Automated Payload Collection in Drone Operations

A multi-rotor drone with a robotic arm that can grasp and transport objects. The drone has four opposing mechanical arm claws arranged in a cross shape beneath the body. Each claw has two servo motors that rotate cranks to move the claw tips inward and upward to grasp objects. The claws converge inward and upward to grasp objects. This allows the drone to pick up and transport objects using the coordinated motion of the claws. The claws can close symmetrically around an object to keep the center of gravity centered beneath the drone.

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A system for delivering and retrieving payloads using a tethered unmanned aerial vehicle (UAV) that has a unique payload coupling apparatus. The payload coupling apparatus has a slot to receive the payload handle and supports the payload during delivery/retrieval. Once the payload reaches the ground, the apparatus lowers until the handle decouples. An undercut lip prevents reengaging. The tether unwinds without catching. This allows vertical pickup/delivery without landing. The UAV can also dampen payload oscillations by moving itself during ascent/descent.

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Visual guidance method for drone robotic arms to accurately grab objects without relying on the drone's own perception. The method uses sensors like lasers, lidar, and cameras on the drone to precisely locate and track target objects. The robotic arm then moves to grasp the object based on the visual guidance provided by the sensors. This allows more accurate and reliable grabbing in complex scenarios where the drone's own positioning may not be sufficient.

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System for autonomous package delivery using unmanned aerial vehicles (UAVs) that enables curbside pickup and dropoff of packages without human involvement. The system involves using autonomous loading stations at delivery locations to load packages onto UAVs. UAVs are dispatched to pick up loaded packages from the stations. This allows packages to be prepped and staged for UAV pickup, simplifying the loading process compared to onboarding packages mid-air. The stations have features like extendable arms and tether winches to physically load and secure packages. The UAVs can identify the stations using fiducials, and the stations can signal when loading is complete. This allows efficient UAV-based package delivery without requiring human assistance.

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Automated payload pickup by a drone from an unmanned station without human intervention. The drone locates the station, descends to deploy the tether, laterally moves to engage the station, retracts the tether to pick up the payload, and departs. The station has a funnel, channel, and payload holder. The drone's tethered gripper slides into the channel, engages the payload, and winches it up. The curved channel angles the gripper back to reach the payload's handle. The payload's handle spring-loads the gripper rotation.

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A retractable delivery system for unmanned aerial vehicles (UAV) is used to deliver payloads using a lowering mechanism. The system uses a tethered delivery device that can secure and release payloads while being lowered from the UAV. The UAV hovers above the delivery location and lowers the payload using the device. An imaging system on the UAV tracks the descending device to determine when it reaches the ground.

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Delivery system using drones that can autonomously deliver items to precise locations without requiring manual guidance. The system involves a drone with an internal delivery component that can be opened to load items. A chip onboard receives terrain and location data from cameras and GPS. It then makes judgments to select the best landing or release location. This allows the drone to autonomously deliver items in complex environments without manual guidance.

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Robotic arm system for rapid and efficient swapping of payloads like batteries from autonomous vehicles like drones in a hub. The system has a central body with rotating arm sections and end effectors to grab and release payloads. Unlocking mechanisms release the payloads from the vehicle and a removal mechanism takes them off. This allows automated, quick swapping of depleted payloads like batteries from drones in a hub without human intervention.

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Unmanned aerial vehicle (UAV) with multiple rotors that can safely handle cargo while hovering. The UAV detects its position and altitude, then lowers itself to a designated height to land the cargo. It then moves horizontally to a nearby port where a worker can handle the cargo without needing a large landing area. When cargo handling is complete, the UAV ascends back to altitude. This allows cargo to be loaded/unloaded without landing the UAV. The height is calculated based on rope length, destination vs port distance, and error margins.

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Automated cargo loading and unloading system for unmanned aerial vehicles (UAVs) that allows cargo to be loaded and unloaded without the UAV landing. The system uses a robotic arm suspended from the UAV's winch to grip containers inside the cargo hold. It can lower the container to the ground below the hovering UAV, then raise it back inside after a ground robot positions below. This enables cargo transfer without landing. Load sensors monitor container weight for safe operation.

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Using unmanned aerial vehicles (UAVs) to provide package delivery services that efficiently utilize the UAV's payload capacity and minimize errors. Rather than assigning specific packages for pickup, UAVs are given tasks to pick up packages at loading locations. Once a package is loaded and identified, the task is updated with the delivery location. This allows UAVs to load any available package and dynamically adjusts routes based on package identity. It also enables early detection of incorrect loads.

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Autonomous cargo handling system for unmanned aerial systems (UAS) that allows UAS to autonomously pick up and deliver cargo without human intervention. The system uses specialized cargo containers and UAS racks with aligned pyramid-shaped surfaces that connect under gravity. Electro-mechanical latches then rotate to capture the cargo. This allows the UAS to autonomously align and capture the cargo for autonomous pickup and delivery. The system enables true autonomous cargo handling for UAS applications.

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Unmanned aerial vehicle (UAV) clamping and delivery mechanism that enables autonomous grasping and releasing of objects without human intervention. The mechanism has a telescopic clamping arm with jaws that can open and close to grip objects. The UAV body has a platform below it where the clamping arm is mounted. The arm has a driver with a telescoping rod that can extend and retract. When the driver extends the rod, it pushes the telescoping rod down to open the jaws and grasp an object. When the driver retracts the rod, it raises the telescoping rod to close the jaws and hold the object. The mechanism also has a limit device to prevent the telescoping rod from overextending. This allows the UAV to autonomously pick up and release objects without human assistance.

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An unmanned aerial vehicle (UAV) autonomous grasping system for picking up and transporting objects using an onboard mechanism. The system has a compact lifting mechanism with a planetary gear assembly replacing the traditional arm. The UAV connects to the mechanism via a base. The gear assembly has a sun gear driving two planetary gears. This allows compact, balanced, and efficient grasping without external power. The UAV uses cameras, sensors, and processors for autonomous object detection and grasping. The system aims to enable UAVs to autonomously pick up and transport objects without manual attachment.

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Automated payload retrieval from a ground station by an unmanned aerial vehicle (UAV) without human intervention. The payload retrieval system involves a channel with a curved exit that directs a tethered payload retriever to automatically engage and extract a payload from a holder at the end of the channel. The curved exit angles the retriever's lip upward to align with the payload handle opening. The channel has mechanisms like cams, magnets, springs, or protrusions to properly orient and secure the retriever onto the payload.

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Automated pickup of payloads by drones without human involvement. The pickup system involves a funneling mechanism that guides a tethered payload retriever into a channel when a drone lowers it onto a stand. The retriever engages and removes the payload from the channel. This allows a drone to automatically pick up payloads at a designated site without a person securing the payload.

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Optimizing uncrewed aerial vehicle (UAV) performance and cargo delivery by using automated systems to retrieve and secure cargo containers onto the UAV, checking the weight and balance of the cargo before flight, using a hybrid drivetrain with a clutch to decouple the propeller during vertical flight to reduce drag, retracting the rotor blades into the boom for horizontal flight to reduce drag, and using sensors to monitor cargo weight and balance for safe operations.

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Automated payload retrieval from a designated payload retrieval apparatus by a UAV using a tethered payload retriever. The apparatus has a channel with an extending member that directs the UAV tether into the channel. A payload holder secures the payload. The tethered UAV can pilot itself to the apparatus and the tether slides into the channel, engaging the payload retriever to pick up the payload. The UAV then winches the payload into the air for delivery. This automated, contact-based system allows UAVs to retrieve payloads without human intervention at pickup sites.

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A drone-mounted robotic arm with multi-degree-of-freedom motion for precise grasping and retrieval of objects. The arm has a detachable connection between the drone and the arm base, allowing the drone to fly while the arm extends and grasps objects. The arm has a powered gripper, powered pitch mechanism, and powered wrist rotation to enable precise positioning and grasping. Sensors on the gripper and wrist detect distances and level for stable grasping. An image processing system guides the arm to target objects.

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A novel vision-based flying manipulator system that combines the maneuverability of a rotorcraft drone with the grasping capability of a mechanical arm. The system has a drone body, two six-degree-of-freedom mechanical arms for grasping, and a seven-degree-of-freedom arm with a camera for sensing. The mechanical arms can move in multiple directions to grasp objects, and the camera arm can locate targets for the grasping arms. Computer vision is used to guide the grasping arms to accurately pick up objects. The drone body has a center of gravity adjustment mechanism to balance flight with the heavy arms attached.

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