JP2021000986A - 無人航空機を使用した輸送のための方法及びシステム - Google Patents
無人航空機を使用した輸送のための方法及びシステム Download PDFInfo
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- B—PERFORMING OPERATIONS; TRANSPORTING
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- B64F—GROUND OR AIRCRAFT-CARRIER-DECK INSTALLATIONS SPECIALLY ADAPTED FOR USE IN CONNECTION WITH AIRCRAFT; DESIGNING, MANUFACTURING, ASSEMBLING, CLEANING, MAINTAINING OR REPAIRING AIRCRAFT, NOT OTHERWISE PROVIDED FOR; HANDLING, TRANSPORTING, TESTING OR INSPECTING AIRCRAFT COMPONENTS, NOT OTHERWISE PROVIDED FOR
- B64F1/00—Ground or aircraft-carrier-deck installations
- B64F1/32—Ground or aircraft-carrier-deck installations for handling freight
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C39/00—Aircraft not otherwise provided for
- B64C39/02—Aircraft not otherwise provided for characterised by special use
- B64C39/024—Aircraft not otherwise provided for characterised by special use of the remote controlled vehicle type, i.e. RPV
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64F—GROUND OR AIRCRAFT-CARRIER-DECK INSTALLATIONS SPECIALLY ADAPTED FOR USE IN CONNECTION WITH AIRCRAFT; DESIGNING, MANUFACTURING, ASSEMBLING, CLEANING, MAINTAINING OR REPAIRING AIRCRAFT, NOT OTHERWISE PROVIDED FOR; HANDLING, TRANSPORTING, TESTING OR INSPECTING AIRCRAFT COMPONENTS, NOT OTHERWISE PROVIDED FOR
- B64F1/00—Ground or aircraft-carrier-deck installations
- B64F1/22—Ground or aircraft-carrier-deck installations installed for handling aircraft
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
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- B64U70/90—Launching from or landing on platforms
- B64U70/92—Portable platforms
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- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/04—Control of altitude or depth
- G05D1/06—Rate of change of altitude or depth
- G05D1/0607—Rate of change of altitude or depth specially adapted for aircraft
- G05D1/0653—Rate of change of altitude or depth specially adapted for aircraft during a phase of take-off or landing
- G05D1/0676—Rate of change of altitude or depth specially adapted for aircraft during a phase of take-off or landing specially adapted for landing
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- G08G—TRAFFIC CONTROL SYSTEMS
- G08G5/00—Traffic control systems for aircraft, e.g. air-traffic control [ATC]
- G08G5/0047—Navigation or guidance aids for a single aircraft
- G08G5/0069—Navigation or guidance aids for a single aircraft specially adapted for an unmanned aircraft
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- G08G5/025—Navigation or guidance aids
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Abstract
Description
一部の実施形態では、UAVサービス120は、飛行中にUAVとの通信を継続してもよい。積荷が輸送された後、UAVサービス120は、完了の確認又は通知を受信してもよい。UAVサービス120は、例えば、1つ以上の地理空間データストア、地理空間キャッシュ、1つ以上のアプリケーションサーバ、1つ以上のアプリケーションデータストア、1つ以上のメッセージングキュー及び追跡データを含んでもよい。UAVサービス120は、デスクトップコンピュータ、ラップトップコンピュータ、サーバ(物理的若しくは仮想的)又はサーバファーム上に提供されてもよい。例示的なUAVサービス(例えば、UAVサービス120)は、2013年5月8日に出願された「Transportation Using Network of Unmanned Aerial Vehicles」という名称の米国特許出願第13/890,165号(現在米国特許第9,384,668号)、2015年3月26日に出願された「System and Methods for Unmanned Aerial Vehicle Route Planning」という名称の米国仮特許出願第62/138,910号、2015年3月26日に出願された「Unmanned Aerial Vehicle」という名称の米国仮特許出願第62/138,914号、及び2016年3月25日に出願された「Route Planning For Unmanned Aerial Vehicle」という名称の同時係属米国特許出願第15/081,195号に詳細に説明されている。これらの出願は、あらゆる目的でそれらの全体が参照によって本明細書に組み込まれる。
専用の輸送ステーション(例えば、配送トラック)ではなく、ユーザの車両(例えば、トラック/バン/自動車)を含む交換ステーション146は、典型的に、着陸プラットフォーム144を使用して積荷コンテナを受け取ることができるが、積荷コンテナ及びバッテリをUAV 130と交換する機能を有さないことがある。一部の実施形態では、UAV 130は、積荷コンテナを受け取った後、UAVサービス120によって提供される情報に従って、次の目的地(例えば、物流施設又は別のUAVステーションに戻る)のために、UAVステーション140からユーザの位置に再送してもよい。UAVステーション140の着陸サブシステムを、図8A〜図8Dを用いてより詳細に説明する。
UAV 130が着陸プラットフォーム144に接近するか、又は着陸段階にあるとき、交換ステーション146は、UAV 130の着陸のために、カバーを開いて着陸プラットフォーム144を露出させ得る。一部の実施形態では、2つ以上の着陸プラットフォーム144は、交換ステーション146上に配置されるか、又は交換ステーション146と一体化され得る。一部の実施形態では、着陸プラットフォーム144は、交換ステーション146(例えば、ユーザのトラック/バン/自動車)の一部(例えば、屋根)であり得、着陸サブシステム(例えば、赤外線ビーコン)を含み得る。説明したように、専用の輸送ステーション(例えば、配送トラック)ではなく、ユーザの車両(例えば、トラック/バン/自動車)を含む交換ステーション146は、通常、着陸プラットフォーム144を使用して積荷コンテナを受け取ることができるが、積荷コンテナ及びバッテリをUAV 130と交換する機能を有していないことがある。着陸サブシステムを、図8A〜図8Dを用いてより詳細に説明する。
オペレータのためのモバイルアプリケーション
UAVクラウドサービス
輸送人用モバイルアプリケーション
無人航空機及びスマート積荷コンテナ
着陸プラットフォーム
精密な着陸システム
UAV飛行終了システム
モバイルアプリケーションオペレータ−モバイルデバイスによって実行される(図1、図2B及び図3A〜図3Y)。
1.無人航空機(UAV)を使用して積荷輸送を支援するための方法であって、
1つ以上のプロセッサ及びメモリを含むポータブル電子デバイスにおいて、UAVの離陸位置を示す第1の入力及びUAVの着陸位置を示す第2の入力を受信することと、
第1及び第2の受信に応答して、離陸位置から着陸位置までの判定されたUAV飛行経路を取得することと、
取得されたUAV飛行経路に基づいて、有効な飛行経路を示す飛行経路情報を提供することと、
有効な飛行経路に従って、離陸コマンドをUAVに提供することと、を含む、方法。
スマート積荷コンテナ(図4A〜図4B)
2.無人航空機(UAV)を使用して積荷を輸送するための装置であって、
UAVの搬送空間に対応する寸法を有するコンテナと、コンテナの外部表面においてアクセス可能な第1の識別情報であって、コンテナを識別するために走査可能な第1の識別情報と、
UAVによって読み取り可能な第2の識別情報であって、コンテナを識別するために、第1の識別情報に関連付けられている第2の識別情報と、を含む装置。
UAVクラウドサービス−UAVサービスサーバによって実行される(図1、図2C及び図4A〜図4C)
3.無人航空機(UAV)を使用して積荷輸送を支援するための方法であって、
1つ以上のプロセッサ及びメモリを含むコンピュータシステムにおいて、輸送対象の積荷の識別情報を受信することであって、積荷の識別情報が、積荷の目的位置に関連付けられている、受信することと、
積荷を収納するためのコンテナの第1の識別情報を受信することであって、第1の識別情報が、コンテナの外部表面においてアクセス可能であり、かつ走査可能である、受信することと、
第2の識別情報をUAVから受信することであって、第2の識別情報が、コンテナを識別するための第1の識別情報に関連付けられている近距離識別タグを含む、受信することと、
積荷の識別情報に基づいて、UAV飛行経路を判定することと、
第1及び第2の識別情報に基づいて、UAV飛行経路をUAVに提供することと、を含む、方法。
輸送人のためのモバイルアプリケーション−モバイルデバイスによって実行される(図1、図2B及び図5A〜図5W)
4.無人航空機(UAV)を使用して積荷輸送を支援するための方法であって、
1つ以上のプロセッサ及びメモリを含むポータブル電子デバイスにおいて、輸送対象の積荷の識別情報を取得することであって、積荷の識別情報が、積荷の目的位置に関連付けられている積荷の識別情報である、取得することと、
積荷の識別情報をUAVサービスに提供することと、
積荷を収納するためのコンテナの第1の識別情報を取得することであって、第1の識別情報が、コンテナの外部表面においてアクセス可能であり、かつ走査可能である、取得することと、
第1の識別情報をUAVサービスに提供することと、
UAV飛行経路に基づいて積荷を輸送するために、1つ以上の命令を選択されたUAVに提供することであって、UAV飛行経路が積荷の識別情報に基づいて生成され、UAVが第1の識別情報及び第2の識別情報に基づいて選択され、コンテナを識別するために、第2の識別情報が第1の識別情報に対応している、提供することと、を含む、方法。
UAV(図6A〜図6B)
5.積荷を輸送するための無人航空機(UAV)であって、
UAVの底部まで延びている搬送空間を含む本体と、
本体に接続された1つ以上のプロペラと、
本体に取り付けられたバッテリであって、UAVの底部における搬送空間の開口部を通して解放可能である、バッテリと、
本体に取り付けられた積荷コンテナであって、UAVの底部における搬送空間の開口部を通して解放可能である、積荷コンテナと、を備える、積荷を輸送するための無人航空機(UAV)。
6.UAVの底部における搬送空間の開口部が、着陸プラットフォームの開口部の寸法に対応している寸法を有する、項目5に記載の無人航空機。
着陸プラットフォーム(図1、図2A及び図7A〜図7E)。
7.積荷コンテナを無人航空機(UAV)から受け取るための着陸プラットフォームであって、
着陸のためにUAVと連携するように構成された1つ以上の着陸サブシステムと、
着陸プラットフォーム上のUAVの着陸を検知するための1つ以上のセンサと、積荷コンテナを受け取るためのUAVを位置合わせするように構成された1つ以上のアクチュエータと、
積荷コンテナを受け取るように構成された着陸プラットフォームの積荷受け取り構造と、を含む。
8.着陸サブシステムが、機首磁方位式着陸サブシステム、赤外線式着陸サブシステム、全地球測位システム式着陸サブシステム、及び光学式着陸サブシステムのうちの少なくとも1つを含む、項目7に記載の着陸プラットフォーム。
9.機首磁方位式着陸サブシステムが、着陸プラットフォームの機首方位情報を通信インターフェースに提供するための機首磁方位センサを含み、通信インターフェースが、着陸プラットフォームの機首方位情情報をUAVに提供する、項目8に記載の着陸プラットフォーム。
10.赤外線式着陸サブシステムが、変調された赤外線ビームを送信する赤外線ビーコンを含む、項目8に記載の着陸プラットフォーム。
11.
全地球測位システム(GPS)式着陸サブシステムが、
衛星信号を受信するGPS信号受信機と、
受信された衛星信号に基づいて着陸プラットフォームの位置を判定する1つ以上のプロセッサと、を含み
通信インターフェースが、UAVに着陸プラットフォームの判定された位置を提供する、項目8に記載の着陸プラットフォーム。
12.
光路、重量、重心、磁界、電気信号の少なくとも1つの変化を検知することに基づいて、UAVの着陸を検知するセンサと、
検知されたUAVの着陸に基づいて動作するモータであって、電流、作動油圧又は空気圧のうちの少なくとも1つによって動作するモータとを含む、項目7に記載の着陸プラットフォーム。
精密な着陸−UAVによって実行される(図8A〜図8B)
13.着陸プラットフォーム上の無人航空機(UAV)の精密な着陸のための方法であって、UAVが、1つ以上のプロセッサ及び通信インターフェースを含み、方法が、
UAVにおいて、UAVが、UAVの位置に基づいて着陸段階にあるか否かを判定することと、
UAVが着陸段階にあることを判定した後に、着陸位置合わせ情報を着陸プラットフォームから受信することであって、着陸位置合わせ情報が、着陸プラットフォームの機首磁方位、着陸プラットフォームのGPS位置、又は着陸プラットフォームの赤外線ビーコンのうちの少なくとも1つに基づいて生成される、受信することと、
受信された着陸位置合わせ情報に基づいて、UAVの着陸経路を調整するステップと、を含む方法。
UAV飛行終了システム−UAVによって実行される(図9A〜図9C)
14.無人航空機(UAV)の緊急着陸のためのシステムであって、
緊急着陸のために制御回路に電力を供給するように構成されたバッテリマネージャと、
コントローラであって、
緊急着陸信号が生成されたか否かを判定することと、緊急着陸信号が生成されたという判定に基づいて、緊急着陸のための1つ以上の条件が満たされているか否かを判定することと、
1つ以上の条件が満たされているという判定に基づいて、緊急着陸機構を展開することと、を行うように構成されたコントローラと、を含むシステム。
15.緊急着陸信号が、UAVの主電源の損失、非応答性の飛行制御システム又は自動操縦システム、飛行エンベロープの違反の検知、気圧とGPSに起因する地上高度との間の格差、妥当率閾値よりも大きい妥当率、及び角度閾値よりも大きいピッチ又はバンク角のうちの少なくとも1つに基づいて生成される、項目14に記載のシステム。
16.積荷を輸送するための無人航空機(UAV)であって、
本体と、
本体に回転可能に接続された1つ以上のプロペラと、
本体に取り付けられたバッテリであって、UAVの底部から解放可能である、バッテリと、
本体に取り付けられた積荷コンテナであって、UAVの底部から、UAVステーションに関連付けられている着陸プラットフォームに解放可能である、積荷コンテナと、を備える、無人航空機(UAV)。
17.バッテリが、積荷コンテナの解放に続くバッテリの解放を支援するために、積荷コンテナの上方に取り付けられている、項目16に記載のUAV。
18.バッテリが、積荷コンテナの側部に取り付けられている、項目16に記載のUAV。
19.バッテリ及び積荷コンテナが、1つのユニットとして共に開放可能である、項目16に記載のUAV。
20.積荷を輸送するための無人航空機(UAV)であって、
本体と、
本体に回転可能に接続された1つ以上のプロペラと、
本体に取り付けられた開放可能なバッテリと、
本体に取り付けられた積荷コンテナであって、UAVの底部から、UAVステーションに関連付けられている着陸プラットフォームに解放可能である、積荷コンテナと、を備える、無人航空機(UAV)。
Claims (22)
- 積荷を輸送するための無人航空機(UAV)であって、
本体と、
前記本体に回転可能に接続された1つ以上のプロペラと、
前記本体に取り付けられたバッテリであって、前記UAVの底部から解放可能である、バッテリと、
前記本体に取り付けられた積荷コンテナであって、前記UAVの底部から、UAVステーションに関連付けられている着陸プラットフォームに解放可能である、積荷コンテナと、を備える、無人航空機(UAV)。 - 前記本体が、前記UAVの底部まで延びている搬送空間を含む、請求項1に記載の無人航空機。
- 前記搬送空間が前記UAVの前記本体によって少なくとも部分的に包囲され、前記搬送空間が、前記積荷コンテナを収容する、請求項2に記載の無人航空機。
- 前記搬送空間が、前記バッテリを更に収容する、請求項3に記載の無人航空機。
- 前記搬送空間が、前記積荷コンテナの寸法に対応する寸法を有する、請求項2に記載の無人航空機。
- 前記積荷コンテナが、前記UAVの前記本体によって少なくとも部分的に包囲されている搬送空間がない場合、前記UAVの底部に解放可能に取り付けられる、請求項1に記載の無人航空機。
- 前記バッテリが、前記積荷コンテナの解放に続く前記バッテリの解放を支援するために、前記積荷コンテナの上方に取り付けられている、請求項1に記載の無人航空機。
- 前記着陸プラットフォーム上の前記UAVの着陸を補助するために、前記着陸プラットフォームと通信するように構成された着陸システムを更に備える、請求項1に記載の無人航空機。
- 前記着陸システムが、機首磁方位式着陸サブシステム、赤外線式着陸サブシステム、全地球測位システム(GPS)式着陸サブシステム、リアルタイムキネマティック(RTK)式着陸サブシステム、又はオプション式着陸サブシステムのうちの少なくとも1つを含む、請求項8に記載の無人航空機。
- 前記UAVステーションが、交換ステーションを含み、前記着陸プラットフォームが、前記交換ステーションの上部に取り付けられ、前記着陸プラットフォームが、積荷受け取り構造を含む、請求項1に記載の無人航空機。
- 前記積荷コンテナが、前記着陸プラットフォームの前記積荷受け取り構造を介して前記交換ステーションの内部に解放可能である、請求項10に記載の無人航空機。
- 前記積荷コンテナが、前記着陸プラットフォームの前記積荷受け取り構造を介して取り換え可能であり、前記積荷コンテナを取り換えることが、取り換え用積荷コンテナを前記交換ステーションの内部から受け取ることを含む、請求項10に記載の無人航空機。
- 前記バッテリが、前記着陸プラットフォームの前記積荷受け取り構造を介して、前記交換ステーションの内部に解放可能である、請求項10に記載の無人航空機。
- 前記バッテリが、前記着陸プラットフォームの前記積荷受け取り構造を介して取り換え可能であり、前記バッテリを取り換えることが、取り換え用バッテリを前記交換ステーションの内部から受け取ることを含む、請求項10に記載の無人航空機。
- 前記積荷受け取り構造が、前記交換ステーションの対応する開口部に位置合わせされた開口部を含む、請求項10に記載の無人航空機。
- 前記着陸プラットフォームが、前記交換ステーションの一部であり、前記積荷コンテナが、前記着陸プラットフォームにおいて前記交換ステーションの外部に解放可能である、請求項1に記載の無人航空機。
- 前記バッテリが、リチウムイオンバッテリ、リチウム鉄リン酸塩(LeFePO4)バッテリ、リチウムポリマー(LiPo)バッテリ、チタン酸リチウムバッテリ又はリチウムコバルト酸化物のうちの少なくとも1つである、請求項1に記載の無人航空機。
- 前記本体が、1つ以上の解放機構及び1つ以上のセンサを含み、前記1つ以上の解放機構が、前記1つ以上のセンサによって提供される1つ以上の信号に従って、前記バッテリの前記解放及び前記積荷コンテナの前記解放を制御するように構成されている、請求項1に記載の無人航空機。
- 航行し、かつ前記UAVの安定性を制御するように構成された飛行制御システムと、1つ以上のトリガ条件に従って前記UAVの飛行を終了するように構成された飛行終了システムと、を更に備え、前記飛行制御システム及び前記飛行終了システムが、前記本体に取り付けられ、かつ前記バッテリに電気的に結合されている、請求項1に記載の無人航空機。
- 前記本体に取り付けられた緊急着陸システムを更に備え、前記緊急着陸システムが、パラシュートを含み、かつ第2のバッテリに電気的に結合されている、請求項1に記載の無人航空機。
- 積荷を輸送するための無人航空機(UAV)であって、
前記UAVの底部まで延びている搬送空間を含む本体と、
前記本体に回転可能に接続された1つ以上のプロペラと、
前記本体に取り付けられたバッテリであって、前記バッテリが、交換ステーション内に配置された第2のバッテリと交換可能であり、前記バッテリが、前記UAVの前記底部において前記搬送空間を介して交換可能である、バッテリと、
前記本体に取り付けられた積荷コンテナであって、前記交換ステーション内に配置された第2の積荷コンテナと交換可能であり、前記積荷コンテナが、前記UAVの前記底部において前記搬送空間を介して交換可能である、積荷コンテナと、を備える、無人航空機(UAV)。 - 積荷を輸送するための方法であって、
本体及び前記本体に回転可能に接続された1つ以上のプロペラを備える無人航空機(UAV)において、
バッテリを交換ステーションから受け取ることであって、前記バッテリが、前記交換ステーションに関連付けられている着陸プラットフォームを介して受け取られる、ことと、
前記バッテリを前記UAVの前記本体に取り付けることと、
前記バッテリを受け取ると、積荷コンテナを前記交換ステーションから受け取ることであって、前記積荷コンテナが前記交換ステーションに関連付けられている前記着陸プラットフォームを介して受け取られる、ことと、
前記積荷コンテナを前記UAVの前記本体に取り付けることと、
前記積荷コンテナを目的地に輸送するための命令を受け取ることと、
前記命令に従って前記積荷コンテナを前記目的地に輸送することと、を含む、方法。
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2016
- 2016-11-09 EP EP16864925.9A patent/EP3374263A4/en not_active Withdrawn
- 2016-11-09 EP EP21205987.7A patent/EP4001111A3/en active Pending
- 2016-11-09 US US15/347,442 patent/US20170129603A1/en not_active Abandoned
- 2016-11-09 CA CA3004947A patent/CA3004947A1/en not_active Abandoned
- 2016-11-09 WO PCT/US2016/061161 patent/WO2017083406A1/en active Application Filing
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2020
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2021
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JP2009057044A (ja) * | 2002-03-06 | 2009-03-19 | Aloys Wobben | 航空機 |
JP2011230756A (ja) * | 2010-04-27 | 2011-11-17 | Honeywell Internatl Inc | 地上近接性センサ |
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EP4001111A2 (en) | 2022-05-25 |
US20220073204A1 (en) | 2022-03-10 |
EP4001111A3 (en) | 2022-08-17 |
US20200239138A1 (en) | 2020-07-30 |
CN108290633A (zh) | 2018-07-17 |
JP2019503295A (ja) | 2019-02-07 |
EP3374263A1 (en) | 2018-09-19 |
CA3004947A1 (en) | 2017-05-18 |
US11820507B2 (en) | 2023-11-21 |
WO2017083406A1 (en) | 2017-05-18 |
US20170129603A1 (en) | 2017-05-11 |
EP3374263A4 (en) | 2019-05-08 |
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