base to enclose the housing. In some embodiments, the housing may include wheels 112 to transport the housing, a jack 114 to level the housing, and a receptacle to attach to a vehicle. In embodiments, the UAV facility 100 is modular and transportable, e.g., permitting the UAV facility 100 to be located and re-located at various different locations and customer premises. In embodiments, the UAV facility 100 is communicably connected with one or more remote computing systems. For example, the UAV facility 100 may communicate with one or more remote servers and/or remote operators to transmit information about flight data, maintenance, security, etc.

(29) The roof 104 includes a center section 106 that extends lengthwise along a center of the roof. The center section 106 includes multiple openings so that each opening accommodates a drone delivery platform such as an elevator platform 120. The multiple openings of the center section 106 are located in a row in the center section 106. The elevator platforms 120 may be located lengthwise along the center of the roof. The elevator platforms 120 are moved up to the center section 106 and are moved down into the housing. Movement may be controlled by a drive system, for example. When the elevators platforms are in an up position, the top of the elevator platforms are level with the top of the center section. Additionally, when the elevator platforms are in a down position, the elevator platforms may be programmed to stop at some height above the base of the housing. The elevators may stop at some height above the base to allow a drone located on the elevator to lower a cable including an attachment, such as a locking mechanism, coupling mechanism or a dongle, to attach to a payload that is located below the elevator. Thus, each elevator platform may be moved down into the housing to a predetermined height above the base.

(30) Each elevator platform 120 includes a hole or aperture 122 that may be located in the center of the elevator platform. Each hole 122 may be sized to receive a payload through the hole to attach to a drone cable's attachment. Each hole 122 is covered by a panel 124 that can be opened. One benefit of the panel 124 is that can protect the various components inside the housing from dirt, debris, or rain. At least one elevator platform 120 is coupled to one or more vertical bars located inside the housing. The one or more vertical bars allow the at least one elevator platform to move up to each opening in the center section and to move down inside the housing.

(31) The roof 104 also includes multiple landing surfaces 102 or landing ports located adjacent to the center section 106. The landing surfaces 102 allow a drone 118 to land on each landing surface. The dimensions of the landing surfaces 102 allow a drone to land without crashing into another drone. For example, the length and width of each landing surface is greater than a diameter of the drone including its propellers. In an exemplary embodiment, the top of each landing surface or landing port may include different landing patterns 128. Each drone can be programmed to recognize a different landing pattern so that a drone can land on a landing surface corresponding to or assigned to that drone.

(32) The exemplary housing may be designed in various modular configurations so that the UAV facility stores, processes and deploys multiple drones or a single drone. In some embodiments, the UAV facility may include one landing surface located adjacent to the center section and structured to allow a drone to land on the one landing surface. For example, the center section may include one opening corresponding to one elevator platform and one landing surface for one drone. In yet another exemplary embodiment, the landing surfaces may be located on one side of the center section. For example, three landing surfaces with three drones may be located on one side of the center section. In some embodiments, the landing surfaces may be located on three sides of the center section. For example, one landing surface with a drone may be located to the top of the center section, a second landing surface with a drone may be located on one side of the center section, and a third landing surface with another drone may be located to the bottom of the center section.

(33) In some embodiments, the multiple drones 118 located on the roof 104 may be temporarily stored within the housing. One benefit of such an embodiment is that it may allow for secure store of the drones, for example, during bad weather.

(34) FIG. 1 also shows an exemplary drone/UAV positioning system/mechanism 101. A drone positioning mechanism 101 is located on top of the roof 104 to allow a portion of the drone 118 to be properly positioned above a hole 122 of an elevator platform 120 when the drone is moved from its landing surface to an adjacent elevator platform. The drone positioning mechanism 101 may include at least two rail guides 117a located on opposite ends of each landing surface. Each of the two or more rail guides 117a extends towards the center section. At least one bar 119 located at a distal end or the far end of each landing surface. The bar 119 is configured to move laterally along at least two rail guides 117a to push or move each drone 118 from its landing surface 102 to at least one of the elevator platforms 120 located adjacent to the landing surface. In some embodiments, the at least one bar 119 is moved with linear actuators, electrically driven and positioned by software and various sensors.

(35) Each rail guide 117a extends towards the center section of the roof. In some embodiments, each rail guide 117a may include a proximal end 117b that is curved inwards so that the curved sections of the two or more rail guides create a funnel-type shape. When a bar 119 moves the drone from its landing surface to its corresponding elevator platform 120, the curved sections guide the drone 118 to be positioned on top of its corresponding elevator platform 120. One benefit of the inward curved rail guides is that it corrects or guides the positioning of the drone so that a payload housing of the drone is aligned on top of the hole 122 of the elevator platform 120 to receive a payload. In some embodiments, the alignment of the drone may also include moving or rotating the rail guides.

(36) In some embodiments, the drone positioning mechanism 101 may also include hinges 126 located on top of each rail guide to allow the plurality of landing surfaces 102 to be folded on top of the center section 106. The hinges 126 are located in between the center section 106 and each landing surface 102. A benefit of foldable landing surfaces is that it can reduce the width of the housing so that the housing can be easily transported from one place to another, and the housing can be easily stored in a garage.

(37) FIG. 1 also shows multiple ingress ports 116 located on at least one of the side surfaces 110 of the housing. The ingress ports are structured to receive a payload. In some embodiments, each ingress port includes a door that opens to allow a user to place a payload in a holding tray that may be located behind the door and/or that may be operative to movably relocate the payload inside or outside of the housing. One of ordinary skill in the art will recognize that a holding tray refers to a receptacle, fixture, or assembly, or other similar mechanical or electro-mechanical apparatus, for receiving and securing the payload for ingress into the housing. Holding trays may vary in size, material(s), and configuration.

(38) Each ingress port may also include a scanner to scan, for example, a barcode or a quick response (QR) code on a payload. A benefit of scanning the payload is that the UAV facility matches the payload with a delivery event, location, or process. For example, when a drone operator receives a request from drone customer, such as a pizza store, to deliver a box of pizza to an end customer, the pizza store operator may generate and send to the drone operator a printable scannable code that includes delivery related information. The printable scannable code can allow the operator to program the drone for the delivery route. The code, such as a barcode or a QR code, may include delivery related information such as the destination of the delivery and information about the payload, such as the contents and an approximate weight of the payload. Alternatively, the code may simply include an order number that is used by the UAV facility to determine delivery related information. When a pizza store employee selects a drone and delivers the box of pizza with the affixed code to the UAV facility, a scanner scans the code to determine delivery related information for the selected drone. The information about the selected drone and the delivery related information are sent to the drone operator to confirm the address and that the payload was loaded onto the correct drone. Subsequently, a drone operator sends the drone to deliver the payload to the end customer's destination. In some embodiments, the delivery related information generated by the drone operator may be used by the UAV facility to confirm size or weight or other physical characteristics of the payload.

(39) Another benefit of scanning the payload is that it may facilitate third-party tracking of the payload. For example, a time stamp generated by the scanner or generated by the computer communicably connected to the scanner allows the computer to track delivery duration and time of arrival of the payload to its final destination. A third party can use his or her mobile device or computer to track the status of the payload during the delivery process. The delivery status may include information such as awaiting payload from the store, processing payload at the UAV facility, or deployed payload by the UAV facility.

(40) In some embodiments, each ingress port 116 may be located below each landing surface 102 so that a user can select a drone and place a payload in the ingress port corresponding to the drone. The location of an ingress port 116 below a landing surface 102 simplifies the design of the holding trays and the tracks that are used to deliver the payload from the ingress port to a location inside the housing where the payload is attached to a cable of the drone. In some embodiments, a single ingress port located on at least one of the side surfaces of the housing may also be used for delivering payloads to multiple drones. For instance, a plurality of tracks may be designed to allow a payload to be picked up from one ingress port and delivered to a location below any of the selected drones so that a payload can be attached to a cable of a selected drone. In some embodiments, each ingress port may be located across from at least one other ingress port. The location of an ingress port across from another ingress port also simplifies the design of the holding trays and the tracks that are used to deliver the payload from the ingress port to a location inside the housing where the payload is attached to a cable of the drone. In some embodiments, an elevator platform is shared by two drones located across from each other. Thus, if multiple users simultaneously select two drones located across from each other to deliver two separate payloads, the UAV facility is configured to serially process each of the two drones so that one payload is attached to one drone at a time.

(41) In some embodiments, the system may assign a priority level to each delivery. In such an embodiment, if multiple users simultaneously select two drones located across from each other to deliver two separate payloads, the UAV facility processes the payloads based on the priority level. For example, the UAV facility is provided with the priority level information for each payload so that the UAV facility first processes the payload with a higher priority level. Nominal priorities can be sorted by first-come-first served, or by an expected time-to-deliver, or by a function of distance. Priority level may be related to whether an end-customer is a private person or a business entity so that previously established business rules for a person or business entity may be followed for processing of the payload. In some embodiments, priority level may be automatically set to urgent delivery for certain time-sensitive payloads, such as medical supplies or meal deliveries. Priority levels may also relate to a user selected option for a shorter delivery time.

(42) In some embodiments, an external and/or extendable power cord (not shown) is removably or permanently connected to the UAV facility 100. In an embodiment, a power cord originating within the UAV facility 100 may be plugged into an outlet within or outside of a store 808. In an embodiment, the UAV facility 100 derives power from power cord connected to the outlet in order to recharge batteries and power the mechanical- and electrical-systems of the UAV facility 100. In an embodiment, an extendable power cord is provided on the facility 100 which is plugged into a mains power outlet on the awning of a customer store (thus safely moving the power cord away from pedestrians and other objects), or into an outlet on the ground.

(43) In embodiments, the UAV facility 100 is powered by a generator, such as a modular generator, by internal batteries, and/or by solar charging. In an embodiment, the batteries powering the UAV facility 100 may comprise one or more fully- or partially-charged batteries awaiting deployment on a drone. In another embodiment, the batteries powering the UAV facility 100 may comprise batteries not intended for deployment on a drone, and for which such batteries may be charged and/or recharged within the UAV facility 100, at the store 808, and/or at an off-site location.

(44) FIG. 2 shows exemplary tracks, also known as guide rails, 204 and holding trays 206 located inside of the housing to allow a drone 214 to receive a payload 210. One or more tracks 204 located above the base of the housing are used to move the payload 210 to a location below the elevator platform 212. In some embodiments, each track is coupled to one or more movable holding trays 206. The holding trays 206 are moved along the tracks from the ingress port 202 to a location 208 below the elevator platform 212. When the holding tray 206 with the payload 210 is positioned below the hole of the elevator platform 212, the drone lowers its cable 218 with an attachment 220 to attach to the payload 210. The attachment 220 may include a locking mechanism or a dongle. When the payload 210 is attached to the attachment 220, the drone retracts the cable 218 with the attached payload 210. The retraction of the cable raises the payload into the drone's payload housing 216. Once the payload is received by the drone, the holding trays 206 may be moved back to the ingress port 202.

(45) In some embodiments, each track may run between two ingress ports located across from each other. The sharing of tracks between ingress ports simplifies the mechanical and electrical design for moving one or more holding trays from an ingress port to a location below the elevator platform. In some embodiments, two ingress ports located across from each other may share one holding tray.

(46) FIG. 1 shows an exemplary user interface on the housing. A user may use a user interface 113 to initiate the drone selection and processing steps as further described in FIG. 4. In some embodiments, a user interface 113, such as a touchscreen user interface, may be located on the side of a housing 110 or next to one of the ingress ports 116. In an exemplary embodiment, multiple user interfaces may be installed on the side of the housing next to each ingress port so that multiple users can drop off payloads with the UAV facility at the same time.

(47) FIG. 3A shows the exemplary battery charging bays 304 and robotic arm 308. The UAV facility may include multiple battery charging bays 304 mounted inside the housing, or in one of the embodiments, mounted on one or more of the surfaces of the housing or otherwise within the housing. A battery charging bay 304 is configured to charge a plurality of batteries 302 used by the drones. In some embodiments, a battery charging bay 304 may determine characteristics of a battery 302 by assessing or measuring battery status, or alternatively receiving information reported by the battery regarding its health status. For example, the battery charging bay may determine a health status of the battery, including the number of charge cycles for a battery, the rate at which a battery is charged, remaining charge, discharge rates, and other battery usage measures. Regarding battery usage, the battery charging bay may further determine whether a battery depleted its charge at a higher or lower rate than was expected, or in some other way than was expected. For instance, a battery charging bay may determine if a fully charged battery in a drone used, for example, 50% of its charge for a delivery that should have only taken, for example, 20% of the battery's charge. Based on the battery usage information, the battery charging bay may recommend that a poorly performing battery be replaced with a new battery.

(48) FIG. 3A also shows an exemplary robotic arm 308. In some embodiments, a robotic arm 308 is movably coupled to one or more holding rails 306 (e.g., two are shown in FIGS. 3A and 3B inside the housing. The exemplary robotic arm 308 is programmed to remove a battery 312 from a drone 314 and replace it with another battery 302 from the battery charging bay 304. FIG. 3B shows an exemplary robotic arm 308 with a battery 312 removed from a drone 314. The robotic arm 308 is configured to move to a location next to one of the battery charging bays 304 and insert the battery 312, e.g., for recharging, into the battery charging bay. The robotic arm 308 is also configured to remove a battery from a battery charging bay 304 and insert the battery, e.g., a fully-charged battery, into the drone 314. In some embodiments, when the drone is lowered into the housing, the robotic arm 308 uses its grippers 310, such as two prongs, to remove a used battery 312 from a side of the drone 314. The robotic arm 308 moves to a location next to one of the battery charging bays 304 and then inserts the used battery 312 into the battery charging bay 304. Next, in an embodiment, the robotic arm's grippers removes a charged battery from the battery charging bay, moves to a location next to the drone and then inserts the charged battery into the drone. In an exemplary embodiment, the robotic arm 308 is a three-axis robotic arm. A benefit of a three-axis robotic arm is that it can be maneuvered in a relatively confined space, for example, when a drone is located inside the housing. In embodiments, computer software and/or firmware execute instructions for controlling the movements of the robotic arm, including the movements of the robotic arm on the two holding rails 306.

(49) FIG. 4 shows an exemplary flowchart 400 for processing payloads for delivery. At Step 402, a drone located on or in a housing is selected to deliver a payload. In some embodiments, a user interface may be provided on a display connected to the housing for selecting and processing of one or more drones for delivery. For example, a user interface may be configured to display the availability of the drones for delivery so that when one of the drones is out for delivery the user interface may disable functionality and/or access associated with that drone. A user may also interact with a user interface, such as a touch screen display, to select a particular drone for delivery. In Step 404, an ingress port associated with the selected drone opens. In some embodiments, an ingress port door opens in response to the user's selection. In Step 406, the user places a payload in a holding tray. In an embodiment, the holding tray is located adjacent to the ingress port. In Step 408, the ingress port is closed. In some embodiments, the ingress port is closed using the door corresponding to that ingress port. In some embodiments, a user may press a button on the user interface to close the ingress port door. In some embodiments, a single ingress port and corresponding door may be configured to receive payloads for multiple drones. For example, a single track may be coupled to a movable holding tray. In an embodiment, the holding tray can move along the track from the single ingress port to a location below one or more multiple elevator platforms. When a holding tray is below an elevator platform associated with a drone selected for delivery, the payload can be received by a selected drone.

(50) In an exemplary embodiment, after a payload is received by a holding tray, a scanner inside the housing scans labeling on the payload to obtain delivery related information about the payload. In another embodiment, other payload characteristics (e.g., shape, weight, etc.) may be assessed to link the particular payload with the drone that will deliver the payload. A benefit of scanning the payload is that the UAV facility matches the payload with a delivery event, location, or process as described above. Another benefit of scanning the payload is to facilitate third-party tracking of the payload.

(51) In Step 410, the selected drone is moved from its landing port to an elevator platform. In some embodiments, the drone positioning system is used to move the drone to the elevator platform. For example, a bar located on top of the housing moves the drone from its landing port to its corresponding elevator platform. In some embodiments, the elevator platform includes a hole covered by a panel.

(52) In Step 412, the elevator platform with the drone is moved down into the housing for further processing. In Step 414, the panel covering the hole in the elevator platform is opened so that a bottom portion of the drone is accessed, for example, through a hole. As explained in Steps 416 and 418, the opening of the panel also allows an attachment of the drone to access the payload in the holding tray moved to a location below the hole of the elevator platform. In some embodiments, the panel covering the hole is opened when the elevator platform with the drone is moved down into the housing.

(53) In Step 416, the holding tray with the payload is moved from the ingress port to a location below the hole of the elevator platform. In some embodiments, to save processing time, the holding tray with the payload may be moved into position below the elevator when the elevator platform with the drone is lowered into the housing. In Step 418, the payload is affixed to an attachment of a cable lowered from a drone. In some embodiments, when the holding tray is moved to a position below the elevator platform carrying the drone, the drone lowers its cable with an attachment so that the attachment can attach to the payload. When the attachment is affixed to the payload, the drone retracts the cable with the attached payload so that the payload is raised up to and/or tensioned to the drone. In an embodiment, the payload may be locked or otherwise secured in place to the drone.

(54) In some embodiments, the payload may move under the elevator platform before the drone is lowered into the housing or before the robotic arm swaps the drone's battery. In some embodiments, the drone lowers its cable with the attachment to affix to the payload after the robotic arm has replaced the drone's used battery with a freshly charged battery. In an exemplary embodiment, after a drone is lowered into the housing, the drone's battery is replaced with a charged battery from the battery charging bay. A robotic arm moves along one or more holding rails inside the housing, removes a used battery from a drone, and replaces it with a freshly charged battery from the battery charging bay. In some embodiments, the battery charging bay scans each battery to determine battery characteristics, such as the battery status, the type of battery, the manufacturer, the number of charge cycles, charge used per delivery, the rate of charging each battery, etc.

(55) In some embodiments, after the payload is affixed to the attachment of the cable and the cable is retracted by the drone, the UAV facility may send a message to a drone operator and/or computer confirming that the payload has been received by the drone. In some embodiments, the UAV facility may alert the drone operator and/or computer regarding any non-conformity events. In some embodiments, the UAV facility's user interface may be used to alert an operator of any non-conformity event(s), such as an absence of battery before or after the payload is attached to the drone, absence of drone for delivery, postponing the delivery event, cancelling the delivery event, unexpected delivery events such as weather conditions that may not be suitable for flying drones, improper attachment of a payload to the drone, weight in excess of flight parameters, etc. In Step 420, the elevator platform with the drone and the payload is moved up to the roof. In some embodiments, a panel of the elevator platform is closed when the elevator platform moves up to the roof. After the drone is processed, the drone is sent to a destination to deliver the payload.

(56) FIG. 7 shows an exemplary drone 702 deployed from the UAV facility 708 to deliver a payload 704 to a destination. The payload 704 is affixed to an attachment of a cable (not shown) retracted by the drone. In some embodiments, when the payload 704 is fully retracted by the drone, the payload is received into a payload housing 706 of the drone 702. The payload housing 706 includes an opening that allows the drone to retract the payload 704 into the payload housing. In some embodiments, the payload housing 706 surrounds the payload 704 and forms an enclosure around the payload. A benefit of the payload housing is that it protects the payload 704 and the drone 702 from excessive movement (i.e., sway) due to wind gusts.

(57) FIG. 5 shows another exemplary flowchart 500 for processing payloads for drone delivery. In Step 502, a drone is selected to deliver a payload from a housing. In Step 504, the ingress port on the housing is opened. In Step 506, the payload is received in a holding tray. In Step 508, the ingress port is closed. In Step 510, the holding tray with the payload is moved to a location below an elevator platform that includes the drone. In Step 512, the payload is affixed to an attachment of the drone. In Step 514, the drone is sent to a destination to deliver the payload.

(58) FIG. 6 shows yet another exemplary flowchart 600 for processing payloads. In Step 602, a drone is selected for delivery of a payload. In Step 604, the payload is received for delivery. In Step 606, the payload is affixed to an attachment of a drone. In Step 608, the drone is sent to a destination to deliver the payload.

(59) FIG. 8 shows an exemplary robot transfer system 800 that includes a robot 802 that delivers payloads 804 comprising merchandise from a store 808 to the UAV facility 806. In some embodiments, the robot 802 is a ground robot that includes wheels or continuous tracks to allow the robot 802 to move between the store and the UAV facility 806. The robot 802 can be docked in a robot docking station in a store (not shown). The docking station may allow the robot to charge the robot's battery. When an order is received, a store employee fills a payload with the ordered merchandise and provides the payload to the robot. In embodiments, the payload is loaded on a robotic arm 805 of the robot 802. One of ordinary skill in the art will recognize that the payload may be loaded, connected, or affixed to the robot in various ways. When the robot receives the payload, the robot may proceed along a preprogram med route (shown as dotted lines in FIG. 8 from a robot docking station in the store 808 to the UAV facility 806.

(60) In embodiments, the robot may include a sensor or a suite of sensors used for a collision avoidance system. For example, a collision-avoidance system may include sensors, such as proximity sensors or LiDAR, to determine customers or objects that are near the robot. Based on the proximity information received by the robot, the robot may deviate from the pre-programmed route to avoid hitting a customer or an object. In an embodiment, the robot returns from delivering a payload via its pre-programmed route. In another embodiment, the robot navigates its route(s) using sensors to determine that certain objects are located at a safe distance from the robot.

(61) In FIG. 8, the robot 802 is shown as moving along a pre-programmed route (shown as dotted lines in FIG. 8 from the robot docking station in the store 808 to the UAV facility 806. The robot 802 stops under or next to an ingress port 810 of the UAV facility 806 and raises the payload 804 next to the door of the ingress port 810. In embodiments, the robot 802 may navigate up, down, and/or around stairs or other obstacles. In some embodiments, the robot 802 may wirelessly communicate with the UAV facility 806 to open the door associated with an ingress port. In some other embodiments, the robot 802 may communicate with the UAV facility 806 utilizing a wired or some combination of wired and/or wireless interfaces to open the door associated with an ingress port.

(62) In some embodiments, the payload is delivered by the robot 802 to the UAV facility 806 using the robot's robotic arm 805. In some other embodiments, the UAV facility 806 includes a robotic transfer arm that attaches to the payload on the robot 802 and that moves the payload from the robot 802 to the drone loading platform, for example, the holding tray associated with the ingress port. Once the payload is received by the UAV facility, the payload is processed for delivery by a drone as described in FIGS. 1-7. Subsequently, the robot 802 returns to the store 808 and docks in the docking station where the robot's battery is charged.

(63) FIG. 9 shows an exemplary UAV facility 100 that further comprises a safety barrier. In this example, the safety barrier is comprised of rigid elements (e.g., at each corner of the safety barrier) that support a protective netting or other suitable material to reduce wind flow on and over the UAV facility 100, and to provide an additional barrier between drones and pedestrians.

(64) FIG. 10A depicts an alternative UAV facility 1000. The facility may comprise any, none or all of the features described above in relation to FIGS. 1-9.

(65) The facility 1000 comprises a housing 1002 having at least one ingress port 1004 to receive a payload 1006 for delivery by a UAV 1008. In this example, the ingress port 1004 can be opened and closed by moving a door 1010. The housing 1002 defines a volume within which payloads 1006, UAVs 1008, batteries, and/or other objects can be stored. A user can deposit the payload 1006 within the housing 1002 by opening the door 1010 to the ingress port 1004. Once loaded into the housing 1002, the payload 1006 may be moved to a particular location within the housing 1002 before being loaded onto a UAV 1008. From here, the UAV 1008 can deliver the payload 1006 to a recipient/customer.

(66) The housing 1002 defines a landing surface 1012 upon which the UAV 1008 can land. The housing 1002 comprises a number of surfaces including four side surfaces, a base, and an upper surface or roof, where the upper surface forms at least part of the landing surface 1012. In this example, the housing 1002 is mounted or attached to a number of wheels 1014 to allow the facility 1000 to be transported. As mentioned previously, the facility may be towed by a vehicle, or it may be a vehicle itself.

(67) The housing 1002 may delimit an aperture through which at least part of the UAV 1008 may pass. In one example, a moveable platform 1016 forms part of the landing surface 1012, and is therefore positionable within the aperture. In FIG. 10A the UAV 1008 has landed on the surface 1012 and is positioned upon the platform 1016. In some examples, the UAV facility comprises a UAV positioning mechanism (not shown) arranged on top of the housing 1002. A UAV positioning mechanism may move the UAV from an initial landing position to a desired position, such as on top of the moveable platform 1016.

(68) The platform 1016 may be lowered into the housing 1002 by a drive system (not shown). The drive system may control the lowering and raising of the platform 1016. For example, a controller (not shown) may instruct or cause the platform 1016 to operate once the UAV 1008 is positioned on the platform 1016.

(69) FIG. 10A also depicts UAV storage shelves 1020 to store a UAV when the UAV is not being used. Other UAV positioning mechanisms 1022 may move a UAV between the platform 1016 and the storage shelf 1020.

(70) This example UAV facility 1000 comprises one or more components/features capable of determining whether a payload 1006 that has been deposited into the ingress port 1004 corresponds to a delivery order/consignment. For example, a customer may place an order with a business for an item which is part of a delivery consignment. A user, such as an employee of the business, may load a payload 1006 into the housing 1002. An identification code, associated with the payload 1006, is received and is used to obtain one or more expected characteristics associated with the delivery consignment. For example, the delivery consignment may identify one or more expected characteristics of the ordered item, such as the weight. The deposited payload 1006 is also associated with one or more physical characteristics, such as a weight. Components within the UAV facility 1002 can determine or measure these physical characteristics of the payload which can be compared with the expected characteristics. Based on this comparison it can be determined whether the payload 1006 corresponds to delivery consignment. In other words, it can be determined whether the payload 1006 corresponds to the item that was ordered by the user.

(71) To achieve this, the example UAV facility 1000 comprises a detector system. One or more components of the detector system are configured to obtain an identification code and to analyze the received payload 1006 to determine one or more physical characteristics of the payload 1006. The identification code identifies a delivery consignment, and thus identifies one or more ordered items. The example UAV facility 1000 also comprises a payload verification system configured to determine whether the payload 1006 corresponds to the delivery consignment based upon a comparison of the one or more determined physical characteristics with one or more expected characteristics of the delivery consignment. The one or more expected characteristics can be retrieved or determined using the obtained identification code. The payload verification system is further configured to accept the payload 1006 for delivery by a UAV 1008 in the event that it is determined that the payload 1006 corresponds to the delivery consignment.

(72) In the example of FIG. 10A, the detector system comprises a computer 1024 comprising memory 1026 and a controller 1028. The controller 1028 is configured to control operations of the detector system. The detector system of this example also comprises a device, such as a scanner 1030, which can be used to obtain an identification code from the payload 1006. The scanner 1030 is communicatively coupled to the computer 1024. A user may hold the payload 1006 in front of the scanner 1030 to allow the scanner to detect the presence of a machine-readable marker located on the payload 1006 for example. The marker can therefore indicate the identification code. The scanner 1030 transmits the obtained data to the computer 1024, where the data is processed to determine the identification code. In other examples the scanner may be located inside the housing 1002.

(73) The detector system of this example also comprises one or more devices/sensors, such as an imaging device 1032 and/or a weight sensor 1034, which are used to analyze the received payload 1006 to determine one or more physical characteristics of the payload 1006. The devices/sensors are communicatively coupled to the computer 1024. The weight sensor 1034 may obtain weight sensor data associated with the payload 1006 and transmit the weight sensor data to the computer 1024 so that the weight of the payload can be determined. The imaging device 1032 is arranged to capture an image of the payload 1006. For example, the imaging device 1032 may image the payload 1006 as it is being moved within the housing 1002. Data captured by the imaging device may be transmitted to the computer 1024. The data can be indicative of an image of the payload 1006. From this image, or the data, at least one physical characteristic of the payload 1006 can be derived. Accordingly, the detector system comprises one or more components to determine one or more physical characteristics of the payload 1006.

(74) In the example of FIG. 10A the payload verification system comprises a computer 1036 which is communicatively coupled to the computer 1024. The computer 1036 comprises memory 1038 and a controller 1040. The controller 1040 is configured to control operations of the payload verification system. In one example the functions of the payload verification system are performed by the computer 1024.

(75) In the example of FIG. 10A, the computer 1036 also comprises a network interface 1042 which transmits data to, and receives data from, one or more remote servers (not shown). The network interface may be wired or wireless for example, and can facilitate connection to a wide area network, such as the Internet. A remote server may, for example, be owned by, be operated by, or store data associated with the business responsible for delivering the payload 1006. Using the network interface 1042, the payload verification system obtains the one or more expected characteristics of the delivery consignment, based upon the obtained identification code. For example, the computer 1036 may transmit, to the remote server, a request for the one or more expected characteristics. If the request includes the identification code, the expected characteristics can be determined by the remote server which are then transmitted back to the computer 1036. In another example, the request includes an identification of one or more items in the delivery consignment, rather than the identification code. Once the computer 1036 has obtained the one or more expected characteristics, it can compare these with the one or more physical characteristics that were measured by the detector system. The comparison is used to determine whether the payload 1006 corresponds to the delivery consignment.

(76) In some examples the expected characteristics are a single value, and the comparison performed by the controller 1040 may assess whether the determined physical characteristics are within an acceptable range of the value. For example, the controller 1040 may determine that a physical characteristic is substantially the same as an expected characteristic if it differs by a small amount, such as by 10%, or 5%. In other examples expected characteristics are given as a range of values and the comparison performed by the controller 1040 may assess whether the determined physical characteristics fall within this range.

(77) In the above described example, the computer 1036 obtains the expected characteristics from the remote server. In another example however, the memory 1038 stores expected characteristics associated with a plurality of items in a database. Accordingly, the controller 1040 is configured to determine, based on the identification code, an item associated with the delivery consignment. For example, the identification code may identify one or more items, or the computer 1036 can transmit to the remote server a request for a list of one or more items associated with the delivery consignment. Once the controller 1040 has determined the one or more items, it is configured to retrieve, from the database, the one or more expected characteristics using data identifying the item. For example, the ordered items may be a 14-inch pizza and a drink. By accessing the database, the controller 1040 can determine one or more expected characteristics (such as weights) of these items.

(78) In the above described examples, the computer 1036 itself obtains the expected characteristics and compares these to the determined physical characteristics. In another example, however, the comparison is performed by a remote server, and so the computer 1036 need not know the expected characteristics. Accordingly, the computer 1036 may transmit, via the network interface 1042, the identification code and the one or more determined physical characteristics to the remote server. The remote server receives this data and determines the expected characteristics using the identification code. Once determined, the remote server compares the one or more determined physical characteristics with the one or more expected characteristics. If these values match (i.e. it is determined that the payload corresponds to the delivery consignment), the remote server can send a positive indication to the computer 1036. If these do not values match (i.e. it is determined that the payload does not correspond to the delivery consignment), the remote server can send a negative indication to the computer 1036. The computer 1036 receives the indication of the result from the remote server and based on this determines whether the payload corresponds to the delivery consignment.

(79) In the event that the payload verification system determines that the payload 1006 corresponds to the delivery consignment, it can accept the payload 1006 for delivery by a UAV 1008. For example, the payload verification system may send an instruction to other components within the UAV facility 1000 to cause the payload 1006 to be delivered by the UAV 1008. In one example, this instruction causes the drive mechanism to lower the platform 1016 and to move the payload 1006 to a position suitable for collection by the UAV 1008.

(80) FIG. 10B shows the UAV facility of FIG. 10A at a later time, after the payload 1006 has been accepted by delivery. The platform 1016 has been lowered, which moves the UAV 1008 from a position outside of the housing 1002 to a position at least partially within the housing 1002. In addition, the payload 1006 has been moved from the initial position shown in FIG. 10A to a loading position shown in FIG. 10B.

(81) In this example the initial position is within the vicinity of the ingress port 1006, and the loading position is below the platform 1016. The UAV 1008 comprises a retractable cable or tether and a coupling mechanism 1044 attached to a free end of the tether. The UAV 1008 can lower the coupling mechanism towards the payload 1006, to engage the payload. For example, the coupling mechanism may grab the payload 1006, or interlock with a corresponding engagement mechanism attached to the payload 1006. Example coupling mechanisms and corresponding engagement mechanisms are described in PCT application number PCT/US2018/035657, entitled Package Delivery Mechanism which is hereby incorporated by reference. The UAV 1008 can retract the tether and lift the payload 1006 into a payload compartment 1046. The payload 1006 can remain in this compartment 1046 during flight. To allow the tether to engage the payload, the moveable platform 1016 also delimits an aperture 1018. In FIG. 10A, the platform aperture is closed, so is not visible. FIG. 10B shows the aperture 1018 in an open configuration. The drive system may be arranged to move one or more members to open the aperture 1018. In this way, the payload 1006 can pass through the aperture 1018 during loading.

(82) To move the payload 1006 from its initial position of FIG. 10A to the loading position of FIG. 10B, the UAV facility 1000 comprises a payload positioning mechanism. Various payload positioning mechanisms are envisaged. FIGS. 10A and 10B depict a specific payload positioning mechanism comprising a retractable arm 1048 and a tray 1050 to receive the payload, where the tray 1050 is moveably mounted along the retractable arm 1048. The retractable arm 1048 is moveable between a first, extended, position (the position in FIG. 10A and a second, retracted, position (the position in FIG. 10B. When the retractable arm 1048 is arranged in the first position, the tray 1050 is positioned to receive the payload 1006 at the initial position, and when the retractable arm 1048 is arranged in the second position the tray 1050 is positioned beneath the platform 1016. The tray 1050 slides along the length of the arm 1048 to be positioned beneath the platform 1016. In this particular example, the retractable arm 1048 extends out of the housing 1002 when it is arranged in the first position. In other examples the tray 1050 may not pass through the ingress port 1004 when the arm 1048 is arranged in the first position.

(83) The payload positioning mechanism may be operated by the same, or a different drive mechanism used to control the operation of the platform 1016. Other payload positioning mechanisms will be described in FIGS. 11A, 11B, 12 and 13.

(84) It may be useful to check whether the payload is correctly positioned within the tray 1050. For example, a scanner comprising one or more emitters of electromagnetic radiation and one or more detectors may determine whether the payload is correctly positioned within the tray 1050. Alternatively, one or more sensors coupled to the tray 1050 may determine whether the payload is correctly positioned within the tray 1050.

(85) In one example, payloads received by the UAV facility 1000 are required to be packaged in a standard sized container before being delivered. The payload 1006 may already comprise an item within a container. In a specific example, the tray 1050 is shaped to receive a standard sized container. For example, the shape of the tray 1050 may match the footprint shape of the container to ensure that the position of the payload 1006 is more accurately known.

(86) In some cases the standard container also comprises an engagement mechanism to engage the coupling mechanism 1044 of the UAV 1008. In other examples, the payload 1006 may not be packaged within a container. A packaging station (described below) may package the payload into a suitable container.

(87) As is shown in FIGS. 10A and 10B, the weight sensor 1034 of the detector system is located beneath the tray 1050. Accordingly, the weight sensor 1034 can measure the weight of the payload 1006 once the payload 1006 is placed within the tray 1050. In other examples the weight sensor 1034 is located in another position. For example, the weight sensor may be located outside of the housing 1002 such that the user places the payload 1006 onto the weight sensor 1034 before placing the payload 1006 into the tray 1050. If the payload comprises an item in a standard sized container, the weight of the payload 1006 can be deduced by subtracting the weight of a standard sized container.

(88) In the event that the payload verification system determines that the payload 1006 does not correspond to the delivery consignment, it can reject the payload 1006 for delivery. For example, the payload verification system may determine that one or more of the determined physical characteristics of the payload differ from the one or more expected characteristics. The payload verification system may then send an instruction to other components within the UAV facility 1000 to cause the payload 1006 to be stored in a payload storage facility 1052, or to move the payload 1006 back through the ingress port 1004.

(89) FIGS. 10A and 10B depict an example payload storage facility 1052. As mentioned, the payloads may be stored here if they have been rejected for delivery. In other examples, the payloads may be temporarily stored here if they have been accepted for delivery, but delivery is not yet required. For example, a UAV may not be available to deliver the payload, or the payload may not need to be delivered until a later time.

(90) The payload positioning mechanism may be configured to move a payload into the payload storage facility 1052. In FIGS. 10A and 10B the payload positioning mechanism further comprises a grabbing mechanism 1054 to lift the payload out of the tray 1052 and deposit the payload onto a shelf within the storage facility 1052. In other examples, the retractable arm 1048 is itself capable of moving the payload into a storage facility. The payload positioning mechanism is therefore configured to move the payload from the initial position to the payload storage facility to store the payload for period of time. If the payload has been accepted for delivery, it can move the payload from the payload storage facility 1052 to the loading position after the period of time has passed. If the payload has been rejected for delivery, the payload may remain within the storage facility 1052 until a user, such as an employee of the business, collects the payload.

(91) To further improve security within the UAV facility 1000, the facility may comprise a user terminal 1056. In this example the user terminal 1056 comprises the scanner 1030, but they may be separate entities in other examples. A user can interact with the terminal 1056 to gain access to the ingress port 1004. For example, the user may enter authentication data by scanning an ID card, scanning a machine-readable marker on the payload 1006, entering a passcode into a keyboard on the user terminal 1056, or by providing biometric data such as a fingerprint. If the correct authentication data is provided, access to the ingress port 1004 may be granted. For example, the door 1010 may open to allow the user to deposit the payload 1006. Receipt of correct authentication data may also trigger the retractable arm 1048 to move into the extended position.

(92) To ensure that the contents of the payload 1006 do not interfere with electronic components on board the UAV 1006, the detector system may further comprise an electromagnetic interference detector 1058 configured to monitor the payload by detecting whether the payload 1006 emits any electromagnetic signals which would cause electromagnetic interference. For example, the electromagnetic interference detector 1058 may determine whether the frequency, and/or strength of any emitted signals are sufficient to cause interference. If the signals are determined to be at a level sufficient to cause interference, the payload may be rejected for delivery, or may be wrapped in a package capable of attenuating the signal before being accepted for delivery.

(93) In an example (not depicted), the electromagnetic interference detector 1058 comprises two, three or four sensors arranged at various positions around the payload. For example, there may be four sensors, where each sensor is arranged at or close to a corner of the payload. Preferably the sensors are arranged above the upper surface of the payload because this is the surface closest to the main body of the UAV during flight. The sensors can be used to build a map of the electromagnetic signals emitted by the payload. The electromagnetic signature of the payload can be compared to a threshold and the payload may be rejected if the threshold is exceeded.

(94) In certain examples, the UAV facility 1000 further comprises an order receipt system configured to transmit the received identification code to a remote delivery tracking system (not shown), to indicate that the UAV facility 1000 has received the payload 1006. For example, upon receipt of the identification code, the code may be transmitted, via the network interface 1042, to the delivery tracking system. The customer who ordered the payload can access the delivery tracking system to track the location of the payload. The order receipt system may also transmit a timestamp to indicate when the payload 1006 was received at the UAV facility 100. The order receipt system may also transmit an indication of whether the payload 1006 was accepted or rejected for delivery.

(95) FIG. 11A depicts another UAV facility 1100 which is substantially similar to that described in relation to FIGS. 10A and 10B but has a different payload positioning mechanism.

(96) The payload positioning mechanism of this example comprises at least one guide rail 1148, similar to the tracks described in relation to FIG. 2, and a tray 1150 moveably mounted on the guide rail. The guide rail 1148 extends between an initial position (in which a user can place the payload 1006 into the tray 1150, and the loading position beneath the platform 1016. To move the payload 1006, a drive mechanism can cause the tray 1150 to move along the length of the guide rail 1148. FIG. 11A shows the payload 1006 and tray 1150 located in an initial position. FIG. 11B shows the payload 1006 and tray 1150 located in the loading position. Once in the loading position, the UAV 1008 can lower a tether and coupling mechanism 1044 to engage the payload.

(97) FIG. 12 depicts another UAV facility 1200 which is substantially similar to that described in relation to FIGS. 10A, 10B, 11A and 11B, but has a different payload positioning mechanism. This UAV facility 1200 also comprises a first ingress port 1004 located on one side of the facility 1200, and a second ingress port 1204 located on an opposite side of the facility 1200.

(98) The payload positioning mechanism of this example comprises at least one guide rail 1248 and a tray 1250 moveably mounted on the guide rail 1248. The guide rail 1248 extends between the first ingress port 1004 and the second ingress port 1204. The tray 1250 can move along the length of the guide rail so to receive payloads deposited via both ingress ports 1004.

(99) FIG. 13 depicts another UAV facility 1300 which is substantially similar to that described in relation to FIGS. 10A, 10B, 11A, 11B and 12 but has a payload positioning mechanism that is passive in nature. The payload positioning mechanism of this example comprises an inclined surface 1348 extending from the ingress port 1004 and into the housing 1002. A user can place a payload 1006 onto the surface 1348 at an initial position and the payload 1006 moves down the inclined surface into the loading position shown in FIG. 13. A weight sensor (not shown) may be integrated into the inclined surface to measure the weight of the payload 1006.

(100) In another example UAV facility (not shown) the payload positioning mechanism of may comprise a conveyor system e.g. coupled to the base of the UAV facility, to move the payload from an initial position to a loading position. The conveyor system may comprise a conveyor belt/platform and one or more rollers which are driven by one or more motors, to move the conveyor platform. A user can place the payload onto the conveyor platform and the payload can be transported within the housing. A weight sensor may be integrated with the conveyor system to measure the weight of the payload 1006. For example, the weight sensor may be coupled to the conveyor platform such that displacement of the platform generates weight sensor data.

(101) As briefly mentioned above, the UAV facilities may comprise at least one imaging device 1032 configured capture an image of the payload 1006. In one example, the imaging device 1032 is a camera which detects visible light to generate an image the payload 1006. The payload may not, for example, be covered by any packaging materials. In another example, the imaging device detects electromagnetic signals of any wavelength, such as UV, IR or X-ray signals. This can be useful to image a payload 1006 that comprises an item covered by packaging materials, such as the materials of a standard container.

(102) In a particular example, the imaging device comprises an electromagnetic radiation source configured to irradiate the payload and an electromagnetic radiation detector configured to detect an electrometric radiation signature of the payload. For example, X-ray radiation may irradiate the object and an X-ray signature is detected.

(103) In any of these examples, the data recorded by the imaging device is indicative of an image of the payload. Using this image, one or more physical characteristics of the payload can be determined. For example, a shape or size of the item can be established.

(104) FIG. 14A depicts an example image of a payload generated by an X-ray imaging device. The captured image reveals that the payload (such as an object within the container) has a particular shape 1402. The shape 1402 may be described mathematically, for example.

(105) In one example, the payload verification system comprises an image recognition system configured to determine the shape of the payload based on the captured image. The image recognition system may determine that the shape 1402 represents a particular item, such as a child's toy.

(106) To determine whether the payload corresponds to the delivery consignment, the payload verification system can obtain an image of an item associated with the delivery consignment. The payload verification system may use the image recognition system to determine an expected shape of the delivery consignment based on the obtained image of the item. FIG. 14B depicts the expected shape of the delivery consignment based on the obtained image.

(107) The payload verification system can then compare the shape of the payload 1402 with the expected shape of the delivery consignment 1404 to determine whether the payload corresponds to the delivery consignment. If the shapes are mathematically similar (within a certain degree of accuracy) the payload verification system may deduce that the payload corresponds to the delivery consignment.

(108) Additionally, or alternatively, the image recognition system may determine, based on the shape of the payload and the expected shape of the delivery consignment, whether the shapes represent the same item. For example, a database of known shapes may include a model having a similar shape to the shape of the payload 1402 and the shape of the delivery consignment 1404. If both shapes correspond to the same model, payload verification system may deduce that the payload corresponds to the delivery consignment.

(109) As mentioned, the data recorded by the imaging device is indicative of an image of the payload. Using this image, one or more physical characteristics of the payload can be determined. For example, an exterior or outer shape of the container/payload may be determined (rather than, or in addition to the shape of the object(s) within the container). An image recognition system may determine the shape of the payload based on the captured image.

(110) It may be useful to determine the exterior shape of the payload for safety purposes. For example, if the payload has sharp corners, it may be particularly dangerous for the UAV to jettison the payload during an emergency. A payload having more rounded corners could pose less of a threat to humans, animals or property should the payload be jettisoned by the UAV during flight.

(111) Thus, in some examples, the outer shape of the payload is determined, and a safety system/module of the UAV facility may categorize the payload based on its shape. For example, the UAV facility may categorize the payload having a shape that is suitable for jettison or not suitable for jettison. The UAV may base its decision whether to jettison the payload on the categorization determined by the safety system. The UAV may choose to ignore the categorization depending upon the type of emergency. For example, the UAV may nevertheless jettison a payload that has been categorized as not suitable to jettison. The UAV facility may therefore transmit data indicative of the shape and/or categorization to the UAV that is to transport the payload.

(112) In other examples, the exterior or outer shape of the payload/container may be determined by means other than an imaging device. For example, one or more electromagnetic emitting devices and one or more corresponding detectors may determine an outer shape of the payload.

(113) In some UAV facilities, the one or more physical characteristics of the payload comprises an impact resistance of the payload. As previously mentioned, it may be useful to know the payload's impact resistance when delivering a payload. For example, if the payload has a high impact resistance, it may be safe for the UAV to drop the payload from a height, rather than placing the payload on the ground. The impact resistance of the payload may represent the impact resistance of the packaging/container, or it may represent the impact resistance of the object(s)/contents of the container. In one example, the impact resistance represents the overall impact resistance of the payload and thus takes into account the container and object(s) within the container. For example, a payload may be deemed to have a low impact resistance if it is carrying a loose glass vase, even though it is contained within a container that has a relatively high impact resistance.

(114) In an example UAV facility, the detector system is configured to determine the impact resistance of the payload. This may be determined from the physical characteristics of the payload or may be determined from the identification code.

(115) In one example, determining the physical characteristics of the payload comprises imaging the payload and using an image recognition system to determine the impact resistance based on a captured image. For example, the image recognition system may identify a known container and can determine the impact resistance from a database. Alternatively, the image recognition system may identify, estimate or derive the materials and/or structure of the payload. The materials and/or structure may be used estimate the impact resistance of the payload. Alternatively, the UAV facility may comprise one or more components to apply a force to the payload to determine its impact resistance.

(116) In one example, the impact resistance may be determined through use of an identification code. For example, the detector system may obtain an identification code, where the identification code either identifies the payload's impact resistance or the payload's impact resistance is obtainable using the identification. In some examples, the payloads impact resistance is determined through use of an identification code and by determining the physical characteristics of the payload.

(117) However it is determined data indicative of the payload's impact resistance may be transmitted to the UAV that is to deliver the payload. The UAV may make decisions based on this data. For example, if the delivery surface is unsuitable for the UAV land on, the UAV may instead drop the payload from a height if the payload has a relatively high impact resistance. If the delivery surface is unsuitable for the UAV land on, and the payload's impact resistance is relatively low, the UAV may abort delivery.

(118) In certain UAV facilities, the one or more physical characteristics of the payload comprises at least one size dimension of the payload, and the one or more expected characteristics of the delivery consignment comprises at least one expected size dimension of the delivery consignment. Accordingly, the detector system may comprise one or more sensors configured to obtain sensor data associated with the payload. The sensor data can be used by the detector system to determine the least one size dimension of the payload. For example, a size dimension 1406 of the payload can be determined from a captured image 1400 of the payload, as shown in FIG. 14A. An expected size dimension of the delivery consignment can be obtained from a database, or from a remote server as previously described. In one example, the expected size dimension can be determined from an image of the expected delivery consignment. The payload verification system can then compare the size dimension 1406 of the payload with the expected size dimension of the delivery consignment to determine whether the payload corresponds to the delivery consignment. If the sizes are equal (or are within a certain range of each other) the payload verification system may deduce that the payload corresponds to the delivery consignment.

(119) To further enhance the security of any of the above UAV facilities, the detector system may comprise a hazardous material detection system configured to determine whether the payload 1006 comprises hazardous materials. FIG. 12 depicts a particular example of a hazardous material detection system, which acts as an explosive device detection system 1260. In this example, the explosive device detection system comprises a fan 1262 arranged to move fluid, such as air, across the payload, and a detector 1264 arranged to detect whether the air comprises particles associated with explosive or combustible devices. In the event that it is determined that the payload comprises an explosive or combustible device, delivery of the payload can be aborted. The payload may be moved into the storage area 1052 or out of the UAV facility, for example.

(120) Some or all of the above described UAV facilities may also comprise a payload packaging station (not shown). The payload packaging station can package the payload within a container, such as a standard sized container so that the payload can be more easily transported by the UAV. As mentioned earlier, a standard container may have certain dimensions to allow the container to be located within the compartment 1042 of the UAV 1008. The payload packaging station may receive the payload and move the payload into a container. In some examples the container comprises an engagement mechanism to allow the container to be engaged by the coupling mechanism 1044 of the UAV 1008.

(121) In one arrangement, the payload packaging station is configured to determine, based on the identification code, whether the received payload is already packaged in a standard container. This can be deduced based on the identification code. For example, the identification code may be used to identify a business or user which has deposited the payload. Certain businesses or users may always deposit payloads that comprise standard containers. If it is determined that the payload is not already packaged in the standard container, the payload packaging station is configured to package the payload in such a container.

(122) In some examples, the UAV facilities 1000, 1100, 1200, 1300 also comprise components to allow the center of mass of the payload 1006 to be determined. As mentioned above, the center of mass may be useful to know because it can affect the handling of the UAV during flight. Accordingly, the detector system of the UAV facility may comprise a sensor arrangement (such as two or more sensors) configured to obtain sensor data associated with the payload. The detector system may then determine the center of mass of the payload based on the sensor data. Depending upon the location of the center of mass, the payload can be accepted or rejected for delivery.

(123) FIG. 15 depicts a top-down view of an example tray 1550 onto which the payload (not shown) may be placed. The tray 1550 may replace the trays 1050, 1150, 1250 shown in FIGS. 10A, 10B, 11A, 11B, and 12, for example. Below the tray 1550 (or integrated within the tray) are four sensors 1534a, 1534b, 1534c, 1534d (collectively referred to as sensors 1534). In this particular example, the sensors 1534 are load cells. When a payload is placed on/in the tray 1550, the sensors 1534 measure the force applied by the payload at the location of the sensor 1534. In the example shown, there are four sensors 1534, however in other examples there may be fewer or more sensors. In this particular example, each sensor 1534a . . . d is positioned at, or towards the corners of the rectangular tray 1550. In other examples, the sensors 1534 may be arranged elsewhere.

(124) The sensors 1534 are communicatively coupled to the detector system 1024 and/or the payload verification system 1036. Sensor data recorded by the sensors 1534 may be transmitted to the detector system and/or the payload verification system for further processing.

(125) Position P.sub.1 indicates the geometric center of the tray 1550 (and/or the geometric center of the footprint of the payload once placed on the tray). Position P.sub.1 is located at coordinate position Xg, Yg, sensor 1534a is located at position X.sub.1, Y.sub.1, sensor 1534b is located at position X.sub.2, Y.sub.2, sensor 1534c is located at position X.sub.3, Y.sub.3, and sensor 1534d is located at position X.sub.4, Y.sub.4.

(126) FIG. 16 depicts a side view of the tray 1550 of FIG. 15 onto which a payload has been placed. The payload of this example comprises a container 1506 and an object 1508 located inside the container 1506. For illustrative purposes, the container 1506 is shown as being transparent, so that the contents of the container 1506 are visible. As shown, the object 1508 has an irregular shape, and is not located centrally within the container 1506. Should the payload be suspended from a UAV by a tether, the container 1506 may tilt to one side.

(127) Once the payload of FIG. 16 has been placed on the tray 1550, different forces will be measured by different sensors 1534. For example, sensors 1534b and 1536c may measure higher forces than sensors 1534a, 1534d because of the way the object 1508 is arranged inside the container 1506. It is therefore possible to calculate the center of mass of the payload using the force sensor data measured by each of the sensors 1534.

(128) The location of the center of mass P.sub.2, located at position X.sub.c, Y.sub.c, may be calculated using the following equations:

(129) $\begin{array}{cc}{X}_c=\frac{X_1{F}_1+X_2{F}_2+X_3{F}_3+X_4{F}_4}{F_1+F_2+F_3+F_4}& \left(1\right)\end{array}$$\begin{array}{cc}{Y}_c=\frac{Y_1{F}_1+Y_2{F}_2+Y_3{F}_3+Y_4{F}_4}{F_1+F_2+F_3+F_4}& \left(2\right)\end{array}$

(130) Where F.sub.1, F.sub.2, F.sub.3, F.sub.4 are the forces measured by the sensors 1534a, 1534b, 1534c, 1534d respectively. The origin may be taken as the location of one of the sensors, or the location P.sub.1, for example.

(131) Once the location of the center of mass has been calculated by the detector system 1024, a decision on whether to accept the payload can be made by the payload verification system 1036. To do this, the payload verification system 1036 determines whether the center of mass of the payload satisfies a center of mass criterion. For example, the payload verification system may determine whether the center of mass is located within a predetermined area or located within a predetermined distance from a particular position (such as position P.sub.1). FIG. 15 shows a predetermined area 1552 bounded by a circular perimeter 1554, where the predetermined distance is given by radius 1556. The area 1552 is centered around the geometric center of the payload/tray 1550 (i.e. location P.sub.1).

(132) In this particular example, the center of mass (i.e. location P.sub.2) is located outside of the predetermined area 1552. Thus, the center of mass is located at a distance 1558 away from location P.sub.1. Accordingly, the payload may not satisfy the center of mass criterion/requirement. The UAV facility may therefore reject the payload for delivery because it is deemed to be outside of the acceptable range.

(133) In other examples, the center of mass may be located within the predetermined area 1552, at a distance from position P.sub.1 that is less than the predetermined distance 1556. In that case the payload may be accepted for delivery because it satisfies the center of mass criterion.

(134) The predetermined distance 1556 and/or the predetermined area 1552 (i.e. the center of mass criterion) may be set by a manufacturer of the UAV facility, or another user for example. In some examples, the predetermined distance 1556 and/or the predetermined area 1552 are dependent upon the mass of the payload. For example, a lighter payload may be accepted for delivery if it is located further away from location P.sub.1 than a payload of a higher mass. In some examples, the predetermined distance 1556 and/or the predetermined area 1552 are dependent upon the type of UAV being used to deliver the payload. For example, certain UAVs may have a higher tolerance, and could therefore deliver payloads that other UAVs may not.

(135) In one example, the center of mass criterion is dependent upon one or more weather characteristics. For example, in windy conditions, the center of mass criterion may be stricter. The predetermined area 1552 and distance 1556 may be smaller during high winds, for example.

(136) In certain arrangements, the payload verification system is configured to determine the one or more weather characteristics and determine/select a center of mass criterion based on the determined one or more weather characteristics. For example, the UAV facility may receive, from a remote server, an indication of the one or more weather characteristics. Additionally, or alternatively, the UAV facility may measure the one or more weather characteristics. For example, the UAV facility may comprise one or more instruments (not shown) configured to measure one or more weather characteristics, such as wind speed.

(137) The center of mass criterion may be dependent on one or more factors, such as weather, mass of the payload, type of UAV, battery charge remaining in the UAV, etc. A lookup table may be used to determine the predetermined distance 1556 and/or the predetermined area 1552 when necessary.

(138) In one example, in the event that the center of mass of the payload does not satisfy the center of mass criterion, the UAV facility is configured to adjust a position of the payload. For example, a robotic arm or other mechanism could be used to adjust the position of the object 1508 within the container 1506 in order to adjust the center of mass. After the position of the payload has been adjusted, the detector system may re-test the payload to determine whether the altered center of mass now satisfies the center of mass criterion.

(139) In another example, in the event that the center of mass of the payload does not satisfy the center of mass criterion, a payload positioning mechanism (such as those described in FIGS. 10A, 10B, 11A, 11B, and 12) is configured to move the payload to a location such that a user can adjust a position of the payload. For example, the payload may already be located within the housing of the UAV facility and may need to be moved back to the initial position so that a user can adjust the center of mass of the payload.

(140) In another example, the UAV facility may alert/notify a user to adjust a position of the payload. For example, the user terminal 1056 may notify the user that the payload will be rejected unless the payload is adjusted. The center of mass measurement may take place when the user initially places the payload onto the tray.

(141) If the payload is ultimately rejected for delivery, the payload may be stored in the payload storage facility 1052. This may always occur, or may occur if the user is not available to collect the payload. In another example, in the event that the center of mass of the payload does not satisfy the center of mass criterion, a payload positioning mechanism is configured to move the payload to a location such that a user can collect the payload.

(142) The above described arrangement of sensors allows the center of mass to be calculated in two dimensions (i.e. in the x-y plane). However, the UAV facility may also allow a three-dimensional center of mass measurement to be made. The vertical center of mass may be determined by inclining or rotating the payload, and calculating the vertical component of the center of mass using the new center of mass in this second configuration. This can be achieved using the four sensors described above.

(143) An example UAV facility 1000, 1100, 1200, 1300 may comprise an agitator mechanism that agitates the payload to determine whether its center of mass changes after agitation. For example, the object(s) within the container may move if they are loose. If the contents of the container move upon agitation, the center of mass may move as a result. As mentioned, a moving center of mass (rather than a fixed center of mass) may cause problems during flight.

(144) FIGS. 17 and 18 depict a perspective view of a payload located on/in the tray 1550. FIG. 17 shows the payload in a non-tilted configuration, and FIG. 18 shows the payload in a tilted configuration. As the payload is moved between these two configurations one or more times, the object(s) 1508 within the container 1506 may move. In this way the payload is agitated.

(145) FIG. 19A depicts a side view of the arrangement in FIG. 17. Again, for illustrative purposes, the container 1506 is shown as being transparent, so that the contents of the container 1506 are visible. In this position, an object 1510 is shown centrally located within the container 1506. The center of mass of the payload may therefore satisfy the center of mass criterion. In this example, however, the object 1510 is loose and its position may shift during transport. So, although it satisfies the center of mass criterion, it may also be useful to check whether the center of mass changes if the payload is moved. A moving payload may cause the UAV to maneuver unpredictably (depending upon the mass of the payload).

(146) FIG. 19B depicts a side view of the arrangement in FIG. 18. The payload has been rotated through an angle by an agitator mechanism 1560. The agitator mechanism may comprise an actuator to move or rotate the payload. The motion imparted by the agitator mechanism has caused the loose object 1510 to be moved towards one end of the container 1506.

(147) In the example of FIGS. 18 and 19B, the agitator mechanism is integrated with one or more of the sensors 1534, but in other examples, it may be separate or may be integrated with the payload positioning mechanism.

(148) In another example (not depicted), the payload may be lifted out of the tray 1550, be agitated, and then be placed back in the tray 1550.

(149) The precise nature of the agitation may simulate motion that is experienced during flight. For example, the angle through which the payload is rotated may mimic typical rotation angles that would be experienced during flight. This may provide a more realistic estimate of how the payload will move during delivery.

(150) FIG. 19C shows a side view of the payload after the payload has been agitated. The object's position is different to that before agitation. After agitation, the detector system may re-test the payload to determine whether the new center of mass differs from the previously determined center of mass. A decision on whether to accept or reject the payload may be taken on that basis.

(151) In some examples, the payload may no longer satisfy the center of mass criterion. In that case, the payload may be rejected for delivery until the object is secured.

(152) In some examples, the payload may still satisfy the center of mass criterion, but may nevertheless be rejected until the object is secured.

(153) In some examples, the center of mass may not differ from the previously determined center of mass (or may differ by less than a predetermined amount/threshold), and the payload may still satisfy the center of mass criterion. In such a case, the payload may be accepted for delivery.

(154) In some examples, the decision whether to reject the payload may also be based on the mass of the payload. For example, a payload having a relatively light mass may be accepted for delivery even if it moves upon agitation.

(155) If the payload is rejected, a user may be notified and/or the payload may be moved to a position that allows the user to collect the payload and/or open the container to secure the object in place. In one example, the UAV facility may automatically secure the position of the object. For example, packing material may be inserted inside the container.

(156) The processes and logic flows described in this document can be performed by one or more programmable processors executing one or more computer programs to perform functions by operating on input data and generating output. The processes and logic flows can also be performed by, and apparatus can also be implemented as, special purpose logic circuitry, e.g., an FPGA (field programmable gate array) or an ASIC (application specific integrated circuit).

(157) Processors suitable for the execution of a computer program include, by way of example, both general and special purpose microprocessors, and any one or more processors of any kind of digital computer. Generally, a processor will receive instructions and data from a read only memory or a random access memory or both. The essential elements of a computer are a processor for performing instructions and one or more memory devices for storing instructions and data. Generally, a computer will also include, or be operatively coupled to receive data from or transfer data to, or both, one or more mass storage devices for storing data, e.g., magnetic, magneto optical disks, or optical disks. However, a computer need not have such devices. Computer readable media suitable for storing computer program instructions and data include all forms of non-volatile memory, media and memory devices, including by way of example semiconductor memory devices, e.g., EPROM, EEPROM, and flash memory devices; magnetic disks, e.g., internal hard disks or removable disks; magneto optical disks; and CD ROM and DVD-ROM disks. The processor and the memory can be supplemented by, or incorporated in, special purpose logic circuitry.

(158) The above embodiments are to be understood as illustrative examples. Further embodiments are envisaged. For example, as noted above, a vending machine can deposit the ordered item into the ingress port of the housing. In such examples the UAV facility may be configured such that the ingress port 1004 can receive items from an output of the vending machine via e.g. a chute or similar, which can be connected between the output of the vending machine and the tray 1050; 1150; 1250, mounted on the guide rail guide rail 1048; 1148; 1248 of the ingress port 1004.

(159) In some examples, the UAV facility comprises a housing having an ingress port arranged to receive a payload for delivery by a UAV, wherein the received payload has one or more physical characteristics and a detector system configured to analyze the received payload to determine the one or more physical characteristics. The facility further comprises a payload verification system, configured to compare the one or more determined physical characteristics with one or more threshold characteristics. The UAV facility is further configured to accept the payload for delivery by a UAV based upon the comparison. For example, the UAV facility may accept the payload if the one or more physical characteristics satisfy one or more threshold criteria. In some examples, the comparison is performed by a remote server, rather than the UAV facility itself.

(160) In one example, the one or more physical characteristics of the payload comprises a weight of the payload and the one or more threshold characteristics comprises a threshold weight. If the weight of the payload is below the threshold (or within a threshold range), the payload may be accepted for delivery. The weight may be determined as described in earlier examples. This may be useful to reject payloads which are deemed too heavy for transport.

(161) In another example, the one or more physical characteristics of the payload comprises a size dimension of the payload and the one or more threshold characteristics comprises a threshold size dimension. If the size of the payload is below the threshold (or within a threshold range), the payload may be accepted for delivery. The size may be determined as described in earlier examples. For example, it may be determined using an imaging device. This may be useful to reject payloads which are deemed too large (or too small) for transport. This may also be useful to reject payloads which negatively impact the aerodynamics of the UAV.

(162) In another example, the one or more physical characteristics of the payload comprises a signature of a signal emitted by the payload and the one or more threshold characteristics comprises a threshold signature of a signal. If the signature of the emitted signal (such as a frequency or power level) is below a threshold signal signature (or within a threshold range), the payload may be accepted for delivery. The signature may be determined as described in earlier examples. For example, it may be determined using an electromagnetic interference detector. This may be useful to reject payloads which emit electromagnetic radiation which may interfere with electronic components on the UAV.

(163) In another example, the one or more physical characteristics of the payload comprises a hazardous material signature and the one or more threshold characteristics comprises a threshold hazardous material signature. If the signature (such as a detection of one or more hazardous materials) is below a threshold (which may be zero), the payload may be accepted for delivery. The detection of hazardous materials may be determined as described in earlier examples. For example, it may be determined using a hazardous material detection system.

(164) In this example UAV facility, the threshold characteristics may be determined based on an identification code. For example, the detector system may be further configured to obtain an identification code, as described in earlier examples. In other examples, the threshold characteristics may be determined by other means. For example, the UAV facility may access a local or remote database to obtain the threshold characteristics.

(165) In these examples, the UAV facility may comprise any or all of the features and components of earlier described UAV facilities. For example, the payload verification system may also determine whether the payload corresponds to a delivery consignment based upon a comparison of the one or more determined physical characteristics with one or more expected characteristics of the delivery consignment, wherein the one or more expected characteristics are determined based upon an obtained identification code. The one or more expected characteristics may be determined as described in earlier examples. The UAV facility may further comprise a payload positioning mechanism, a scanner, a user terminal, a payload packaging station, and/or a payload storage facility.

(166) It is to be understood that any feature described in relation to any one embodiment may be used alone, or in combination with other features described, and may also be used in combination with one or more features of any other of the embodiments, or any combination of any other of the embodiments. Furthermore, equivalents and modifications not described above may also be employed without departing from the scope of the disclosure, which is defined in the accompanying claims.

(167) Further embodiments are disclosed by reference to the following aspects:

(168) 1. A drone delivery system, comprising: a container including: a base; a roof located above the base, the roof including a center section that extends lengthwise along a center of the roof and includes one or more openings, one or more landing surfaces located adjacent to the center section and structured to allow a drone to land on the one or more landing surfaces; a plurality of side surfaces located in between the base and the roof; one or more drone delivery platforms; a drone positioning system located on top of the roof; and one or more ingestion ports located on at least one of the side surfaces of the container and structured to receive a delivery package.

(169) 2. The drone of aspect 1, wherein the drone includes an extendable cable with an attachment that affixes to the delivery package.

(170) 3. The drone delivery system of aspect 1, wherein the one or more drone delivery platforms are located lengthwise along the center of the roof, wherein each drone delivery platform includes a hole covered by a panel, at least one drone delivery platform is movably coupled to one or more vertical bars located inside the container, and at least one drone delivery platform is configured to move up to each opening in the center section and to move down inside the container to a predetermined height above the base.

(171) 4. The drone delivery system of aspect 1, wherein at least one ingestion port includes a door and a scanner to scan a code on the delivery package.

(172) 5. The drone delivery system of aspect 1, wherein each of the one or more ingestion ports is located below each of the one or more landing surfaces.

(173) 6. The drone delivery system of aspect 1, wherein at least one ingestion port is located across from at least one other ingestion port.

(174) 7. The drone delivery system of aspect 1, wherein the drone positioning system comprises: at least two rail guides located on opposite ends of each of the one or more landing surfaces and extending towards the center section; and at least one bar located at a distal end of each of the one or more landing surfaces and configured to move laterally along the at least two rail guides to move each drone from its landing surface to at least one drone delivery platform located adjacent to the landing surface.

(175) 8. The drone delivery system of aspect 7, wherein the drone positioning system includes a plurality of hinges located of top of each rail guide in between the center section and each of the one or more landing surfaces to allow the one or more of landing surfaces to be folded on top of the center section.

(176) 9. The drone delivery system of aspect 7, wherein each of the at least two rail guides extends towards the center section and wherein each of the at least two rail guides include a proximal end curved inwards to facilitate positioning of the drone onto at least one drone delivery platform.

(177) 10. The drone delivery system of aspect 1, further comprising: at least one user interface located on at least one side surface, the user interface configured to display an availability of the drones for delivery and configured to open and close one or more doors corresponding to the one or more ingestion ports.

(178) 11. The drone delivery system of aspect 1, further comprising: one or more tracks located above the base of the container; and one or more holding trays movably coupled to one or more tracks wherein each holding tray in a first position is located adjacent to at least one ingestion port to receive the delivery package and wherein each holding tray is positionable to a location below the hole of at least one of the drone delivery platforms.

(179) 12. The drone delivery system of aspect 11, wherein each track runs between two ingestion ports located across from each other.

(180) 13. The drone delivery system of aspect 1, wherein the roof includes landing patterns located on top of each of the one or more landing surfaces.

(181) 14. The drone delivery system of aspect 1, further comprising: a plurality of battery charging bays mounted inside the container, wherein each battery charging bay is configured to charge a plurality of batteries.

(182) 15. The drone delivery system of aspect 14, wherein each battery charging bay is operable to determine characteristics of each battery.

(183) 16. The drone delivery system of aspect 1, further comprising: a robotic arm movably coupled to one or more holding rails inside the container.

(184) 17. The drone delivery system of aspect 16, wherein the robotic arm is a three axis robotic arm.

(185) 18. The drone delivery system of aspect 16, wherein the robotic arm is configured to remove a first battery installed in the drone, plug in the first battery in one of the battery charging bays, remove a second battery from one of the battery charging bays, and install the second battery in the drone.

(186) 19. The drone delivery system of aspect 1, wherein the container is movable.

(187) 20. The drone delivery system of aspect 1, further comprising: a robot to transfer a package from a store to the drone delivery system.

(188) 21. The drone delivery system of aspect 1, wherein the one or more drone delivery platforms are one or more elevator platforms.

(189) 22. A method for processing a package, comprising: selecting a drone to deliver a package from a container; opening an ingestion port on the container; receiving the package in a holding tray; closing the ingestion port; moving the holding tray with the package to a location below a drone delivery platform including a drone; affixing the package to an attachment of the drone; and sending the drone to a destination to deliver the package.

(190) 23. The method of aspect 22, wherein the selecting of the drone, the opening of the ingestion port and the closing of the ingestion port is performed by a user interface.

(191) 24. The method of aspect 22, wherein the opening of the ingestion port opens a door of the ingestion port that corresponds to the selected drone, and the closing of the ingestion port closes the door of the ingestion port that correspond to the selected drone.

(192) 25. The method of aspect 22, further comprising: moving the drone from a landing surface to the drone delivery platform, wherein the drone delivery platform includes a hole covered by a panel; moving down the drone delivery platform including the drone; opening the panel to allow the attachment of the drone to access the package in the holding tray located below the hole of the drone delivery platform; moving up the drone delivery platform with the drone and the package affixed to the attachment; and closing the panel of the drone delivery platform.

(193) 26. The method of aspect 22, wherein the affixing of the package to an attachment of the drone comprises: lowering from the drone a cable including the attachment to affix the attachment to the package.

(194) 27. The method of aspect 22, further comprising: charging a plurality of batteries in a battery charging bay; and replacing a first battery of the drone with one of the batteries from a battery charging bay.

(195) 28. The method of aspect 27, wherein the battery charging bay scans the battery to determine battery characteristics.

(196) 29. The method of aspect 22, further comprising: scanning the package in the holding tray to obtain information about the package; and determining delivery related information for the selected drone.

(197) 30. The method of aspect 22, further comprising: confirming that the package is received by the drone.

(198) 31. The method of aspect 22, further comprising: alerting of a non-conformity event that include one or more of absence of a battery in the drone, absence of the drone for delivery, unexpected weather conditions, postponing delivery, and cancelling delivery.

(199) 32. The method of aspect 22, wherein the drone delivery platform is an elevator platform.

(200) 33. A method for processing a package, comprising: selecting a drone for delivery of a package; receiving the package for delivery; affixing the package to an attachment of the drone; and sending the drone to a destination to deliver the package.

(201) 34. The method of aspect 33, wherein the receiving of the package for delivery comprises: opening an ingestion port; receiving the package in a holding tray; and closing the ingestion port.

(202) 35. The method of aspect 34, wherein the affixing of the package to an attachment of the drone comprises: moving the drone from a landing surface to a drone delivery platform comprising a hole; moving the holding tray with the package to a location below the hole of the drone delivery platform; and lowering from the drone a cable including the attachment to affix the attachment to the package.

(203) 36. The method of aspect 35, further comprising: moving the drone delivery platform with the drone, the drone delivery platform including a panel to cover the hole; opening the panel of the drone delivery platform to allow access to the drone; and moving the drone delivery platform with the drone and the package.

(204) 37. The method of aspect 36, further comprising: closing the panel of the drone delivery platform.

(205) 38. The method of aspect 35, wherein the drone delivery platform is an elevator platform.

(206) 39. The method of aspect 34, wherein the selecting of the drone, the opening of the ingestion port and the closing of the ingestion port is performed by a user interface.

(207) 40. The method of aspect 34, wherein the opening of the ingestion port opens a door of the ingestion port that corresponds to the selected drone, and the closing of the ingestion port closes the door of the ingestion port that correspond to the selected drone.

(208) 41. The method of aspect 33, further comprising: charging a plurality of batteries in a battery charging bay; and replacing a first battery of the drone with one of the batteries from a battery charging bay.

(209) 42. The method of aspect 41, wherein the battery charging bay scans the battery to determine battery characteristics.

(210) 43. The method of aspect 33, further comprising: scanning the package to obtain information about the package; and determining delivery related information for the selected drone.

(211) 44. The method of aspect 33, further comprising: confirming that the package is received by the drone.

(212) 45. The method of aspect 33, further comprising: alerting of a non-conformity event that include one or more of absence of a battery in the drone, absence of the drone for delivery, unexpected weather conditions, postponing delivery, and cancelling delivery.