Abstract: An unmanned aerial vehicle (UAV) includes one or more sources of propulsion, a power source, and communication system. The UAV also includes a controller coupled to the communication system, the power source, and the one or more sources of propulsion. The controller includes logic that when executed by the controller causes the UAV to perform operations, including measuring a power source charge level of the UAV; sending a signal including the power source charge level of the UAV to an external device; receiving movement instructions from the external device; and engaging the one or more sources of propulsion to move the UAV from a first location on a storage rack to a second location within a storage facility.

Abstract: A computer implemented method of distributing noise exposures to unmanned aerial vehicles (UAVs) over a neighborhood includes: accessing a noise exposure map stored in a database and generating a new flight path over the neighborhood for a first UAV of the UAVs based at least in part on the noise exposure map. The noise exposure map includes noise exposure values indexed to locations within the neighborhood. Each of the noise exposure values quantifies a cumulative noise exposure of a corresponding one of the locations due at least in part to historical flight paths of the UAVs over the neighborhood.

Abstract: An unmanned aerial vehicle (UAV) is provided including a fuselage, a pair of wings extending outwardly from the fuselage, and a deployable surface moveable from a first undeployed position during normal flight to a second deployed position when there is a system failure during flight. A method of adjusting a center of pressure of a UAV is also provided including the steps of providing a UAV with a fuselage, a pair of wings extending outwardly from the fuselage, and a deployable surface moveable from a first undeployed position during normal flight to a second deployed position when there is a system failure during flight, sensing when there is a system failure, and moving the deployable surface from the first undeployed position to the second deployed position.

Abstract: A payload retrieval apparatus including an extending member having an upper end and a lower end, a channel having a first end and a second end, the channel coupled to the extending member, a first tether engager that extends in a first direction from the first end of the channel section, and a payload holder positioned near the second end of the channel and is adapted to secure a payload.

Abstract: An apparatus and method for transporting a payload are disclosed herein. In embodiments, a system for transporting a payload includes an unmanned aerial vehicle (UAV) including a payload coupling apparatus, and a containment apparatus having an aerodynamic shape and including first and second openings. The containment apparatus is located external to the UAV and attaches to an underside of the UAV. The payload coupling apparatus passes through the first and second openings of the containment apparatus to couple with the payload, and the payload passes through the second opening to be positioned inside or outside the containment apparatus.

Abstract: A computer implemented method of distributing noise exposures to unmanned aerial vehicles (UAVs) over a neighborhood includes: receiving flight routing requests to fly the UAVs over the neighborhood; accessing a noise exposure map stored in a noise exposure database in response to the flight routing requests; and generating new flight paths for the UAVs over the neighborhood that load level additional noise exposures that the new flight paths will contribute to the noise exposure map. The noise exposure map includes noise exposure values indexed to properties within the neighborhood. The noise exposure values quantify cumulative noise exposures of the properties due to historical flight paths of the UAVs over the neighborhood.

Abstract: A propulsion unit includes a motor rotor, propeller blades, and a pivot stop. The motor rotor spins about a central rotational axis. The propeller blades, including first and second propeller blades, each having a proximal base mounted to the motor rotor such that the propeller blades are rotatable about the central rotational axis. The second propeller blade is pivotally attached to the motor rotor to pivot about the central rotational axis independent of the motor rotor by a limited angle. The pivot stop mechanically limits an amount of pivoting of the second propeller blade relative to the first propeller blade.

Abstract: A payload loading system is disclosed. The payload loading system includes a UAV and a loading structure. A retractable tether is coupled to a payload coupling apparatus at a distal end and the UAV at a proximate end. A payload is loaded to the UAV by coupling the payload to the payload coupling apparatus. The loading structure of the payload loading system includes a landing platform and a tether guide. The tether guide is coupled to the landing platform and directs the tether as the UAV approaches and travels across at least a portion of the landing platform such that the payload coupling apparatus arrives at a target location. The payload is loaded to the payload coupling apparatus while the payload coupling apparatus is within the target location.

Abstract: Described herein are methods and systems to dampen oscillations of a payload coupled to a tether of a winch system arranged on an unmanned aerial vehicle (UAV). For example, the UAV's control system may dampen the oscillations by causing the UAV to switch to a forward flight mode in which movement of the UAV results in drag on the payload, thereby damping the oscillations. In another example, the control system may cause the UAV to reduce an extent flight stabilization along at least one dimension, thereby resulting in damping of the detected oscillations due to energy dissipation during movement of the UAV along the dimension. In this way, the control system could select and carry out one or more such techniques, and could do so during retraction and/or deployment of the tether.

Abstract: Described herein are methods and systems for motorized control of a tether, such as for purposes of user interaction and feedback. In particular, a UAV's control system may determine one or more operational parameters of a motor for a winch disposed in the UAV, the winch including the tether and a spool. The control system may then detect in the one or more operational parameters, an operational pattern of the motor that is indicative of an intentional user-interaction with the tether. Based on the detected operational pattern of the motor that is indicative of the intentional user-interaction with the tether, the control system may determine a motor response process. Then, the control system may operate the motor in accordance with the determined motor response process.

Abstract: Disclosed herein are methods and systems that can help an aerial transport service provider (ATSP) select an unmanned vehicle (UV) to deliver a temperature-sensitive item. In accordance with example embodiments, the ATSP system can generate a transport task to fulfill a request for delivery of the temperature-sensitive item, where the transport task involves delivering the item while maintaining a temperature of the item within a preferred temperature range. The system can calculate an amount of required energy to perform the transport task for each available UV of the fleet of UVs. Further, based on (i) the amount of required energy for each available UV, and (ii) a respective remaining battery energy level for each available UV, the ATSP system can select a first UV to perform the task. Yet further, the ATSP system can assign the transport task to the first UV.

Abstract: A payload coupling apparatus is provided that includes a housing having an upper portion, a lower portion, and a side wall positioned between the upper and lower portions, an attachment point on the housing adapted for attachment to a first end of a tether, a slot in the housing that extends downwardly towards a center of the housing thereby forming a hook or lip on the lower portion of the housing beneath the slot, a plurality of holes in the upper portion of the housing; and a plurality of holes in the lower portion of the housing. A method of retracting a payload coupling apparatus during UAV flight is also provided.

Abstract: Described herein are methods and systems to dampen oscillations of a payload coupled to a tether of a winch system arranged on an unmanned aerial vehicle (UAV). For example, the UAV's control system may dampen the oscillations by causing the UAV to switch to a forward flight mode in which movement of the UAV results in drag on the payload, thereby damping the oscillations. In another example, the control system may cause the UAV to reduce an extent flight stabilization along at least one dimension, thereby resulting in damping of the detected oscillations due to energy dissipation during movement of the UAV along the dimension. In this way, the control system could select and carry out one or more such techniques, and could do so during retraction and/or deployment of the tether.

Abstract: A payload retrieval apparatus including an extending member having an upper end and a lower end, a channel having a first end and a second end, the channel coupled to the extending member, a first tether engager that extends in a first direction from the first end of the channel section, and a payload holder positioned near the second end of the channel and is adapted to secure a payload.

Abstract: Described herein are methods and systems for motorized control of a tether, such as for purposes of user interaction and feedback. In particular, a UAV's control system may determine one or more operational parameters of a motor for a winch disposed in the UAV, the winch including the tether and a spool. The control system may then detect in the one or more operational parameters, an operational pattern of the motor that is indicative of an intentional user-interaction with the tether. Based on the detected operational pattern of the motor that is indicative of the intentional user-interaction with the tether, the control system may determine a motor response process. Then, the control system may operate the motor in accordance with the determined motor response process.

Abstract: Described herein are apparatuses that provided various features related to unmanned aerial vehicles. An example apparatus may include, (i) a support structure, (ii) at least one shaft coupled to the support structure via at least one swing arm, wherein the swing arm allows upward movement, and restricts downward movement of, the at least one shaft from a resting position, (iii) a spool, wherein in the spool is shaped so as to rest on the at least one shaft when the at least one shaft is in the resting position, and wherein the spool is operable to unwind a tether coupled to a payload, and (iv) at least one fan coupled to the at least one shaft, wherein rotation of the spool when unwinding the tether also causes rotation of the at least one fan coupled to the at least one shaft, thereby controlling a descent rate of the payload.

Abstract: An example system includes an aerial vehicle, a sensor, and a winch system. The winch system includes a tether disposed on a spool, a motor operable to apply a torque to the tether, and a payload coupling apparatus coupled to the tether and configured to mechanically couple to a payload. The system also includes a repositioning apparatus configured to reposition the payload coupling apparatus in at least a horizontal direction. A control system is configured to control the aerial vehicle to deploy the payload coupling apparatus by unwinding the tether from the spool; receive, while the aerial vehicle hovers above the payload and from the sensor, data indicative of a position of the payload coupling apparatus in relation to the payload; and reposition, using the repositioning apparatus and based on the data, the payload coupling apparatus in the horizontal direction to mechanically couple to the payload.

Abstract: Methods and systems for recipient-assisted recharging during delivery by an unmanned aerial vehicle (UAV) are disclosed herein. During a UAV transport task, a UAV determines that the UAV has arrived at a delivery location specified by a first flight leg of the transport task. The UAV responsively initiates a notification process indicating that a recipient-assisted recharging process should be initiated at or near the delivery location. When the UAV determines that the recipient-assisted recharging process has recharged a battery of the UAV to a target level, and also determines that a non-returnable portion of the payload has been removed from the UAV while a returnable portion of the payload is coupled to or held by the UAV, the UAV initiates a second flight segment of the transport task.

Abstract: Example implementations may relate to door-enabled loading and release of payloads in an unmanned aerial vehicle (UAV), which could be a type of UAV in a group of UAVs that is assigned to carry out certain transport tasks. In particular, the UAV may include a fuselage having a first side and a second side, as well as a chamber formed within the fuselage and arranged to house a payload. A first door may be arranged on the first side of the fuselage, such that an opening of the first door enables loading of the payload into the chamber. And a second door may be arranged on the second side of the fuselage, such that an opening of the second door enables release of the payload from the chamber. Moreover, the UAV may include a control system configured to control flight of the UAV, and possibly opening and/or closing of door(s).

Abstract: An example method involves determining an expected demand level for a first type of a plurality of types of transport tasks for unmanned aerial vehicles (UAVs), the first type of transport tasks associated with a first payload type. Each of the UAVs is physically reconfigurable between at least a first and a second configuration corresponding to the first payload type and a second payload type, respectively. The method also involves determining based on the expected demand level for the first type of transport tasks, (i) a first number of UAVs having the first configuration and (ii) a second number of UAVs having the second configuration. The method further involves, at or near a time corresponding to the expected demand level, providing one or more UAVs to perform the transport tasks, including at least the first number of UAVs.