BR102019012974A2 - devices, systems and methods for automated deliveries via autonomous unmanned multirotor rotary wing vehicle - Google Patents

Abstract

It is an invention to deliver via unmanned aerial vehicle (UAV). The invention comprises a multirotor rotary wing UAV that is fully autonomous, that is, flights to make deliveries are carried out without any human control. The invention also comprises UAVPonto, which is a fixed area for take-offs and landings from that UAV, where it, in an automated way, moves to attach and detach a luggage rack, which is the compartment where objects are stored during transport air. In addition to the UAV and VANTPonto devices, the invention comprises systems and methods responsible for controlling UAVs, UAVs, communication between those devices, UAVs flights between UAVs, delivery requests, and deliveries, between users. The invention presented in this document brings a unique way of making deliveries, with speed, safety and flexibility of operation of the invention, since deliveries via UAV do not need to start from a single location, being any UAV Point, origin or destination of deliveries .

Description

DEVICES, SYSTEMS AND METHODS FOR AUTOMATED DELIVERIES VIA NON-CREATED AIR VEHICLE ROTARY WING MULTIROTOR Brief Description of the Invention

[001] The present document refers to the patent for "DEVICES, SYSTEMS AND METHODS FOR AUTOMATED DELIVERY VIA NON-CREATED AERIAL VEHICLE MULTIROTOR OF ROTARY WINGS AUTONOMOUS", which is an invention to automate the delivery of objects by means of Air Vehicle Unmanned (UAV), in an environment, which has areas for takeoffs and landings for these UAVs, called UAVPontos. The UAVPonto is a fixed area, where the delivery or collection of the object carried by the UAV is made. The operation of the invention is "transparent" to users, since they do not need to have knowledge about, for example, UAV flight control and rules, or the geolocation information of UAVPontos.

[002] UAVs are unmanned vehicles capable of moving, in the air, which can be: fully remote controlled by an operator or pilot; partially, remotely controlled by an operator or pilot, as it also has the help of computer systems for this control; or completely autonomous, when they are completely controlled by computer systems. UAVs guarantee their support, in the air, using wings, which can be fixed or rotating.

[003] The invention presented in this document comprises a plurality of UAVs with rotating wings, totally autonomous, capable of delivering objects via these UAVs to fixed locations, called UAVPoints, in a completely automated way, without any human control, after the delivery.

State of the art

[004] Unmanned aerial vehicles, also known as UAVs, are aircraft that can be used to carry out, for example, environmental monitoring and aerial filming. UAVs with rotating wings have characteristics that make them good options, too, to perform the task of delivering objects, such as the possibility of the UAV remaining in a hover flight, and the UAV's ability to take off and land vertically, known as VTOL (Vertical Take-Off and Landing). Thus, rotary-wing UAVs are more versatile, compared to fixed-wing UAVs, to perform the task of delivering objects.

[005] The technological advances of the last years and the cheapening of electronic components have made possible the emergence of a new type of UAV with rotating wings, that is, the UAV multirotor. This UAV has a certain mechanical simplicity, and can be classified according to the number of assemblies composed of engines and propellers, the most common being the quadcopter, hexacopter and octacopter with, respectively, four, six and eight sets of engines and propellers. .

[006] There are several ways to carry out the transport of goods, such as: air, sea and land. Normally, the last movement of the products to the final consumer is made by means of land transportation, the last leg being called “last mile delivery”. Despite this, the use of multirotor rotary wing UAVs as a means of transport for the last mile delivery has been explored in some inventions, as described below.

[007] Patent documents WO 2015061008 A1 and US 9573684 B2 (Unmanned Aerial Vehicle Delivery System) describe an invention capable of making deliveries via UAVs at a distance of up to 16 km radius from distribution centers. When making a purchase through an e-commerce site, the customer determines the mode of delivery he wants, and can even be made by UAV. This delivery can be scheduled to an address determined by the customer, or even by the geographic location obtained by any customer's mobile device, which has GPS (Global Positioning System). Despite the autonomous flight, in some cases, the landing must be performed by a remote operator or pilot, however, once this landing point is considered safe, in other deliveries the landing can be performed in a completely autonomous way.

[008] Patent document US 9305280 B1 (Airborne Fulfillment Center Utilizing Unmanned Aerial Vehicles for Item Delivery) describes an invention to assist deliveries via UAV. In this invention, an air deposit is maintained in an airship, which remains in flight over urban areas, from which UAVs leave to perform deliveries. The UAVs used are hybrids (ie, with fixed and rotating wings), and this allows the UAV to descend in a plane flight until it approaches the landing area, practically without battery consumption, when it starts its engines to guarantee the vertical landing . As battery consumption is reduced in this type of delivery, UAVs can use smaller batteries, increasing the UAV's payload. After delivery, the UAV flies towards a transport area, where UAVs are sent, again, to the air depot along with other goods.

[009] Patent document US 9567081 B1 (Maneuvering a Package Following In-Flight Release from an Unmanned Aerial Vehicle (UAV)) describes an invention that allows a UAV to deliver without the need for the UAV to land at the destination, and including maintaining horizontal movement during delivery. For this, a device is able to generate a repulsion force between the UAV and the luggage compartment, where the transported object is kept, guaranteeing the luggage compartment a vertical descent movement, this force can be generated by magnets, parachutes, or by releasing the compressed air stored in small cylinders. During the descent of the luggage compartment, maneuvers can be carried out to guarantee vertical movement, or even to avoid obstacles, and for that, mobile control surfaces can be used, or the release of compressed air from the cylinders. The deceleration of the luggage rack, during the descent, can be done using parachutes, or even with the release of compressed air from the cylinders.

[010] Patent document US 9459620 B1 (Human Interaction with Unmanned Aerial Vehicle) describes an invention capable of delivering objects via UAV, which for security reasons, or even to assist in UAV navigation, presents techniques for UAV interaction with humans, present in the vicinity of the delivery area. To ensure this interaction, the UAV has sensors capable of detecting gestures and sounds, and a database of gestures and sounds, associated with UAV flight commands. The UAV receives instructions for executing a delivery and, when approaching the delivery area, monitors the environment for gestural or audible commands such as: with open arms, move both arms up and down simultaneously , this gesture will be interpreted as: “Risk, stay away!”; wave the arms in parallel, as well as the traffic wardens, to indicate a path that the UAV should follow; or wave your arms in an "inviting" way, pointing to the place where the order should be released from the UAV. New gestures and commands can be inserted in the gesture database, increasing the forms of interaction with the UAV during deliveries.

[011] Patent document US 9536216 B1 (Delivery of Packages by Unmanned Aerial Vehicle) describes the invention of an object delivery system, in which one of the most important requirements is to keep battery consumption low during deliveries. According to the inventors, the most critical moments of electric current consumption are related to takeoffs and landings and, therefore, this invention does not require the landing of the UAV during delivery, since, upon reaching the object's delivery point, the UAV descends until it reaches a safe height and detaches the object. This height is defined by several factors, such as: the nature of the object, the weight of the object, the type of surface, where it will be delivered, and the protection techniques used to minimize the impact of the object on the surface. The inventors also propose the use of an adherent material involving the object, and this is necessary to prevent the object from rolling, or from bouncing, after the first impact with the surface.

[012] The patent document US 9650136 B1 (Unmanned Aerial Vehicle Payload Delivery) describes the invention of a delivery method via UAV that, based on information of the transported cargo, or even information on the environment, can change its delivery mode. . When transporting light and impact resistant objects, the UAV hovers over the delivery location, and detaches the object from a height considered safe. However, if the object is fragile, the UAV performs the landing for later release of the cargo. The UAV is capable of detecting possible risks that make landing impossible, and in these cases, the load is released from the UAV, while carefully descending, attached to a cable. In this delivery mode, if the UAV sensors detect that the load is stuck during the descent process, or that something is forcing it down, the cable, which holds the load to the UAV, is cut.

[013] Patent document US 20170038780 A1 (Method of Drone Delivery Using Aircraft) describes the invention of a method for delivering goods via UAVs, in which an aircraft has a “large” cargo area, from which UAVs depart for perform deliveries. This cargo aircraft can be an airship, which remains hovered over the delivery areas. A plurality of UAVs perform deliveries with downward flights, which reduces battery consumption, and allows UAVs to use smaller batteries and, consequently, increase their payload capacity. After delivery, these UAVs return to the cargo aircraft to recharge their batteries, and initiate new deliveries, or when all UAVs return to the cargo area of the cargo aircraft, and there are no further deliveries in the region, the cargo aircraft flies toward a new delivery area.

[014] US patent document 9630715 B2 (Interaction During Delivery from Aerial Vehicle) describes the invention of a system and methods responsible for releasing objects carried by autonomous, or semi-autonomous UAVs, without the UAV having to land. The invention uses a retractable system formed by a cable and a pulley. The object is transported attached to this cable and, when reaching the delivery location, the UAV keeps the flight hovered, and begins the descent of the object. To ensure safety in the operation of descending the object and ascending the cable during the hover flight of the UAV, the speed of movement of the cable is variable. During the descent of the object, the cable is unrolled quickly, until the object approaches the ground, when the descent speed is reduced until the total stop. Likewise, the cable is rewound at low speed until it reaches a safe height, when the speed is increased until the cable is fully retracted. Sensors, present in the UAV, are able to ensure that the object reaches the ground without being impacted, while light and sound signals are emitted by the UAV during the object's descent, warning people close to the delivery location, as well as informing that the object it has already been released from the UAV, and that there is no risk in handling it.

[015] Patent document WO 2016037219 A1 (Delivery System) describes the invention of a delivery management system through UAV, where deliveries depart from the company's warehouse towards the address provided by the customer. After delivery, the UAV returns to the point of origin. The system is also able to perform more than one delivery before returning to the warehouse. The destination has a container with a large funnel at the top and a safe area for the cargo at its bottom. The UAV releases the load inside this funnel, and it descends until it is housed in a secure compartment, which can only be opened by the system operator or customer, using a password or information obtained from a cell phone or any other device. customer's electronic

[016] Patent document WO 2016019242 A1 (System and Method for Controlling Drone Delivery) describes the invention of methods and a system for the control of automated deliveries, which control the displacement of the UAV, and the collection and delivery processes of objects, in environments that have destination locations, where at least one UAV with a tracking device can deliver. Destination locations must have a secure compartment, where the UAV deposits the transported objects, this compartment has locking mechanisms, which can be activated or deactivated using RFID (Radio-Frequency IDentification), barcode reading, passwords inserted on your keyboard, or information sent from a mobile device, that runs the app developed by the inventors.

[017] The patent document WO 2016039882 A1 (Methods, Systems and Devices for Delivery Drone Security) describes the invention of methods, systems and devices, which guarantee the safe delivery of objects by means of UAV. In this invention, after the customer makes a purchase, he can determine a place for delivery. This destination definition can be made with an address, or the geographic location of any customer's mobile device. The system controls all stages of delivery and, upon reaching its destination, the UAV hovers at a safe height, while notifying the customer of the delivery, which is about to be made. As long as the customer does not send the confirmation code, the UAV does not finalize the delivery, and may even return the object to its deposit after a specified time.

[018] The patent document US 20170011333 A1 (Unmanned Delivery) describes the invention of a method for executing object deliveries by means of UAVs, with the main highlight being the four modes of completion of deliveries: in two delivery modes the storage compartment the cargo containing the object is detached from the UAV while still in flight, in the first mode the UAV detaches the cargo compartment on a device capable of absorbing the impact of the fall and, in the second mode, the UAV detaches the cargo compartment over a protective net. , installed at the place of delivery; the invention also presents a mode of delivery over a landing area identified by a QR code (Quick Response code), which is detected by the UAV during the flight; and in the fourth possible mode of delivery, the UAV is able to identify a QR code that the customer is pointing towards the UAV that, when identifying the QR code and confirming that the customer is responsible for the object, approaches the user of so that he can receive the object in his hands.

[019] Patent document WO 2016019242 A1 (System and Method for Controlling Drone Delivery) describes the invention of a system and methods for the delivery of objects by means of UAVs, especially a device for the collection and delivery of goods, that device of storage has several means that guarantee the security of the object stored inside, in this way, only the customer of destination of that object will be able to remove it from inside the storage device. The means indicated for customer identification are: a touch screen so that the user can identify himself by means of a code and password, RFID identification, applications running on computers, notebooks, smartphones, tablets or any other communication device compatible. In addition to these security features, the storage device can identify, using bar codes or RFID readers, whether the object inside needs to be stored at a controlled temperature and, if necessary, control the internal temperature of the storage compartment. load according to the stored object.

[020] The patent document WO 2016037219 A1 (Delivery System) describes the invention of devices aimed at the automated delivery of objects by means of UAVs, that is, an area where a UAV of the quadricopter type is able to land correctly aligned on a deposit where objects can be attached to the UAV or detached from the UAV, after which they can be transported or stored safely. To ensure the correct alignment of the UAV at the moment of landing, the landing area, which is a square funnel, has four sensors in its four corners, these sensors are detected by four sensors installed at the ends of the UAV, close to the engines and, the information These sensors ensure that the UAV approaches as centrally as possible, concluding its landing at the location indicated for loading or unloading the transported object.

[021] Patent document US 9384668 B2 (Transportation Using Network of Unmanned Aerial Vehicles) describes the invention of an object delivery system in which the customer moves to a loading and unloading station and, through its interfaces, starts a delivery process. For this, it is necessary for the customer to inform the loading and unloading station where he wants to send the object and the telephone number of the customer who will receive it. insert the object into the appropriate compartment on the station. A UAV is sent to collect the object at the loading and unloading station, and then it flies towards the station informed by the customer. When the UAV lands at the station, the system sends a message to the customer's phone that will receive the object, in this message is a bar code that the customer will present to the station's barcode reader so that the object is released and the customer can collect it. The system also allows the removal of customer objects registered in the system, through a unique identifier and password, RFID or biometric data reader.

[022] Patent document WO 2016012876 A1 (Unmanned Aerial Delivery Device) describes the invention of a multirotor UAV with rotary wings, which has several characteristics that give UAV greater security and practicality to carry out deliveries, such as, (i) the use of sensors, which detect engine problems, and the possibility of driving redundant engines, ensuring greater safety to the UAV and the environment in which it is flying; (ii) laser sensors, which detect obstacles, while an embedded system calculates the best route to avoid the obstacles encountered; (iii) four distance sensors, which are responsible for determining the distance between them and the landing surface, so, after calculating the distance between each of the sensors and the landing surface, the UAV determines the size of each of the four retractable support points during landing, making it possible to land on uneven surfaces; and (iv) a protected cargo area, in the upper central part of the UAV, which can only be opened by users of the invention, using information such as user code and password.

[023] The patent document US 20170203857 A1 (Drone Docking Station and Delivery System) describes the invention of a UAV with cargo compartment that delivers objects, and a station, called DroneDek, for collecting and receiving cargo transported by UAVs. This station is prepared to withstand the weather, has a photovoltaic energy generation and storage system, charging station for the UAV, internal temperature control and connectivity through Wi-Fi and Bluetooth devices. When the UAV approaches the station, the system receives RFID data from the UAV and, if the UAV is allowed to land, opens the station's landing compartment, after landing, the UAV detaches the object and takes off. The object storage compartment can only be opened by authorized customers, who are recognized by a unique identification and password or, through the control application installed on a mobile device.

[024] The patent document US 9646283 B2 (Secure Payload Deliveries via Unmanned Aerial Vehicles) describes the invention of platforms for takeoffs and landings of UAVs used in object deliveries, such platforms in addition to serving as area for takeoffs and landings, are also responsible for ensuring some safety requirements of the invention, such as, for example, linking the UAV to the platform, so that a UAV can only land on a certain platform, if it is cleared for it, and yet, customers can only receive orders on platforms where they are registered and released.

[025] The patent document US 20160257423 A1 (Unmmanned Aerial Delivery System) describes the invention of high towers for collecting and delivering objects, where the UAV can land and, wait for a luggage rack containing the object to be transported to be lifted up to its position, when the luggage compartment is attached to the UAV and it takes off. When landing on the destination tower, the UAV detaches the luggage compartment inside the tower, at this moment the object goes down to the base of the tower, where the customer can remove it. The towers are also used so that the UAV can change the battery when its charge is below a defined threshold. During the entire process of charging, discharging or changing the battery, the UAV remains attached to the tower by means of magnetic locks, this ensures that the UAV will maintain its position even after suffering small impacts during changes of the luggage compartment or battery.

[026] Patent document WO 2017096392 A1 (Autonomous Unmanned Aerial Vehicle System For Logistical Delivery) describes the invention of a solution responsible for securely fitting the luggage compartment containing the object to be transported by the UAV. This solution consists of a gimbal installed in the UAV and, in this gimbal, a locking system capable of keeping a luggage compartment attached to the UAV during deliveries. As it requires greater precision when attaching the luggage compartment, the system has a video camera capable of determining whether the device is correctly aligned with the luggage compartment and a LiDAR (Light Detection And Ranging) responsible for checking the distance from the UAV to the luggage compartment and its locking pin.

[027] Patent document US 10040551 B2 (Drone Delivery of Coffee based on a Cognitive State of an Individual) describes the invention of a method for delivering drinks in environments where there are potential consumers, in this delivery method carrying one or more UAVs carrying containers containing liquids, fly to an area where there are clusters of people, when sensors present in the UAV detect that a person has made a gesture by waving the UAV with his hands, the UAV approaches the person who takes one of the containers carried by the UAV. This method does not depend on delivery areas, since the product is delivered with the UAV in flight, even if this activity is considered risky, with the potential to generate an incident.

[028] Patent document US 20150353195 A1 (Providing Services Using Unmanned Aerial Vehicles) describes the invention of a system, which uses fixed-wing UAVs and rotary-wing multirotors, to send medical equipment and medicines to locations where it has an accident has occurred, or where there is a medical emergency. The system is able to choose the best UAV to deliver to the location where the medical emergency occurs, also taking into account the needs, which the rescue teams present, and the type of service paid by the system's customer. The system can control the autonomous flight of the UAV to the destination, or to the nearest point to the destination, and then pass control of the UAV to an operator or pilot responsible for landing.

[029] Patent document BR 112018068233-0 A2 (Continuous Aerial Release from Drones) describes the invention of a mechanism for the transport and release of insects, this mechanism must be installed under the wings of fixed-wing UAVs and, when arriving at the areas determined for the release of the insects, this mechanism must be activated. The way in which the mechanism is activated depends on the species of insect that will be released into the environment, such information determines the altitude, flight speed and method of opening the mechanism, these restrictions are directly linked to the fragility of the species being transported and, must be correctly defined to ensure the greatest efficiency in achieving the objective of the mechanism.

[030] The scientific article “New Frontiers of Delivery Services Using Drones - A Prototype System Exploiting a Quadcopter for Autonomous Drug Shipments '' (by Gatteschi et al., And published in the 39th Annual Computer Software and Applications Conference, COMPSAC, 2015), describes a system for delivering medicines, where the customer can request delivery of the purchased medicine, through an UAV, which leaves for delivery taking a box containing the medicine to be delivered. The UAV flies to the address provided by the customer and, when it arrives at the location designated by the geographical coordinates informed by the system, it remains in a hovered flight, and detaches the box containing the medicine. This box has a parachute, which reduces the speed of the fall, in order to guarantee the integrity of the box contents. After delivery, the UAV returns to the company's take-off and landing area.

[031] The state of the art inventions, described previously, reinforce the importance and viability of autonomous aerial systems for the delivery of objects, ranging from inventions, which deal with delivery in all its stages, to inventions that deal with stages specific to a UAV delivery.

[032] Like the invention presented in this document, the patents WO 2016039882 (Methods, Systems and Devices for Delivery Drone Security), WO 2015061008 A1 (Unmanned Aerial Vehicle Delivery System), US 20150353195 A1 (Providing Services Using Unmanned Aerial Vehicles), they solve the technical problem of the aerial delivery of objects by means of UAV, however, in some scenarios of operation of these inventions, they require human intervention during the delivery process. The patent WO 2015061008 A1 (Unmanned Aerial Vehicle Delivery System) requires a remote pilot to control the UAV during landing in areas not yet known. As it does not provide for specific landing areas, US patent 20150353195 A1 (Providing Services Using Unmanned Aerial Vehicles) requires a remote pilot to control the UAV during all landings. WO 2016039882 (Methods, Systems and Devices for Delivery Drone Security) requires the participation of a user, in the landing area during delivery. The invention presented in this document describes a fully automated form of delivery, which initiated delivery, there is no need for human intervention, so that all stages of delivery are carried out.

[033] Also in relation to patents that solve the technical problem of automated delivery using UAVs, the patents WO 2016039882 (Methods, Systems and Devices for Delivery Drone Security), WO 2015061008 A1 (Unmanned Aerial Vehicle Delivery System), WO 2016037219 A1 (Delivery System), US 9573684 B2 (Unmanned Aerial Vehicle Delivery System), US 9305280 B1 (Airborne Fulfillment Center Using Unmanned Aerial Vehicles for Item Delivery) and US 2017038780 A1 (Method of Drone Delivery Using Aircraft) have delivery methods that can be applied, specifically, to the delivery of objects from only one starting point, usually deposits from large e-commerce companies, to delivery points informed by the customer. In the delivery methods presented by the US 9305280 B1 (Airborne Fulfillment Center Utilizing Unmanned Aerial Vehicles for Item Delivery) and US 2017038780 A1 (Method of Drone Delivery Using Aircraft) patents, the central point of sending goods must be a large air deposit flying over delivery area. The invention presented in this document, allows any point of collection or delivery of objects, at different times, to be treated either as the place of origin and sometimes as the place of destination of the deliveries, that is, the objects to be transported do not depart from a single location; for each new delivery the origin of the deliveries can be from a different location.

[034] US 9536216 B1 (Delivery of Packages by Unmanned Aerial Vehicle), US 9650136 B1 (Unmanned Aerial Vehicle Payload Delivery), US 9567081 B1 (Maneuvering a Package Following In-Flight Release from an Unmanned Aerial Vehicle (UAV)) patents , US 9630715 B2 (Interaction During Delivery from Aerial Vehicle), US 9459620 B1 (Human Interaction with Unmanned Aerial Vehicle) and US 20170011333 A1 (Unmanned Delivery) present inventions for the technical problem present in the final delivery step, when the object must be released from the UAV. These inventions present methods of total detachment, with the fall of the transported object, with the UAV still in flight, or the detachment of the object attached to a retractable cable, allowing the object to descend with the UAV still in flight. Such methods can cause problems during the UAV flight, reduce accuracy in relation to the delivery location, and can cause damage to the transported object and, do not guarantee the safety of the object until it is rescued by the customer. For these reasons, in the invention presented in this document, the UAV can land in the area intended for UAV takeoff and landing, move through the landing area with the aid of its ground movement control, ensuring that the object will be delivered to the landing area. discharge from the delivery place with precision and safety.

[035] WO 2016037219 A1 (Delivery System), WO 2016019242 A1 (System and Method for Controlling Drone Delivery), WO 2016012876 A1 (Unmanned Aerial Delivery Device), US 9384668 B2 (Transportation Using Network of Unmanned Aerial Vehicles) and US 20170203857 A1 (Drone Docking Station and Delivery System) solves a similar technical problem, namely, to create a safe way to keep the objects stored at the place of delivery, so that the responsible customer can, at any time, rescue such objects. For this purpose, the patents WO 2016037219 A1 (Delivery System) and WO 2016019242 A1 (System and Method for Controlling Drone Delivery) present protected spaces similar to cabinets in their delivery areas, where objects are stored. In order to be able to remove such objects, the user must present some information or device, which releases it. The patent WO 2016012876 A1 (Unmanned Aerial Delivery Device) uses a storage area inside the UAV, so, with the UAV in place, the customer must enter a release code to then remove the object from that space. In some operating scenarios, the methods of these inventions do not prevent new deliveries from being initiated even if there is still an object not picked up by a destination customer, in the unloading area. As a result, the delivery method presented in this document ensures that a delivery is not initiated until the unloading area is clear. To guarantee the safety of objects delivered by UAV, the invention presented in this document defines that there are video surveillance cameras in the object storage area and that only qualified customers have access to that area, thus ensuring that the objects stored in this area are safe.

[036] The patents US 9459620 B1 (Human Interaction with Unmanned Aerial Vehicle) and US 10040551 B2 (Drone Delivery of Coffee based on a Cognitive State of an Individual) solve the technical problem related to the identification of the place of delivery, in these inventions the customer must perform gestures recognized by the systems to inform the UAV that the place where the customer is is the place of delivery of the goods. As the invention presented in this patent document does not provide for human interaction with the UAV at any time of delivery, such methods cannot be applied to this invention.

[037] The patents US 9646283 B2 (Secure Payload Deliveries Via Unmanned Aerial Vehicles) and US 20160257423 A1 (Unmanned Aerial Delivery System) deal only with a technical problem of delivering goods via UAVs, namely platforms for UAVs takeoffs and landings , including mechanisms that allow the automated change of the UAV battery, when necessary. While the patent WO 2017096392 A1 (Autonomous Unmanned Aerial Vehicle System for Logistical Delivery) presents a system that guarantees the safety of the goods that are delivered by an UAV. The patent BR 112018068233-0 A2 (Continuous Air Release from Drones) solves part of the technical problem, namely, the release of cargo during the flight, however, its particularities prevent the method presented from being used in the invention presented in this document.

[038] In view of the above, the invention described in this document presents a unique way of making automated deliveries, without any human control after a delivery has started, which differentiates this invention in view of all the state of the art, since the sending and receiving of objects is carried out, quickly and safely, at UAVPontos, sometimes origin and destination of deliveries, via autonomous UAV. Thus, the characteristics of this invention also guarantee its greater scope of action.

Brief Description of the Figures

[039] The structure and operation of the invention, together with its additional advantages, can be better understood by reference to the attached drawings and the following descriptions:

[040] Figure 1 shows the preferred configuration of VANTPonto and its elements;

[041] Figure 2 shows the preferred configuration of the UAV and its elements;

[042] Figure 3 shows the block diagram of the delivery system;

[043] Figure 4 shows the flowchart, which represents the status changes of a delivery request;

[044] Figure 5 shows the flowchart, which represents the registration of a new delivery request;

[045] Figure 6 shows the flowchart of the automated delivery method at UAVPontos via UAV;

[046] Figure 7 shows the flow chart of the UAV autonomous flight method between two UAVpoints;

[047] Figure 8 shows the flow chart of the UAV ground handling method at UAV Point;

[048] Figure 9 shows an example of an environment, where the invention can be used;

[049] Figure 10 shows the flowchart of a delivery, in the example of the environment in Figure 9;

[050] Figure 11 shows an environment, which exemplifies deliveries on a university campus;

[051] Figure 12 shows another environment that exemplifies deliveries in a condominium;

[052] Figure 13 shows yet another environment, which exemplifies deliveries in a neighborhood;

[053] Figure 14 shows an environment, which exemplifies deliveries between companies in a city;

[054] Figure 15 shows an environment, which exemplifies deliveries between companies in a city and a leisure and sports club;

[055] Figure 16 shows an environment, which exemplifies deliveries to a military base.

Detailed Description

[056] Refers to the patent for “DEVICES, SYSTEMS AND METHODS FOR AUTOMATIC DELIVERY BY VIA NON-CREATED AERIAL VEHICLE MULTIROTOR OF ROTARY WINGS AUTONOMOUS”, which is an invention for automated deliveries of objects made by a plurality of VANTs (200) where there are fixed locations for UAV takeoffs and landings (200) called UAVPontos (100).

[057] The invention is composed of a plurality of UAV devices (200), a plurality of UAV devices (100), the UAV system (230), the UAV system (114) (100) ), and the delivery system (300), which is formed by the subsystems: server (305), communications (302), administrative (301) and mobile (306), autonomous flight method that allows the UAV to fly between two UAVpoints , ground handling method that guarantees the accuracy of the UAV when traveling through the UAVPonto, an automated delivery method that allows the UAV to deliver and collect objects at UAVPontos and, a delivery method between two users.

[058] The environment, in which the invention is used, must have UAVPoints (100), in which deliveries are made, with no need for prior knowledge of the UAVPoints geolocation (100) by the users of the invention, since the subsystem server (305) has several information about UAVPoints (100), such as: latitude, longitude, orientation in relation to the cardinal points (north, south, east and west), altitude, and also the minimum altitude for flights between the UAVPoints (100) existing in the operating environment of the invention. The VANTPonto (100) is a flat and regular surface, which guarantees the safe landing of the UAV (200), since its landing supports are fixed and do not allow adjustments during landing. The minimum flight altitude corresponds to the height of the highest obstacle between each pair of UAVPontos (100), and this information ensures that the UAV (200) always flies above the highest obstacle between each pair of UAVPontos (100). In addition to the UAVPoints (100) of origin and destination of deliveries, which are associated with users of the invention, there are also UAVPoints-base, which are UAVPoints (100) from which UAV (200) departs to perform deliveries, and returns at the end them, although deliveries can also be originated from or destined for UAVBased points. In this way, a base UAVPonto (100) can be the source or destination UAVPonto (100), respectively. Each UAV (200) must be associated with only one UAV Point-base (100) and each UAV Point-base (100) will have associated one or more UAVs (200).

[059] The UAV (200) multirotor, preferably, with four rotating wings comprises part of the invention, because it is through this device that the deliveries of objects are made. The invention adopts the multirotor UAV with rotating wings, since this type of UAV (different from the UAV with fixed wings) does not need a wide area to take off and land and, therefore, it is more suitable for use in the environment, which has small area for landing and taking off.

[060] Figure 2 shows the preferred configuration of the UAV (200) and its elements. Its main electronic component is the flight and stability controller (220). An embedded system (230) in the flight and stability controller (220), is responsible for keeping the flight stable, as well as for executing deliveries in an autonomous mode. Some sensors are already present in the controller (220), such as: gyroscope, accelerometer, digital compass and barometer. A GPS module (215) is also present, to allow autonomous flight. According to the information received from the flight and stability controller sensors (220) or from commands sent to the UAV (200), the flight and stability controller (220) sends commands to increase or decrease engine speed ( 204), (205), (210) and (211) to maintain flight stability or to perform maneuvers.

[061] To complete the control electronics, there is a telemetry module (221), which allows the exchange of messages between the UAV (200) and the communications subsystem (302). This communication is guaranteed through the antenna (303), present in the communications subsystem (302), and the antenna (201) of the UAV (200).

[062] Each of the four sets of thrusters is formed by engine and propeller, being: the propeller (202) mounted on the engine (204), the propeller (203) mounted on the engine (205), the propeller (208) mounted on the engine (210), and the propeller (209) mounted on the engine (211). To ensure control of the UAV (200), the motor (205) and the motor (210) must rotate counterclockwise, while the motor (204) and the motor (211) must rotate clockwise. The motors (204), (205), (210) and (211) are preferably brushless direct current with a rotation capacity of 1,000 RPM / Volt. As the battery (214) is, preferably, 11.1 Volt Lithium Ion, the maximum expected rotation for each of the motors (204), (205), (210) and (211) is 11,100 RPM.

[063] The UAV (200), due to the position of the engine and propeller assemblies, is called “QUAD X”, since the support structures of the engine and propeller assemblies form an “X”, where the electronic components and the battery are positioned in the center. In this “QUAD X” format, the UAV (200) becomes more stable, since it reacts to commands more smoothly. The motors (204), (205), (210) and (211) are, preferably, synchronous, and each one receives the necessary working voltage, as well as the speed control of an ESC (Electronic Speed Control) (216) . The ESCs (216) should preferably support twice the maximum current required by the motors, and should preferably work at a frequency of 1 KHz.
To facilitate the identification of the front and rear of the UAV (200) propellers of different colors are used. Propellers, preferably red (202) and (203) are in the engines (204) and (205), in front of the UAV (200), while propellers, preferably green (208) and (209) are in the engines (210) and (211), at the rear of the UAV (200). To increase safety in the operation of the UAV (200), below the motors (204) and (205) there are LEDs (Light-Emitting Diodes), preferably red (213), while below the motors (210) and (211 ), preferably green LEDs (222) are present. The LEDs (213) and (222) light up whenever the UAV (200) is in flight.

[064] One of the ways of supplying power to the flight and stability controller board (220) is through the power pins of one of the ESCs (216). However, this alternative could cause problems due to the interference generated by the engine connected to the ESC, and may even cause restart of the flight controller and stability board (220) during the flight. To avoid this problem, and to reduce the probability of incidents, we opted for the use of a force module (219), which is responsible for filtering and eliminating noise, thus ensuring the correct supply for both ESCs (216), as for the electronics of the UAV (200). The power module (219) should preferably support voltages of up to 18 Volts, and current of up to 90 Amps, ensuring greater reliability and durability to the UAV electronics (200). One connector feeds the flight and stability controller board (220), and another connector feeds the power distribution center (217), which distributes power to the four ESCs (216). For this, only the ESCs control pins (216) are connected to the flight and stability controller board (220).

[065] The UAV (200) preferably has four servants (228), which are responsible for attaching and detaching the luggage rack (212), compartment in which the transported objects are stored. The shape of the luggage rack (212) allows the transport of objects and, during deliveries, it is attached to the UAV (200), being automatically released in the discharge area (108) of the UAVPonto (100).

[066] Although the flight and stability controller board (220) provides a power channel compatible with the servos (228), using this source could cause interference capable of restarting the board in flight and, consequently, cause an incident. Therefore, the servos (228) receive the voltage from one of the ESCs (216), and only the control signals are sent by the flight and stability controller board (220).

[067] The UAV (200) has sensors (206) and (207) and actuators (224) and (225) which, under the control of the ground movement controller (223), allow the movement of the UAV (200) about the VANTPoint (100). After landing, the sensor (206), present on the left front, next to the engine (204), and the sensor (207), present on the right front, next to the engine (205), send data to the motion controller on the ground (223), so that the ground movement controller (223) sends commands to the engine (224), which controls the tire (226), and to the engine (225), which controls the tire (227). The ground movement controller (223) is also responsible for sending commands, so that the servants (228) arrest or detach the luggage rack (212).

[068] To move the VANT (200), on the surface of the VANTPonto (100), there are two tires (226) and (227) with independent motors, in the front, the motor (224) controlling the tire (226) and the engine (225) controlling the tire (227), and, at the rear, two free tires (229), that is, without engine, this control is provided by the embedded system (230). Thus, when the UAV (200) needs to make a left turn, just reduce the speed, or even stop, the left front tire (226), while maintaining the speed on the right front tire (227). To make a right turn, simply slow down, or even stop, the right front tire (227), while maintaining speed on the left front tire (226). As the rear tires are free, they allow the UAV (200) to make the curves that are necessary to get around the surface of the UAV Point (100).

[069] The main structure of the UAV (200) is called a frame, and is composed of a set of structural parts made with light and resistant materials, preferably made of aluminum and carbon fiber.

[070] Figure 1 shows the preferred configuration of VANTPonto (100) and its elements. The UAVPonto (100) is a flat surface for UAV takeoffs and landings (200), which has a cargo area (107), where the UAV luggage rack (212) (200) must be positioned with the cargo to be transported, and a discharge area (108), where the UAV (200) detaches the luggage rack (212). The mark (102), present on the surface of the VANTPonto (100), serves as a reference, so that the UAV (200) can move around the VANTPonto (100) towards the loading and unloading areas. The marking (105) delimits the unloading area (108), and the marking (104) serves as a reference, so that the UAV (200) can move to the takeoff area (103), passing through the cargo area ( 107). When the UAV (200) detects the marking (104), and stops detecting the marking (102), the UAV (200) stops, and secures the luggage rack (212) with the cargo to be transported. Then, the UAV (200) follows the mark (104) until the takeoff area (103).

[071] Each UAVPonto (100) preferably has the following set of mechanisms and auxiliary components: scale (106), used to ensure that the luggage rack (212) is not heavier than that supported by UAV (200); information panel (109), in which information related to the VANTPonto (100), the luggage rack (212) and the delivery in execution are presented; digital compass (112), which is responsible for identifying the orientation of the UAV Point (100) in relation to the cardinal points (north, south, east and west); video camera (101), which allows remote video monitoring of VANTPonto (100); GPS (110), responsible for identifying the geolocation of VANTPonto (100); control unit (111); and network interface (113), which is used to send information from VANTPonto (100) to the server subsystem (305).

[072] An embedded system (114) guarantees the processing of information from the sensors present in VANTPonto (100), as well as the communication between VANTPonto (100) and the server subsystem (305).

[073] The technologies used in data communication between the different components of the invention are varied. The data transfer between the UAV (200) and the communications subsystem (302) is bidirectional and guaranteed, respectively, through the antenna (201) of the telemetry module (221), and by the antenna (303) of the telemetry module (304). The communication between the embedded system (114) of the VANTPonto (100) and the server subsystem (305) is made by requests using, preferably, the HTTP protocol (Hypertext Transfer Protocol). The server subsystem (305) sends the delivery messages and other commands to the communications subsystem (302), while the communications subsystem (302) sends the telemetry data from the UAV (200) to the server subsystem (305) as an attitude (ie , position where the UAV is in relation to the horizon line), altitude, direction, location and, still, the state of the battery (214). Communication from the administrative subsystem (301) and the mobile subsystem (306) to the server subsystem (305) is made by requests using, preferably, the HTTP protocol, while the communication from the server subsystem (305) to the mobile subsystem ( 306) is made using, preferably, a notification service for mobile devices.

[074] Communication from the server subsystem (305) to the administrative subsystem (301) is guaranteed through a TCP (Transmission Control Protocol) connection, which allows the transmission of the telemetric data received from the communications subsystem (302). To guarantee the communication of the server subsystem (305) with the UAV (200), a communications subsystem (302) is needed, which is responsible, specifically, for the bidirectional data communication between the server subsystem (305) and the UAV (200) . The equipment where the server subsystem (305) is installed can also receive the communications subsystem (302), if the telemetry module (304) and its antenna (303) are installed on the equipment where the server subsystem (305) is installed. However, if the server subsystem (305) needs to be installed away from the UAV (200), for example, on a server installed in a datacenter, the antenna range (303) may not be sufficient. The choice of a subsystem dedicated, specifically, to data communication with the UAV (200) also allows the delivery system (300) to exchange information with other telemetry technologies and other flight control and stability systems. For this, it is enough that the communications subsystem (302) interprets a set of instructions, including stop points (i.e., positions determined by geographic coordinates, where the UAV must perform a task), received from the server subsystem (305). Then, define the delivery commands according to the technologies used and send to the UAV (200).

[075] All communication from the server subsystem (305) to the mobile subsystem (306) is done, preferably, through notifications and, as the user can receive many notifications, an area was created in the mobile subsystem (306 ), where notifications are kept for later viewing. This area is called the notification wall or, simply, mural, and stores the notifications until the user selects one of them, and responds to what is requested, at which time, that notification is excluded from the wall. The wall is displayed when selecting a newly arrived notification, or when selecting the appropriate option, in the mobile subsystem (306).

[076] When the server subsystem (305) needs to send data for a delivery to the UAV (200), a request is made to the communications subsystem (302) passing the data related to the delivery, so that the communications subsystem (302) retransmits the message to the UAV (200).

[077] During the entire operation of the UAV (200), the flight and stability controller board (220) receives telemetric data from several sensors, these data are used to keep the flight stable and are also sent to the communications subsystem. (302), which relays to the server subsystem (305). The server subsystem (305) stores this information in audit files, which are also sent to the administrative subsystem (301), which in turn presents this information in components of its interface. As in the black boxes of commercial airplanes, the stored audit files allow to simulate, in the administrative subsystem (301), the conditions of battery, latitude, longitude, altitude, orientation in relation to the cardinal points (north, south, east and west ) and UAV attitudes (200) during flights.

[078] The administrative subsystem (301) is used by users of the delivery system (300) to, for example, manage UAV Points (100), users, delivery requests, track deliveries in progress, view the history of deliveries already made and the video monitoring of UAV Points (100). The administrative subsystem (301) is responsible for displaying, in real time, the behavior of the UAV (200) during deliveries, such as its location, altitude, and attitudes in flight.

[079] To correctly display the location of the UAV (200), the administrative subsystem (301) processes the coordinates (latitude and longitude) obtained by the GPS (215) of the UAV (200), and requests a map service to send an image containing a map, with the coordinates received from the UAV (200) as the central point. As the map image will always have the position of the UAV (200) as the central point, the image of a multirotor is positioned in the center of the map, representing, in real time, the location and direction of the UAV (200). For this, the administrative subsystem (301) also needs to use the information from the digital compass present on the flight and stability controller board (220) of the UAV (200). The barometer on the flight and stability controller board (220) is used to determine the altitude of the UAV (200) during the flight, which is shown, numerically, in meters in the administrative subsystem (301). The attitude of the UAV (200) is identified, as in aircraft panels, using an artificial horizon (instrument, which shows the aircraft's position in relation to the horizon). In the interface of the administrative subsystem (301) the voltage, current, and remaining battery charge (214) are still displayed graphically.

[080] The first action, to be performed when using the invention, is the definition of the minimum flight safety altitude, which is the minimum altitude that the UAV (200) can be when performing any delivery flight between UAV Points ( 100). The second action, to be performed in the use of the invention, is the registration of all UAV Points (100), starting with a UAV Point base. For this, it is necessary to have the following information for each UAV Point (100): latitude, longitude, orientation in relation to the cardinal points (north, south, east and west) and altitude. Whenever a new UAVPonto (100) is registered in the delivery system (300), the server subsystem (305) requests that the height of the highest obstacle (representing the minimum flight altitude) between the new UAVPonto (100) be informed and all other VANTPoints (100) already registered. This information is essential, so that the server subsystem (305) safely prepares the execution of all deliveries, since the server subsystem (305) defines the flight altitude of the UAV (200) between UAVs (100) adding a value fixed in meters (representing the flight safety distance), configurable in the server subsystem (305), at the minimum flight altitude between each pair of UAVPontos (100), in case the flight altitude is lower than the minimum safety altitude flight, the latter will be considered as the flight altitude.

[081] By default, the newly registered VANTPoints (100) are not operational, and the administrator must define it as "operational" when he wants to use it to receive or send deliveries. If there is a problem with VANTPonto (100), the administrator can define it as "non-operational". If a delivery to be initiated uses a UAVPoint (100) defined as non-operational, either a UAVPoint-base, or a UAVPoint of origin, or destination, the server subsystem (305) finalizes the request related to delivery, as per step (604.1), described in the flowchart of Figure 6.

[082] Through the administrative subsystem (301), the administrator is responsible for the management of UAVs (200), UAVPontos (100), users and delivery requests, being able, for example, to suspend or reactivate a user whenever he deems necessary necessary, determine which UAVs (200) or UAVPoints (100) are or are not operational, or even suspend the system. In the administrative subsystem (301), delivery requests can be viewed and managed. The administrator can view the deliveries that are running and also the delivery requests that are in the queue to be executed, and delivery requests that have not yet started can be canceled by the administrator at any time. When a delivery request is canceled by the administrator, all users involved in that delivery request receive a notification, informing them of the delivery cancellation by the administrator, while the delivery request changes its status to (409) “Completed by the administrator”.

[083] The mobile subsystem (306), developed for mobile devices, allows the user to: register, track and manage their delivery requests. To reduce the battery consumption of the mobile device, whether due to excessive processing, or access to the server subsystem (305), we opted for the use of HTTP requests to the server subsystem (305) whenever it is necessary to insert, change, or obtain information server subsystem (305).

[084] User registration is done in the mobile subsystem itself (306), usually when used for the first time. However, even after being registered, the user will still not be able to authenticate with the delivery system (300). All newly registered users are, by default, “inactive”, until the administrator activates their respective registrations through the administrative subsystem (301).

[085] The registration of a delivery request (Figure 5) is a process, which requires the participation of two users of the delivery system (300), who act as user of origin and destination of delivery, and requires the following steps :

[086] 501 - The originating user initiates the registration of a new delivery request through the mobile subsystem (306). At this moment, the mobile subsystem (306) receives from the server subsystem (305) the names of the UAVPontos (100), which are operational;

[087] 502 - The originating user must choose in the mobile subsystem (306) the original VANTPonto (100), from where the delivery will start;

[088] 503 - The originating user must choose the destination VANTPonto (100) in the mobile subsystem (306), where the delivery must be made. At this point, the mobile subsystem (306) requests from the server subsystem (305) the names of users authenticated to the delivery system (300), and who are linked to the selected destination VANTPonto (100);

[089] 504 - The mobile subsystem (306) receives the list of users authenticated to the delivery system (300), and who are linked to the destination VANTPonto (100). The originating user must choose, in the mobile subsystem (306), the user linked to the destination VANTPonto (100). This user will be responsible for receiving the delivery;

[090] 505 - In the mobile subsystem (306), the originating user must provide a description for the delivery;

[091] 506 - In the mobile subsystem (306), the originating user can cancel the registration (506.1) by finalizing the delivery request with the state (406) or, confirm the registration (506.2) and, at this moment, the server subsystem (305) stores the information related to the new delivery request registered, creating the new request initially with the state (401). To then send a notification to the destination user's mobile device asking him if he wants to receive delivery;

[092] 507 - In the mobile subsystem (306), the destination user opens the notification received, in the notification area of the mobile subsystem (306), and can check the information related to the delivery;

[093] 508 - In the mobile subsystem (306), the destination user confirms receipt (508.2) and then the server subsystem (305) updates the delivery request to the state (402). To then send notifications to the mobile devices of the users involved in the request (source and destination users), asking them to confirm the availability of UAVPontos (100) or, through the mobile subsystem (306), the destination user can cancel the receipt (508.1). When this occurs, the server subsystem (305) updates the request to state (404), and sends a notification to the source user's mobile device asking the source user to choose another destination user;

[094] All delivery requests registered by users are managed by the server subsystem (305), which maintains a history of changes occurred in deliveries, such as requisition states (Figure 4). Whenever a request undergoes a change of state, the server subsystem (305) sends information to the users involved with that request.

[095] 509 - In the mobile subsystem (306), the originating user can view the information of his delivery requests, and can cancel the registration (509.1), canceling the delivery request with the state (406). The originating user can also choose another destination user, from the list of users authenticated to the delivery system (300), who are linked to the destination VANTPoint (100), confirm (509.2), changing the request to the state (401 ) and, after that, will return to step (507);

[096] 510.2 - In the mobile subsystem (306), either the originating user is allowed to cancel the delivery receipt by changing the request to the state (406) or, in the mobile subsystem (306), the destination user cancels the receipt of the delivery (511.2), changing the requisition to the state (403), with that, this delivery requisition will leave the delivery queue to be executed.

[097] 510.1 - The original user positions the luggage rack (212) with the cargo to be transported, in the appropriate location (107) of the VANTPonto (100);

[098] 512 - The balance (106), from the original VANTPonto (100), verifies that the weight of the luggage rack (212) with the load to be transported is below the UAV load limit (200), which will meet the request delivery, and presents the result through the panel (109) of the original VANTPonto (100);

[099] 514 - If the panel (109) informs that the weight is suitable for the UAV (200), which will meet the delivery request, the originating user can define that the UAVPonto (100) is ready for delivery. On the contrary, the original user can reduce the weight of the stored cargo, in the luggage rack (212), and return to step (510.1), or cancel the delivery by returning to step (510.2), changing the request to the state (406) and thereby canceling the delivery;

[100] 511.1 - The destination user places an empty luggage rack (212) in the appropriate location (107) of the destination VANTPonto (100);

[101] 513 - The scale (106) checks whether the weight of the empty luggage rack (212) is less than the load limit of the UAV (200) in use, and presents the result through the panel (109) present in the UAVPoint (100 ) of destination;

[102] 515 - If the panel (109) informs that the weight of the luggage rack (212) is suitable for the UAV (200), which will meet the delivery request, in the mobile subsystem (306), the destination user can define that the VANTPoint (100) is ready for delivery. On the contrary, the destination user can reduce the weight of the stored cargo, in the luggage rack (212), and return, again, to step (511.1), or cancel the delivery by returning to step (511.2), changing the request to the state ( 403) and thereby canceling the delivery;

[103] 516 - The server subsystem (305) updates the request by defining it with the status (405) "Ready for delivery".

[104] Users of the delivery system (300) can track all active delivery requests, with which they are part as a source, or as a destination, through the mobile subsystem (306). You can also cancel delivery requests, in which you are the originating user, as long as this request is in the state (407) "In execution". If the user is part of the delivery request as a destination, the user can also cancel the delivery receipt. If this occurs, the delivery request has its status changed to (401) “Choose a destination user”, and the originating user must choose another destination user to receive the delivery, according to step (504), or cancel the requisition (506.1), changing the requisition to the state (406) “Cancellation by the originating user”.

[105] When the user closes the mobile subsystem (306), all delivery requests are canceled which the user is part of as a delivery source or destination. While all acceptances for receiving deliveries, in which it is a destination, are canceled, and all delivery requests have their status changed to (401) “Choose a destination user”. This forces users, who entered such delivery requests, to choose another valid user to receive delivery, step (504), or cancel the request, step (506.1).

[106] The server subsystem, in addition to being responsible for the management of users, UAVs (200), VANTPoints (100) and delivery requests, is also responsible for executing the delivery method advocated in this document, which occurs when administrator enables the delivery system (300) to start delivery operations, obeying a queue, which prioritizes the oldest delivery requests, the server subsystem (305) executes the automated delivery method on the UAVs via UAV (Figure 6), which comprises:

[107] 602 - Check the status of delivery requests to discover delivery requests, which have the status (405) "Ready for delivery", and choose the oldest of the requests found;

[108] 603.1 - If there is no delivery request ready to be initiated, the server subsystem (305) will wait for a waiting time in seconds, configurable in the server subsystem (305) and, after this time has elapsed, it will return to step (602 ); or

[109] 603.2 - Upon finding the oldest delivery request, which can be initiated, the server subsystem (305) verifies whether the UAVPoints (100) involved in the delivery (base, origin and destination) are operational;

[110] 604.1 - If, at least, one of the UAVPoints (100) involved in delivery is not operational, the server subsystem (305) cancels the delivery, updating the delivery request to the state (408) "Cancellation by the server subsystem" , and returns to step (602);

[111] 604.2 - If all UAVPoints (100) involved in delivery (base, origin and destination) are operational, the server subsystem (305) updates the delivery request to the state (407) "In execution".

[112] 605 - Then, the server subsystem (305) obtains the geolocation information of the UAVPontos (100) involved in the delivery (base, origin and destination);

[113] 606 - The server subsystem (305) prepares a notification to the users (source and destination) involved in the delivery, informing that the delivery will start;

[114] 607 - The server subsystem (305) sends a message to the notification service, so that this service sends a notification to the mobile subsystem (306) of the users involved in the delivery;

[115] 608 - The notification service sends notifications to the mobile subsystem (306) of the users (source and destination) involved in delivery;

[116] 609 - The mobile subsystem (306) of the users involved in the delivery receives the notification, and places it on the wall;

[117] 610 - The mobile subsystem (306) of the users involved in the running delivery request informs each user, regarding the arrival of a notification;

[118] 611 - Users involved in delivery select the notification received;

[119] 612 - The mobile subsystem (306) presents the wall;

[120] 613 - Users involved in delivery select the notification on the wall;

[121] 614 - The mobile subsystem (306) excludes the notification read from the wall;

[122] 615 - The server subsystem (305) assembles a set of instructions necessary for the execution of the delivery, including stopping points;

[123] The server subsystem (305) selects, from the plurality of UAVs, the UAV (200) that will be responsible for executing the delivery. The choice takes into account the location of UAVs (100) involved in delivery, UAVs availability (200), the weight and volume of the cargo to be transported.

[124] 617 - The server subsystem (305) sends a set of instructions to the communications subsystem (302), which contains the instructions necessary to execute delivery by the UAV (200) chosen from the plurality of UAVs;

[125] 618 - The communications subsystem (302) transforms this instruction information received into a mission (i.e., set of stop points necessary for the execution of a delivery), which will be executed by the UAV (200);

[126] 619 - The communications subsystem (302) sends the mission to the chosen UAV (200), from the plurality of UAVs, to execute the delivery;

[127] 620 - The flight and stability controller board (220) of the UAV (200) validates the message content, and stores it in the UAV memory (200);

[128] 621 - The UAV (200), carrying an empty luggage rack (212), takes off from the UAVPonto-base (100), and flies towards the UAVPonto (100) of origin;

[129] 622 - The UAV (200) lands, at the original UAVPonto (100), and starts the movement on the ground;

[130] 623 - The UAV (200) moves to the discharge area (108) of the original UAV Point (100), and detaches the empty luggage rack (212);

[131] 624 - The UAV (200) moves to the cargo area (107) of the original UAV Point (100), and secures the luggage rack (212), which is with the cargo to be transported;

[132] 625 - The UAV (200) travels to the departure area (103) of the original UAV Point (100);

[133] 626 - The UAV (200) taking the luggage rack (212) with the cargo to be delivered, takes off from the original UAV (100), and flies towards the destination UAV (100);

[134] 627 - The UAV (200) lands at the destination VANTPonto (100), and starts moving on the ground;

[135] 628 - The UAV (200) moves to the discharge area (108) of the destination UAV (100), and detaches the luggage rack (212) with the load;

[136] 629 - The UAV (200) moves to the cargo area (107) of the destination UAV (100), and secures the empty luggage rack (212);

[137] 630 - The UAV (200) travels to the takeoff area (103) of the destination UAV (100);

[138] 631 - The UAV (200), carrying an empty luggage rack (212), takes off from the destination UAV (100), and flies towards the UAVPonto-base (100);

[139] 632 - The UAV (200) lands on the UAVPonto-base (100), and informs the communications subsystem (302), which completed the delivery request;

[140] 633 - The communications subsystem (302) informs the server subsystem (305) that the delivery request has been completed;

[141] 634 - The server subsystem (305) updates the delivery request to the state (410) "Finished", and returns to step (602).

[142] The flow chart in Figure 7 shows the UAV autonomous flight method (200) between two UAV Points (100), from UAV Point VP1 to UAV Point VP2, which is used in steps (620), (625) and (630) of the automated delivery method at UAVsPoints via UAV:

[143] 701 - UAV (200) must take off from UAVPonto (100) VP1, that is, ascend, perpendicularly to the ground, until reaching the flight altitude between UAVPonto (100) VP1 and VANTPonto (100) VP2;

[144] 702 - UAV (200) must fly, parallel to the ground, and towards UAVPoint (100) VP2;

[145] 703 - The UAV (200) must rotate, in the direction that it uses less battery, until the sensor (206) is directed to the marking (102) of the VANTPoint (100) VP2;

[146] 704 - UAV (200) must land on UAVPonto (100) VP2, that is, descend, perpendicularly to the ground, until reaching the altitude of UAVPonto (100) VP2.

[147] The flowchart in Figure 8 shows the UANT ground handling method (200) at UAV Point (100), which is used in steps (621), (622), (623), (624), (626) , (627), (628) and (629) of the automated delivery method at UAVPontos via UAV, in order to guarantee the correct movement of UAV (200) over UAVPonto (100), and to secure, or detach, the luggage rack ( 212) in an automated way:

[148] 801 - Move the UAV (200) forward and, with the sensor (206), locate the UPRpoint (100) mark (102);

[149] 802 - When the sensor (206) finds the mark (102) of the VANTPoint (100), the UAV (200) must turn to the right;

[150] 803 - Move the UAV (200) forward, following the marking (102) on the UAVPonto (100) with the sensor (206), until the sensor (207) finds the UAVPonto (100) marking (105) ;

[151] 804 - When the sensor (207) finds the mark (105) of the VANTPonto (100), the UAV (200) prepares to release the rack (212), in the discharge area (108) of the VANTPonto (100);

[152] 805 - Move the UAV (200) forward, following the marking (102) of the VANTPonto (100) with the sensor (206), until the sensor (207) no longer finds the marking (105) of the VANTPonto ( 100);

[153] 806 - UAV (200) must stop the movement;

[154] 807 - The UAV (200) must detach the luggage rack (212), in the discharge area (108) of the UAVPonto (100);

[155] 808 - Move the UAV (200) forward, following the marking (102) of the UAVPonto (100) with the sensor (206), until the sensor (207) finds the UAVPonto (100) marking (104) ;

[156] 809 - Prepare the UAV (200) to secure the luggage rack (212), which is in the cargo area (107) of the UAVPonto (100);

[157] 810 - Move the UAV (200) forward, following the marking (102) of the VANTPonto (100) with the sensor (206), until the sensor (206) no longer finds the marking (102) of the VANTPonto ( 100);

[158] 811 - UAV (200) must stop the movement;

[159] 812 - The UAV (200) must secure the luggage rack (212) with the cargo, which is in the cargo area (107) of the UAV Point (100);

[160] 813 - Move the UAV (200) forward, following the marking (104) of the VANTPonto (100) with the sensor (207), until the sensor (207) stops locating the marking (104) of the VANTPonto ( 100), that is, in the takeoff area;

[161] 814 - The UAV (200) must stop the movement.

Examples of Operation of the Invention

[162] Below, several usage scenarios are presented, in which the invention presented in this document could be used, followed by the description of several examples of deliverables that could occur in these scenarios.

[163] An operating environment scenario of the invention can be found in Figure 9, where there are four operational UAVPoints (100): UAVPonto-base (901), UAVPonto A (903), VANTPonto B (906) and VANTPonto C (908 ). When registering the UAVPontos (100) in the delivery system (300), the height of the highest obstacle (minimum flight altitude) for each pair of UAVPontos (100) must be informed. If there is no obstacle, the system will use the minimum flight safety altitude, which is a fixed value, but configurable in the server subsystem (305) and, in this scenario, the minimum flight safety altitude defined by the administrator is 10 meters . The flight safety distance is also configurable in the server subsystem (305), the value of that flight safety distance will be added to the minimum flight altitude or, the minimum flight safety altitude. Thus, the result of this sum will be the flight altitude between the UAVs (100), in this scenario, the flight safety distance defined by the administrator is five meters.

[164] As there is an obstacle (902) measuring 12 meters between VANTPonto-base (901) and VANTPonto A (903), the server subsystem (305) determines the value of 17 meters at flight altitude between VANTPonto-base (901) and VANTPonto A (903), that is, adding, in this example, five meters to the minimum flight altitude (902).

[165] As there is no obstacle between the UAVPonto-base (901) and VANTPonto B (906), the server subsystem (305) determines the value of 10 meters at the flight altitude between the UAVPonto-base (901) and the UAV Point B (906).

[166] There is no obstacle between VANTPonto-base (901) and VANTPonto C (908). As a result, the server subsystem (305) determines the value of 10 meters at the flight altitude between VANTPonto-base (901) and VANTPonto C (908), which is the minimum flight safety height of this scenario.

[167] Between VANTPonto A (903) and VANTPonto B (906) there is also no obstacle. Because of this, the server subsystem (305) also determines the value of 10 meters at the flight altitude between VANTPonto A (903) and VANTPonto B (906).

[168] As the obstacle (904) measures only three meters, and is located between VANTPonto A (903) and VANTPonto C (908), the server subsystem (305) determines the value of 10 meters at flight altitude between VANTPonto A (903) and VANTPonto C (908).

[169] Between VANTPonto B (906) and VANTPonto C (908) there are two obstacles, the obstacle (905) measuring 18 meters and the obstacle (907) measuring six meters. Thus, the server subsystem (305) uses the highest obstacle (905) as a reference, and determines the value of 23 meters at the flight altitude between VANTPonto B (906) and VANTPonto C (908).

[170] The steps taken by UAV (200) to carry out a delivery originating from UAV Point A (903) and as a destination UAV Point C (908), in the scenario of Figure 9, can be understood through Figure 10.

[171] 1001 - UAV (200) must take off from UAVPonto-base (901), and ascend, perpendicular to the ground, until reaching 17 meters of altitude;

[172] 1002 - UAV (200) must fly, parallel to the ground, and towards UAVPoint A (903);

[173] 1003 - When UAV (200) is flying over UAV Point A (903), UAV (200) must rotate, until its sensor (206) is facing the mark (102) of UAV Point A (903);

[174] 1004 - When UAV (200) is correctly aligned with UAV Point A (903), UAV (200) must land on UAV Point A (903);

[175] 1005 - UAV (200) must perform the movement on the ground, at UAV Point A (903), as described in the flowchart of Figure 8;

[176] 1006 - UAV (200) must take flight from UAV Point A (903), climbing perpendicularly to the ground, until reaching 10 meters of altitude;

[177] 1007 - UAV (200) must fly, parallel to the ground, and towards UAVPoint C (908);

[178] 1008 - When the UAV (200) is flying over the UAVPonto C (908), the UAV (200) must rotate, until its sensor (206) is facing the mark (102) of the UAVPonto C (908);

[179] 1009 - When UAV (200) is correctly aligned with UAV Point C (908), UAV (200) must land on UAV Point C (908);

[180] 1010 - UAV (200) must perform the movement on the ground, at UAV Point C (908), as described in the flowchart of Figure 8;

[181] 1011 - The UAV (200) must take off from UAVPonto C (908), ascending, perpendicularly to the ground, until reaching 10 meters of altitude;

[182] 1012 - The UAV (200) must fly, parallel to the ground, and towards the UAVPonto-base (901);

[183] 1013 - When the UAV (200) is flying over the UAVPonto-base (901), the UAV (200) must land on the UAVPonto-base (901). This last step concludes the delivery.

[184] Figure 11 presents another scenario for using the invention. In this scenario of a university campus, there are several UAV Points (100), ie UAV Point of Department A (1103), UAV Point of Department B (1104), UAV Point of Rectory (1111), UAV Point of University (1110), UAV Point from Center A (116), and UAVPonto-base do Almoxarifado (1119). Linked to Department A (1103) VANTPoint are the users: Professor A1 (1101), Professor A2 (1107) and Student A1 (1105). Linked to Department B Point VANT (1104) are users: Technician B1 (1102), Student B1 (1106) and Professor B1 (1108). Linked to the VANTPonto da Reitoria (1111) are the users: Técnico R1 (1109), Professor R1 (1112) and Técnico R2 (1113). Linked to the UAV Point of Center A (1116) are users: Professor 1 of Department C of Center A (1114), Professor 2 of Department C of Center A (1117), Professor 1 of Department D of Center A (1120), Professor 1 from Department E of Center A (1122), Professor 2 from Department E of Center A (1123), Technician 1 from Department D of Center A (1115) and Technician 1 from Department E of Center A (1121). Linked to the UAVPonto-base of the warehouse (1119) are the users: Technician 1 of the warehouse (1118) and Technician 2 of the warehouse (1124). All users presented in this scenario can send, or receive deliveries.

[185] Example 11.1: Professor R1 (1112) needs to send a defective keyboard to Technician B1 (1102), for this the system sends a UAV (200) from the UAVPonto-base da Universidade (1110) to take the placed keyboard by Professor R1 (1112) in the cargo area (107) of the VANTPonto da Reitoria (1111), fly to the UAVPonto in Department B (1104) and deliver the defective keyboard, after delivery, the UAV (200) returns to the UAVPonto-base of the University (1110);

[186] Example 11.2: Student A1 (1105) can send electronic components to Professor B1 (1108), for that the system sends a UAV (200) from the UAV University Base Point (1110) to take the electronic components placed by Student A1 (1105) in the cargo area (107) of UAVPonto Department A (1103), fly to UAVPonto Department B (1104) and make the delivery of electronic components, after delivery, UAV (200) returns the UAVPonto-base da Universidade (1110);

[187] Example 11.3: Professor A1 (1101) can send a book to Professor R1 (1112), to do this the system sends a UAV (200) from the University's Base Point UAV (1110) to pick up the book placed by Professor R1 (1112) in the cargo area (107) of the UAV Point of Department A (1103), fly to the UAV Point of the Rectory (1111) and deliver the book, after delivery, UANT (200) returns to UAV Point University base (1110);

[188] Example 11.4: Professor 2 of Department E of Center A (1123) can send a book to Professor R1 (1112), for this the system sends a UAV (200) from the UAVPonto-base da Universidade (1110) so that take the book placed by Professor R1 (1112) in the cargo area (107) of the UAVPonto do Centro A (1116), fly to the UAVPonto da Rectory (1111) and deliver the book, after delivery, the UAV (200 ) returns to the University's Base Point UAV (1110);

[189] Example 11.5: Technician 1 of the warehouse (1118) can send inputs for activities requested by Professor 1 of Department D of Center A (1120), for this the system sends a UAV (200) of the UAVPonto-base do Almoxarifado ( 1119) with the inputs placed by Technician 1 of the Warehouse (1118) in the cargo area (107) of the UAVPonto-base of the warehouse (1119), the UAV (200) flies to the UAVPonto do Centro A (1116) and makes the delivery of the inputs, after delivery, the UAV (200) returns to the UAVPonto-base do Almoxarifado (1119);

[190] Example 11.6: Professor 2 of Department E of Center A (1123) can send the 3D design of a product to Technician R1 (1109) so that he can, using a 3D printer, prepare the product and send it via UAV to Professor 2 of Department E of Center A (1123), for this, when finalizing the printing of the product, the system sends a UAV (200) of the UAVPonto-base do Almoxarifado (1119) to take the product placed by Technician R1 (1109) in the cargo area (107) of the UAV Point of the Rectory (1111), fly to UAV Point of Center A (1123) and deliver the product, after delivery, UAV (200) returns to UAV Point base of the Warehouse (1119).

[191] Figure 12 presents another scenario. In this house condominium environment, there is the VANTPonto-base of the condominium (1210), and each street of this condominium has a VANTPonto (100) with users linked to it. Thus, linked to the UAVPonto of street A (1207) are the residents of house A1 (1201) and (1202), the resident of house A2 (1203), the resident of house A3 (1204), the resident of house A4 (1205) ), and the resident of house A5 (1206). In turn, linked to the VANTPoint of the street Z (1216) are the resident of the house Z1 (1211), the resident of the house Z2 (1212), the resident of the house Z3 (1213), the resident of the house Z4 (1214) and the resident of house Z5 (1215). The employee (1209) is already linked to the UAS Point of the ordinance (1209). There is also the VANTPonto of a hamburger shop (1218), where employees (1217) and (1219) can send orders placed by customers.

[192] Thus, all residents of the condominium and the concierge (1208) can send or receive deliveries via the invention, for example:

[193] Example 12.1: the resident (1201) can send a household utensil to the resident (1213), for this the system (300) sends a UAV (200) from the UAVPonto-base of the condominium (1210) to pick up the utensil placed by the resident (1201) in the cargo area (107) of UAVPonto da Rua A (1207), fly to UAVPonto da Rua Z (1216) and deliver the household utensil, after delivery, UAV (200) returns the condominium base UAV (1210);

[194] Example 12.2: the resident (1211) can send a package of sugar to the resident (1204), for this the system sends a UAV (200) from the UAVPonto-base of the condominium (1210) to take the sugar package placed by the resident (1211) in the cargo area (107) of the VANTPonto da Rua Z (1216), fly to the UAVPonto da Rua A (1207) and deliver the sugar package, after delivery, the UAV (200) returns to the condominium base UAV (1210);

[195] Example 12.3: the concierge employee (1208) can send correspondence to the resident (1215), for this the system (300) sends a UAV (200) from the UAVPonto-base of the condominium (1210) to pick up the correspondence placed by the concierge (1208) in the cargo area (107) of the UAVPonto do Concierge (1209), fly to the UAVPonto da Rua Z (1216) and deliver the mail, after delivery, the UAV (200) returns the condominium base UAV (1210);

[196] Example 12.4: the employee (1217) sends the products received to the resident (1205), for that the system (300) sends a UAV (200) from the UAVPonto-base of the condominium (1210) to pick up the products placed by the concierge (1208) in the cargo area (107) of the VANTPonto of the ordinance (1209), fly to the UAVPonto da Rua A (1207) and deliver the products, after delivery, the UAV (200) returns to the UAVPonto-base of the condominium (1210);

[197] Example 12.5: the employee (1208) of the concierge, asks the employee (1219) of the hamburger shop, that the delivery of the products purchased by him be made through an UAV, directly at the UAV Point of the ordinance (1209), for this the system (300) sends a UAV (200) from the UAVPonto-base of the condominium (1210) to pick up the products placed by the hamburger employee (1219) in the cargo area (107) of the UPRP hamburger point (1218), fly to the VANTPonto of the ordinance (1209) and make the delivery of the products, after delivery, the UAV (200) returns to the UAVPonto-base of the condominium (1210).

[198] Figure 13 presents another scenario of a neighborhood. This environment is composed of the UAVPontos (100): UAVPonto-base (1308) owned by a delivery company, which provides delivery services via UAV (200); the VANTPonto in building A (1305), where residents (1301), (1302), (1303) and (1304) are users linked to the VANTPonto (1305); the VANTPonto of condominium A (1313), where residents (1314), (1315), (1316) and (1318) are users linked to VANTPonto (1313); the VANTPonto of the house A4 (1320) belonging to the resident (1317) of the house A4, the VANTPonto of the hamburger shop (1306), where the employees (1307) and (1309) are users linked to the VANTPonto (1306); the pharmacy VANTPonto (1310), where employees (1311) and (1312) are users linked to VANTPonto (1310); the bakery VANTPonto (1319), where employees (1321) and (1322) are users linked to the VANTPonto (1319); and the VANTPonto store (1323), where employees (1324) and (1325) are users linked to VANTPonto (1323). Some examples of deliveries in the Figure 13 scenario are:

[199] Example 13.1: the resident (1302) purchases a hamburger, and requests delivery via UAV, for this the hamburger employee (1307) requests a delivery to the delivery service company via UAV, which sends a UAV (200) from its UAVPonto-base (1308) to the UAVPonto of the hamburger (1306) to collect the hamburger, which the hamburger employee (1307) positioned in the cargo area (107) of the UAVPonto of the hamburger (1306). Then, the UAV (200) flies to the UAVPonto of building A (1305) to deliver the burger and, at the end of the delivery, the UAV (200) returns to the UAVPonto-base (1308) of the delivery company;

[200] Example 13.2: the resident of house A3 (1316) purchases a drug from the pharmacy, and requests delivery via UAV at UAVPonto do Condomínio A (1313), for this, the employee (1311) asks the insurance company deliveries that send a UAV (200) from your UAVPonto-base (1308) to the UAVPonto of the pharmacy (1310), pick up the medicine and deliver it to UAVPonto (1313) in condominium A;

[201] Example 13.3: every day in the morning, the bakery supplies bread to the resident of house A4 (1317), for this, every day in the morning, an employee of the bakery (1321) or (1322) requests a delivery for the delivery service provider company via UAV, which sends a UAV (200) from its UAVPonto-base (1308) to the UAVPonto da bakery (1319) to collect the bread, which an employee of the bakery (1321) or (1322) positioned in the loading area (107) of the UAVPonto bakery (1319). Then, the UAV (200) flies to the UAVPonto of box A4 (1320) to deliver the bread and, at the end of the delivery, the UAV (200) returns to the UAVPonto-base (1308) of the delivery company;

[202] Example 13.4: the resident (1303) of building A, purchases lines and other trims, requesting that the delivery be made through UAVs, directly to the UAV Point (1305) of his building, for this the employee of the sewing store (1324) requests a delivery to the delivery service provider company via UAV, which sends a UAV (200) from its UAVPonto-base (1308) to the UAVPonto in the sewage shop (1323) to collect the products, which the clerical store employee (1324) positioned in the cargo area (107) of the clutch store's UAVPonto (1323). Then, the UAV (200) flies to the UAVPonto of building A (1305) to deliver the products and, at the end of the delivery, the UAV (200) returns to the UAVPonto-base (1308) of the delivery company.

[203] Figure 14 presents another scenario, with an environment in which deliveries are made between companies in a city. This environment is composed of the UAVPontos (100): UAVPonto-base (1401) owned by the delivery company A, which provides delivery services via UAV (200); VANTPonto da Farmácia XXX Matriz (1402), where employees (1403) and (1404) are users linked to VANTPonto (1402); VANTPonto da Farmácia XXX Branch 2 (1406), where employees (1405) and (1409) are users linked to VANTPonto (1406); VANTPonto da Farmácia XXX Branch 1 (1407), where employees (1408) and (1410) are users linked to VANTPonto (1407); UAVBase of delivery company B; VANTPonto's pastry shop (1412), where employees (1413) and (1414) are users linked to VANTPonto (1412); VANTPonto of the sewing store (1415), where employees (1416) and (1419) are users linked to VANTPonto (1415); and VANTPonto da laundry (1418), where employees (1417) and (1420) are users linked to VANTPonto (1418). Here are some examples of deliveries in the scenario in Figure 14:

[204] Example 14.1: Pharmacy XXX Branch 1 (1407) needs some drugs that are missing from its stock, and requests them from Pharmacy XXX Headquarters (1402), so that the delivery is made via UAV, for this, the employee (1403) of Farmácia XXX Matriz requests a delivery to the delivery service provider company A, which sends a UAV (200) of its UAVPonto-base (1401) to VANTPonto of Farmácia XXX Matriz (1402). The UAV (200) must collect the drugs, which the employee (1403) of the Pharmacy XXX Matriz positioned in the cargo area (107) of the VANTPonto of the Pharmacy XXX Matriz (1402). Then, the UAV (200) flies to the UAVPonto da Farmácia XXX Branch 1 (1407) to deliver the medication. At the end of the delivery, the UAV (200) returns to the Base UAV (1401) of delivery company A.

[205] Example 14.2: the employee (1409) of the Pharmacy XXX Branch 2 needs a certain drug that is in the stock of the Pharmacy XXX Matrix, and requests the medicine and delivery via UAV, for this, the employee (1403) of the Pharmacy XXX Matrix requests a delivery to the delivery service provider company A, which sends a UAV (200) from its UAVPonto-base (1401) to the UAVPonto of Farmácia XXX Matriz (1402). The UAV (200) must collect the drugs, which the employee (1403) of the Pharmacy XXX Matriz positioned in the cargo area (107) of the VANTPonto of the Pharmacy XXX Matriz (1402). Then, the UAV (200) flies to the UAVPonto da Farmácia XXX Branch 1 (1407) to deliver the medication. At the end of the delivery, the UAV (200) returns to the Base UAV (1401) of delivery company A.

[206] Example 14.3: the employee (1408) of the Pharmacy XXX Branch 1 can make the purchase of pastries, requesting that the delivery must be made via UAV, for this, the employee (1413) of the pastry orders a delivery to the company providing the delivery service B, which sends a UAV (200) from its UAV Point-base (1411) to the UAV Point of pastry (1412). The UAV (200) must collect the pastries, which the employee (1413) of the pastry placed in the loading area (107) of the UAVPonto of the pastry (1412). Then, the UAV (200) flies to the UAVPonto da Farmácia XXX Branch 1 (1407) to deliver the pastels. At the end of the delivery, the UAV (200) returns to the UAVPontobase (1411) of delivery company B.

[207] Example 14.4: the employee of the delivery company B can make the purchase of pastels, requesting that the delivery must be made via UAV, for that, he sends a UAV (200) from his UAVPonto-base (1411) to UAVPonto from the pastry shop (1412). The UAV (200) must collect the pastries, which the pastry chef (1414) placed in the loading area (107) of the pastry UAVPonto (1412). Then, the UAV (200) flies to the UAVPonto-base (1411) of delivery company B, where it delivers the pastels.

[208] Figure 15 presents a scenario of a city with a leisure and sports club. This environment is composed of UAVPontos (100): UAVPontobase (1512) belonging to the club, where employees (1511) and (1513) can act as users linked to VANTPonto (1512); VANTPonto of restaurant 1 (1502), where members (1501) and (1503) can act as users linked to VANTPonto (1502); VANTPonto at restaurant 2 (1515), where members (1514) and (1516) can act as users linked to VANTPonto (1515); VANTPonto of the guest apartments (1509), where members (1508) and (1510) can act as users linked to the VANTPonto (1509); Base UAV (1507) owned by a delivery company, which provides delivery service via UAV (200); VANTPonto at the supermarket (1504), where employees (1505) and (1506) are users linked to VANTPonto (1504); VANTPonto pharmacy (1518), where employees (1517) and (1519) are users linked to VANTPonto (1518). In this scenario, deliveries could be made only between users in the club context, for example:

[209] Example 15.1: member 2 (1503) needs to forward a portable video game to partner 6 (1516), for this the system (300) sends a UAV (200) from the UAV Club Base Point (1512) to get a video game portable device placed by partner 2 (1503) in the cargo area (107) of the VANTPonto do Restaurante 1 (1502), fly to the UAVPonto do Restaurante 2 (1515) and deliver the portable video game, after delivery, the UAV (200 ) returns to the club's Base UAV (1512);

[210] Example 15.2: Employee 1 (1511) forwards a bag of candy to member 3 (1508), for which the system (300) sends a UAV (200) from the UAV Club Base Point (1512) to pick it up meals placed in the cargo area (107) of the VANTPonto do Restaurante 2 (1515), fly to the apartments UAVPonto (1509) and deliver the bag of candy, after delivery, the UAV (200) returns to the UAVPonto- club base (1512). However, it is also possible to make deliveries between users of the club and companies that are on the periphery of the club such as:

[211] Example 15.3: Employee 1 (1511) purchases inputs at the supermarket and requests delivery via UAV. For this purpose, the employee (1504) at the supermarket requests a delivery from the delivery service company, which sends a UAV (200) from its UAVPonto-base (1507) to the UAVPonto in the supermarket (1504). The UAV (200) must collect the inputs, which the supermarket employee (1505) positioned in the loading area (107) of the supermarket's UAVPonto (1504). Then, the UAV (200) flies to the UAVPonto-base of the club (1512) to effect the delivery of the inputs. At the end of the delivery, the UAV (200) returns to the base UAV (1507) of the delivery company;

[212] Example 15.4: Partner 4 (1510) purchases a drug, and requests delivery via UAV. For this, the pharmacy employee (1517) requests a delivery from the delivery company, which sends a UAV (200) from its UAVPonto-base (1507) to the UAVPonto of the pharmacy (1518). The UAV (200) must collect the medicine, which the pharmacy employee (1517) positioned in the cargo area (107) of the pharmacy UAV Point (1518). Then, the UAV (200) flies to the UAV Point of the apartments (1509) to deliver the medication. At the end of the delivery, the UAV (200) returns to the base UAV (1507) of the delivery company;

[213] Figure 16 shows the scenario of a military base. This environment is composed of the UAVPontos (100): UAVPonto-base of the barracks (1615), where the military 10 (1614) and the military 11 (1616) can act as users linked to the VANTPonto (1615); UAVPonto-base Ala Norte (1604) where military 3 (1605), military 4 (1606) and military 5 (1607) can act as users linked to VANTPonto (1604); UAVPonto-base Ala Sul (1622) where military 16 (1621) and military 17 (1625) can act as users linked to VANTPonto (1622); UAVPonto do hospital (1602) where military 1 (1601) and military 2 (1603) can act as users linked to VANTPonto (1602); VANTPonto of the camp (1609) where military 6 (1608) and military 7 (1610) can act as users linked to VANTPonto (1609); VANTPonto in refectory 1 (1612) where military 8 (1611) and military 9 (1613) can act as users linked to VANTPonto (1612); VANTPonto in refectory 2 (1618) where military 12 (1617) and military 13 (1623) can act as users linked to VANTPonto (1618); VANTPonto do paiol (1620) where military 14 (1619) and military 15 (1624) can act as users linked to VANTPonto (1620); the pharmacy UAVPonto (1626) is also presented, however, it will not be possible for the plurality of UAVs in the barracks to deliver or collect objects outside the air space of the barracks. In this scenario, deliveries could be made only between users in the context of the military base, since only UAVs that are part of the system, belonging to the barracks, will be able to fly in the airspace of the military base. Here are some examples:

[214] Example 16.1: Military 7 (1610) requests Military 11 (1616) to send ammunition for the next day's training. Military 11 (1616) sends a UAV (200) from the UAVPonto-base of the barracks (1615) to the UAVPonto of the magazine (1620), to collect the ammunition that the military 14 (1619) placed in the cargo area (107) of the UAVPonto from the magazine (1620) to be delivered. Then, the UAV (200) flies to the UAVPonto of the camp (1609) to deliver the ammunition and, at the end of the delivery, the UAV (200) returns to the UAVPonto-base of the barracks (1615).

[215] Example 16.2: In the second example, Military Personnel 10 (1614) is responsible for sending the food portions of all military personnel who are isolated in the camp and those who are in the hospital, such as the UANTPoint Base in the North Wing ( 1604) is closer to the UAVPont of refectory 1 (1612), military 10 (1614) asks military 4 (1606) to send a UAV (200) to UAVPont of refectory 1 (1612), to collect the portions of food that have been positioned in the cargo area (107) of the UAVPonto in refectory 1 (1612) to be delivered. Then, the UAV (200) flies to the hospital UAV Point (1602) to deliver the food portions and, at the end of the delivery, the UAV (200) returns to the UAV North Point base (1604);

[216] Example 16.3: as the UAVPonto-base of the South Wing (1622) is closer to refectory 2, to deliver the food of the military that are in the camp, the military 10 (1614) requests the military 16 (1621) who requests the sending of a UAV (200) from the UAVPonto-base of the South Wing (1622) to the UAVPonto in refectory 2 (1618), collecting the food portions that were positioned by the military 13 (1623) in the cargo area (107) of the UAVPonto refectory 2 (1618) to be delivered. Then, the UAV (200) flies to the UAVPonto of the camp (1609) to deliver the food portions and, at the end of the delivery, the UAV (200) returns to the UAVPonto-base of the South Wing (1622);

[217] Example 16.4: the military (1621), needs to send an object from the UAVPonto-base Sul Ala (1622) to the UAVPonto-base do Barracks (1615), in this case, the two UAVPoints-base (1622) and (1615) they will serve, respectively, as UAVPont of origin and UAVPont of destination, for this, the military (1621) positions the object in the cargo area (107) of the UAVPonto-base South Wing (1622), the UAV (200) collects this object. Then, the UAV (200) flies to the UAVPonto-base of the Barracks (1615) to effect the delivery of the medicine. At the end of the delivery, the UAV (200) returns to the UAVPonto-base (1622) of the South Wing.

Claims (10)

DEVICES, SYSTEMS AND METHODS FOR AUTOMATED DELIVERIES VIA AUTONOMOUS ROTATING WING MULTIROTOR AIR VEHICLE, characterized by comprising: a plurality of Unmanned Aerial Vehicle (UAV) devices used for the air transport of objects; a plurality of devices called UAVPoints, which are fixed areas for take-offs and landings from these UAVs, and where that UAV can deliver or collect objects; UAV and VANTPonto embedded systems; delivery system, consisting of: server subsystem, a plurality of communications subsystems, administrative subsystem, and a plurality of mobile subsystems; flight method to control the autonomous flight of this UAV between two of these UAV Points; ground handling method, which allows this UAV to move in those UAV Points; automated delivery method, which allows this UAV, in an automated way, to deliver and collect objects in these UAVPoints; and delivery method between two users, which allows the autonomous delivery of objects between two users through these UAVs and UAVs. DEVICES, SYSTEMS AND METHODS FOR AUTOMATED DELIVERIES VIA AUTOMATED ROTATING WING MULTIROTOR AIR VEHICLE, according to claim 1, characterized by comprising a plurality of UAV devices, composed of:
determinant marking of the UAV route, from the landing area of the UAVPonto to the discharge and loading areas of the UAVPonto;
determinant markings of the UAV discharge and loading areas at UAV Point;
demarcated area for unloading the luggage rack;
demarcated area for luggage load;
scale, in the load area, so that the UAVPonto can check if the weight of the load is suitable for the UAV in use;
determining the UAV route to the UAVPonto takeoff area;
panel, which presents the result of the weighing of the cargo, and other information about the VANTPonto and the delivery in execution;
digital compass to indicate the orientation of the UAV Point in relation to the cardinal points;
camera for video monitoring of operations at VANTPonto;
GPS to indicate the geolocation of the VANTPonto;
network interface for communicating VANTPonto data with other components of the invention;
embedded system capable of interpreting the data from the sensors present in the VANTPonto and communicating with the other components of the invention. DEVICES, SYSTEMS AND METHODS FOR AUTOMATED DELIVERIES VIA AUTOMATED ROTARY WING MULTIROTOR AIR VEHICLE, according to claim 1, characterized by the fact that the server subsystem of the delivery system allows:
communication with the plurality of communications subsystems;
the receipt and treatment of telemetric information sent by the plurality of communications subsystems;
communication with the administrative subsystem;
sending telemetry information to the administrative subsystem;
communication with the plurality of mobile subsystems;
registration and maintenance of UAVs;
the registration and maintenance of UAV Points;
controlling user access to the delivery system;
the queue control of delivery requests;
the definition of instructions, which the plurality of UAVs must follow, so that the UAV autonomous flight method between two UAVPontos and the automated delivery method at UAVPontos via UAV are executed;
sending delivery-related information to the communications subsystem;
the storage of telemetric information, such as audit files associated with deliveries. DEVICES, SYSTEMS AND METHODS FOR AUTOMATED DELIVERIES VIA AUTOMATED ROTARY WING MULTIROTOR AIR VEHICLE, in accordance with claims 1 and 3, characterized by the fact that the communications subsystem of the delivery system allows:
data communication between UAVs and the server subsystem;
the conversion of telemetric data received from UAVs, into information related to deliveries in progress;
sending telemetric information to the server subsystem;
the receipt of information related to delivery (sent by the server subsystem), the conversion into data, which can be interpreted by a UAV, of the plurality of UAVs, and the sending of that data to the UAV that is responsible for delivery. DEVICES, SYSTEMS AND METHODS FOR AUTOMATED DELIVERIES VIA AUTOMATED ROTARY WING MULTIROTOR AIR VEHICLE, in accordance with claims 1, 3 and 4, characterized by the fact that the administrative subsystem of the delivery system allows:
monitor the location of UAVs, in real time, during deliveries;
monitor the flight behavior of UAVs, in real time, during deliveries, displaying telemetric information in images similar to the instruments present on aircraft panels;
the video monitoring, in real time, of UAV Points;
monitor the delivery queue and deliveries in execution, being able to cancel any of the deliveries in the queue;
confirm the addition of new users to the delivery system, the release or blocking of users;
inform the addition of a new UAV, the release or blocking of UAVs;
inform the creation of a new UAVPonto, the release or blocking of UAVPontos. DEVICES, SYSTEMS AND METHODS FOR AUTOMATED DELIVERIES VIA AUTOMATED ROTARY WING MULTIROTOR AIR VEHICLE, in accordance with claims 1, 3 and 4, characterized by the fact that the mobile subsystem of the delivery system allows:
register new users in the delivery system;
insert delivery requests, and manage deliveries that the user is part of;
present notifications related to deliveries with which the user is part;
the interaction of the users of the invention with the server subsystem. DEVICES, SYSTEMS AND METHODS FOR AUTOMATED DELIVERIES VIA AUTOMATED ROTATING WING MULTIROTOR AIR VEHICLE, in accordance with claims 1, 2, 3 and 4, characterized by the fact that the UAV autonomous flight method between two Vantpoints, VP2, understand the steps:
At VANTPonto VP1, the UAV rises, perpendicularly to the ground, until it reaches the flight altitude between VANTPonto VP1 and VP2;
the UAV flies, parallel to the ground, and towards the UAV Point VP2;
using the information from the digital compass of the UAV and the digital compass of the UAVPonto VP2, the UAV aligns in relation to the positioning of the UAVPonto VP2 markings;
the UAV descends, perpendicular to the ground, until reaching the altitude of the UAV Point VP2. DEVICES, SYSTEMS AND METHODS FOR AUTOMATED DELIVERIES VIA AUTOMATED ROTARY WING MULTIROTOR AIR VEHICLE, according to claims 1, 2, 3 and 4, characterized by the fact that the UAV ground handling method in the VANTPOINT, understand the steps :
the UAV moves in a straight line and ahead, until you find the mark, which will guide you to the UAVPonto discharge area;
the UAV follows the marking, which guides you to the discharge area;
when arriving at the unloading area, the UAV detaches the luggage compartment, and follows the marking, which will guide you to the UAV point loading area;
the UAV follows the marking, which guides you to the cargo area;
upon reaching the cargo area, the UAV secures the luggage rack, and follows the marking, which will guide you to the UAVPonto takeoff area;
the UAV follows the mark, which guides you to the takeoff area;
the UAV stops at the takeoff area. DEVICES, SYSTEMS AND METHODS FOR AUTOMATED DELIVERIES VIA AUTOMATED ROTARY WING MULTIROTOR AIR VEHICLE, in accordance with claims 1, 2, 3, 4, 7 and 8, characterized by the fact that the automated delivery method at the UAVs understand the steps:
the UAV flies, according to the UAV autonomous flight method between two UAV Points, from the UAV Point Base (VP1) to the UAV Point of Origin (VP2);
the UAV, in the original UAVPonto, performs the UAV ground handling method in the UAVPonto;
the UAV flies, according to the UAV autonomous flight method between two UAV Points, from the UAV Point of Origin (VP1) to the UAV Point of Destination (VP2);
the UAV, at the destination UAVPonto, performs the UAV ground handling method at UAVPonto;
the UAV flies, according to the UAV autonomous flight method between two UAV Points, from the UAV Point of Destination (VP1) to the UAV Point Base (VP2). DEVICES, SYSTEMS AND METHODS FOR AUTOMATED DELIVERIES VIA AUTOMATED ROTARY WING MULTIROTOR AIR VEHICLE, in accordance with claims 1, 2, 3, 4, 5, 6, 7, 8 and 9, characterized by the fact that the method is delivered between two users, from U1 to U2, understand the steps:
the user U1, of origin, via the mobile subsystem of the delivery system, registers a new delivery request for the user U2, of destination, from the UANTPoint of the U1 user, and to be delivered to the UANTPoint of the U2 user;
the delivery system, using the automated delivery method at UAVPontos via UAV, controls the delivery between UANTPonto of user U1 and UAVPonto of user U2;
the UAV, using the UAV autonomous flight method between two UAVPontos, and the UAV ground handling method at the UAVPonto, makes the delivery.

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