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    "Maneuvering a package following in-flight release from an unmanned aerial vehicle (UAV)," an Amazon patent.

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    Amazon drone delivery patent #9567081

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    "Maneuvering a package following in-flight release from an unmanned aerial vehicle (UAV)," an Amazon patent.

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    © All Rights Reserved
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    8K views27 pages

    Amazon Drone Delivery Patent #9567081

    Uploaded by

    CNET News
    "Maneuvering a package following in-flight release from an unmanned aerial vehicle (UAV)," an Amazon patent.

    Copyright:

    © All Rights Reserved
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    2, United States Patent Beckman et al. (54) MANEUVERING A PACKAGE FOLLOWING IN-FLIGHT RELEASE FROM AN UNMANNED AERIAL VEHICLE (UAV) (71) Applicant: Amazon Technologies, Ine, Seattle, WA (US) (72) Inventors: Brian C. Beckman, Newcastle, WA, (US); Menashe Haskin, Kfar Vitkin (IL); Michae! Rotaik, Geva Binyamin ((L}: Yan Vale, Moda (L) (73) Assignee: Amazon Technologies, Ine, Seattle, Wa (Us) (4) Notice: Subjoct to any disclaimer, the term of this patent is extended or adjusted under 35 USC. 1846) by 0 days. 1) Appl. Now 147752,671 (22) Filed: Jun, 26, 2015 (1) Insc. B6iC 1720 (2005.01) Bosc 122 (2005.01) BOD 7100 (2006.01), BoD V12 (2006.01) Bose 3902 (2006.01), BoD 110 (2006.01) Us. CL. crc B6AD W12 (2013.01); BOSC 39024 (2013.01); B64D 1/10 (2013.01); B64C 2201/128 (2013.01) 8) ration Search, [GAD 1/00; GSD 1/02; BGAD 108; 64D 1/10; BSED 1/12; BEAD 9100; Bo4D 19/00; 1864C 391024; B6EC 220/027; BIC 2201/12; BOIC 201/128 ‘See application file for complete search history. 'US0095670811 US 9,567,081 B1 Feb. 14, 2017 (10) Patent No.: (4s) Date of Patent: 66) References Cited US. PATENT DOCUMENTS. SU68267 A+ 21965 Feri BoaD 102 24138 A 6942184 BL* 912005 Morris BoA 102 238 R S3aLa1 BL* 4016 Takayama Bea Liz aoudinstons AL 32004 Warten Bib 19.00 20910230555 AL* 102005 Strong BEAD 7343 2412 200710018089 AL* 1/2007 amuse pean ita 243.27 (Continved) Richard G Davis Lee & Hayes, PLLC Primary Examiner (74) Attornes, Agent, or Firm on A A package delivery system can be implemented to forcefully propel a package from an unmanned acial vehicle (UAV), ‘while the UAV isin motion. The UAV ean apply foree onto the package that ater its descent trajectory from a parabolic pall o a Vertical descent path. The package delivery system fn apply the free onto the package in a numberof different \ways. For example, pneumatic actuators, electromagnets spring coils, and parachutes ean generate the foree that establishes the vertical descent path of the package. Further, the package delivery system can also monitor the package during its vertical desoeat. The package ean be equipped ‘with one or more contol surfices. Instructions ean be ‘eansmitted from the UAV via an RE module that eause the ‘one or more controls surfaces to alter the vertical descent path of the package 10 avoid obstructions or to regain & Stable orientation, RACT 20 Claims, 14 Drawing Sheets US 9,567,081 BI Page 2 66) References Cited USS. PATENT DOCUMENTS. 20070029439 AL* 22007 Merems Boab 19902 2407 R 20091002619 AL* 1/2009. Strong Bec 1024 249152 * cited by examiner US 9,567,081 BL Sheet 1 of 14 Feb. 14, 2017 U.S. Patent AN3OS3G ‘ONIUNG AYOLOAT EL govyOvd Isnray NY HOLINOW OL AVA, BANLILTW Lv 39vOWd AO7d30 OL AVA wr BOWIOWE HLM LHOMENI Ayn U.S. Patent Feb. 14, 2017 Sheet 2 of 14 US 9,567,081 B1 2 \ Yeo \at0 206 204 / FIG. 2A FIG. 2B U.S. Patent Feb. 14, 2017 Sheet 3 of 14 US 9,567,081 BI - 308 cc Dn KN : a) ~ e \ . aig ~ 308 \ 304 ee U.S. Patent ~ 310 Feb. 14, 2017 304 Sheet 4 of 14 FIG. US 9,567,081 BL 302 306 312 308 3c U.S. Patent Feb. 14, 2017 Sheet 5 of 14 US 9,567,081 B1 402 Z 404 zk _ 1 14 S ; “412 FIG. 4A 402 P / \ 410 a ~ 406 404 416 ay, 4 = i744 8 + 412 FIG. 4B U.S. Patent Feb. 14, 2017 Sheet 6 of 14 US 9,567,081 B1 402 422 424 ‘420 “404 424 422 420 FIG. 4D U.S. Patent Feb. 14, 2017 Sheet 7 of 14 US 9,567,081 B1 506 504 502 508(2) 512 516 \ S810 FIG. 5A 514 508(2) 504 H 508(1) , io ' o ! 508 516 | 512 FIG. 5B U.S. Patent Feb. 14, 2017 Sheet 8 of 14 US 9,567,081 B1 / 822 520, 518(1) 526 FX . 5182) a ee 506 | 526 Sp 2 | [524 508(1) ft 508(2) 510 FIG. 5C » 502 5182) 518(1) 508(1) 504 ~~ §08(2) U.S. Patent Feb. 14, 2017 Sheet 9 of 14 US 9,567,081 B1 504 502 z 500(2) 508(1) { 4 508(2) SS S 528(1) see) FIG. SE 508(2) 504 5282). |g | 526(1) 534 , > 592 p 5 saa) 520 5283) FIG. 5F U.S. Patent Feb. 14, 2017 Sheet 10 of 14 US 9,567,081 B1 802 “508 GY FIG. 5G 8 U.S. Patent Feb. 14, 2017 Sheet 11 of 14 US 9,567,081 B1 606 604 602 612 FIG. 6A 610 608 FIG. 6B U.S. Patent Feb. 14, 2017 Sheet 12 of 14 US 9,567,081 B1 PACKAGE LAUNCH CONTROLLER 702 vromoe PROCESSOR ane |S ie Sew |e . rerew Cone RSA WED Tl “SENSOR DATA PROCESSING MopuLe 28 FLighT DATA MODULE 730 (Gee ccmmd) Tanectucenae ( Package —_—a ‘SURFACE oo / { (CNenworx(s) 710 \ 708 704 PACKAGE TOS RF REceWvER 736, CONTROLLER 738 LOCKING MECHANISM 740 FIG. 7 ‘SENSORS 70d Actinerer || Grroscore(s)] GPS Senson(s)] m2 Lo m4 6 PitoT STATIC ‘OPTICAL Tupes ‘SENSOR(S) 218 720 U.S. Patent Feb. 14, 2017 Sheet 13 of 14 US 9,567,081 B1 RECEIVE SENSOR DATA TO DETERMINE FLIGHT DATA AND GEO-LOCATION DATA OF THE UAV AND THE PACKAGE 802 DETERMINE A PRECETERMINED FORCE THAT CAUSES THE PACKAGE TO FOLLOW A SUBSTANTIALLY VERTICAL DESCENT PATH BASED AT LEAST IN PART ON THE SENSOR, pata 804 ‘CAUSE A LAUNCH MECHANISM TO APPLY THE PREDETERMINED FORCE TO THE PACKAGE TO TRAVERSE THE PACKAGE FROM THE UAV AND COMMENGE A SUBSTANTIALLY VERTICAL DESCENT PATH 806 MONITOR THE VERTICAL DESCENT PATH OF THE PACKAGE BASED AT LEAST IN PART ON SENSOR DATA, 808 IDENTIFY A SIDE OF THE PACKAGE BASED ON A UNIQUE MARKING AND ASSOCIATE THE SIDE WITH A CONTROL ‘SURFACE DEPLOYMENT 810 DETERMINE A SEQUENCE OF DEPLOYING ONE OR MORE CONTROL SURFACES ON THE PACKAGE THAT ALTER THE VERTICAL DESCENT PATH OF THE PACKAGE 812 TRANSMIT A SIGNAL TO THE PACKAGE INDICATING THE ‘SEQUENCE FOR DEPLOYING THE ONE OR MORE CONTROL SURFACES B14 FIG. 8 . Patent Feb. 14,2017 Sheet 14 of 14 US 9,567,081 B1 RECEIVE AN RF SIGNAL FROM A UAV TO DEPLOY ONE (OR MORE CONTROL SURFACES: 902 DEPLOY THE ONE OR MORE CONTROL SURFACES TO CAUSE A CHANGE IN TRAJECTORY OF THE PACKAGE 904 FIG. 9 US 9,567,081 BI 1 MANEUVERING A PACKAGE FOLLOWING IN-FLIGHT RELEASE FROM AN UNMANNED AERIAL VEHICLE (UAV) BACKGROUND Historically, package delivery systems rely on a spoke hub distribution model. For example, to ship a package between an origin and destination, a vehicle has to pick-up the parcel and deliver i toa sorting center before commenc- ing a final delivery destination. This model works well for resiucing the cost of shipment when iti possible to aggre- ate packages that share a big pat ofthe joumey from or to destination. However, it becomes inelicient, if the ability ‘0 aggregate packages is diminished because of a ek of proximity between delivery destinations. Further inellicien- ‘ies are apparent when transportation infrastructure ise ‘does not allow for direct rates between an origin and sdestiation, ‘The tse of Unmanned Aerial Vehicles (UAV) can over ‘come some ofthese inellciencies by leveraging more fex= ible aerial transportation paths between destinations, rather than eying on rigid road infrastructure, Flexible fight plans allow for more diret delivery roles, and in some cases, an ‘aggrezation of more puckages that share delivery destina- tions that are in close proximity to one another. However, the use of UAVs presents their own inelliciencies. In onder t0 \dlivera package o a destination, a UAV is required to ‘drop ‘off the package, Traditionally, this involves the UAV land» ing atthe destination, releasing the packoge, and then taking ‘off to its next destination. The sequence of landing and taking off for each package delivery creates ime and energy resource ineficiencies, which negate atleast a portion ofthe beneit of adopting a nctwork system of UAV. BRIEF DESCRIPTION OF THE DRAWINGS “The dotiled desertion is deseribed with reference to the socompanying figures In the figures, the left-most digits) of ‘a reference number identifies the figure in which the refer fence number frst appears. The same reference numbers in ‘ifferent figures indicate similar oF identical items. FIG.1 isa pictorial low diagram of an illustrative process ‘of forcefully propelling package from an Unmanned Fight Vehicle (UAV) while the UAV'is still in motion. FIG. 1 further ilustrates causing the package to adopt a vertical ‘descent path from the UAV, wile also causing the package ‘o deploy a conteol surface 10 manenver the package in an Jnended direction prior to landing FIGS, 2A and 2B are pictorial flow disgrams of an ilustrative launch mechanism on a UAV forcefully propel- Jing a package from the UAV: In FIG. 28, the package is ‘attached onto the UAV is @ transportation configuration. [a FIG. 2B, the launch mechanism applies @ foree onto the package, forefully propelling the packoge from the UAV. FIGS. 3A, 3B, and 3C are pictorial flow diagrams of an ‘ustative package launch mechanism that uses a parachute to forcefilly Taunch the package from the UAV. In FIG. 3A, «a parachute is deployed from a side of the package to force the package to slide along a guide ral of the UAV. In FIG. 3B, the force generated by the parachute causes the package tw dislodge from the UAV. In FIG. 3C, the parachute disiodges from the package, causing the package to com- rence its vertical descent trajectory FIGS. 48, 4, and 4C are pitoral flow diagrams of an ithstrative package lanch mechanism that includes a lever ‘arm, The lever arm can amplify the release force that is 0 o 2 nominally generated by the motion of a coupling stucture along the UAV guide rail, In FIG. 44, the package is attached onto the lever arm ina transportation configuration. In FIG. 4B, the launch mechanism applies a force onto the package by moving the coupling structure along the guide ‘il and rotating the lever arm about is pivot point. FIG. 4C illustrates a side elevation view of @ UAV with a wite coil assembly. In some embodiments, the package can be ‘attached toa coil of wire that can lower the package lowards found level. FIG. 4C further depicts an embodiment ‘wherchy the cil of wire is secured onto a flywheel assembly that mites in a circular motion, In doing so, the circular votion of the coil of wire ean initiate a entripetal force 08 the package that progressively increases while the package is lowered, FIG. D illustrates a botiom plan view of the coil of wire, flywheel, and electric motor assembly tha is used {o generate the centripetal larce on the package, Nowe that the main body of the UAV’ is omited from FIG. 4D for clarity TFIGS, 8A through SG illastrate pockage tht includes 3 plurality of control surfaces. FIG. SA illustates a side clevation view of the package. The package includes @ unique marking on each side surface and a plurality of control surfaces that may be deployed to change a direction ofthe package doring freefall the ground, FIG. 5 further illustrates a deployment of one or more control surces. FIG. SB isa top plan view of the package tha illustrates the ‘unique marking onthe ld of the package anda top plan view of the plurality of coateol surfaces. FIG. SC illustrates a side ‘levation view ofthe package wih top side ctrol surfaces that deploy from a lid of the package. FIG. 5C furher illustrates one top side control surface in a deployed posi- ‘ion, and one top side control surface in a stowed position. FIG. 8D isa top plan view of four top side control surfaces installed on the package, FIG, SE illysteats a side elevation view ofthe package with a plurality of vertical fins. FIG. SF illustrates 2 top plan view of package with four vertical fins. FIG, SF Taner illustrates to verical fins in a deployed position and two vertical fins ina stowed position. FIG. 5G illystrates side elevation view of the package with plurality of parachutes in deployed position. FIGS, 6A and 62 illustate an example pockage that includes a plurality of eompressed ait canisters. FIG. 64 is 4 side elevation view of a package that includes a color imprint on each side surface and s plurality of compressed air canisters attached 0 each side of the package. FIG, 63 is top plan view of the package that illustrates a color int on a lid ofthe package and a top plan view of the plurality of compressed air canisters atached to each side of the package FIG. 71s a block diagram of components of an example package launeh controller that supports package delivery by fan unmanned aerial vehicle. FIG. Bs a flow diagram of a package delivery system on ‘an UAV causing the lninch of « pockage. The flow diagram further describes monitoring the descent of package 10 transmitting signals to deploy contol surfaces on the pock= ‘ge to ensure safe delivery to the delivery destination, PIG. 9 is a ow diagram of package reveiving an RF signal from a UAV and deploying one or more control strfaces in response to the RF signal DETAILED DESCRIPTION ‘This disclosure provides a package delivery system that forcefilly propels packages from an unmanned serial vehicle (UAV), while the UAV isin motion. The UAV eaa US 9,567,081 BI 3 apply a force onto the package that is sufcient to alter the descent trajectory ofthe package from a parabolic path 1 3 vertical descent path fs package is dropped from the UAV, while the UAV is jn motion, the descent path of the package will Zllow parabolic trajectory unless the package is forcefully ejected ‘or released from the UAV. The slope of the parabolic trajectory is influenced by the acceleration of the UAV at the time the package i released, Toa lesser extent, ar resistance Jn the form of drag and wind can also affect the shape and slope of the descent path. This disclosure deseribes a number ‘of Ways by Which a force ean be applied onto the package at the time the package is released from the UAV. The ‘applied Tore is intended 1 be equal aad opposite the soceleration of the UAV motion such that the resulting package descent path isa verical descent trajectory Atechitical advantage of incorporating package delivery system info a UAV is that the sequence ofa UAV landing and taking off for each package delivery can be eliminated, thereby creating time and eneruy resouree efficiencies that Improve the benefit of adopting a network system of UAVS. Fanher, an ability to cause a pockage to descend through vertical trajectory rather than a parabolic trajectory can be advantageous when attempting a delivery in an area with Timited open space, such a an alley ora fenced back yard In sonie embodiments the packoge ean include a unique marking on a plurality of extemal surfaces. The unique ‘marks on each side surface ofthe package can be different ‘nolo. An advantage of using different colors is that when viewed from the UAV, the UAV cam confirm the trajcctory path ofthe package by determining which unique marks of the package that are visible through an optical seasor. In various examples, the UAV can transmit insiuctions to the package via a radio frequency (RF) transmitter, The instric- tions ean include deploying one or more control surfaces that area part of the package. In various examples, the one ‘oF more contol surfaces can inchude fat panes that proteade into the airstream to genemte a dmg force. In some ‘examples, the ane or more control surfaces may retain an Birfoil erost-scction, similar to flaps and slats on a fixed ‘wing sirerat. In other examples, the one or more contol surfaces can include parachutes, or compressed air canisters ‘As discussed in more detail below, the one or more control surfaces can alter the vertical descent path ofthe package to avoid obstrctions, such as tees, o other structures such a5 ‘carports, balconies, power lines, eaves, etc. In other ‘examples, the vertical descent path ean be altered 0 slip the package onto a baleony of high-rise building The techniques, apparatus, and systems described herein may be impletiented in a number of ways. Example imple- mentations are provided below with reference tothe follow= ing figures, TFG. Lisa pictorial low diagram that illustrates process ‘of forcefully propelling a package from a UAV 102 while in, ‘mation to deliver the package 104 to a destination that is direcly beneath the UAV. The UAV 102 can be winged craft, a rotor-cralt, or hybrid airerat that is capable of transporting packages by air from an origination location (oat fulillment center or near fulillment center) to 2 ‘destination and returning (0 the exignation location “Atblock 106, the UAV 102 can be loaded with a package 104 for delivery to a destination. In some examples, the package ean be couple! io. package launch mechanism that Js part ofthe UAV 102. As described in more deal in FIG. 2. the package launch mechanism can apply a force onto the package atthe time the package is released from the UAV 0 o 4 102. In some examples, the applied foree ean alter the descent trajectory of the package: ‘At block 108, the UAV’ 102 can release the package while the UAV is in motion and flying at « particular ali. in some examples, the particular altitude ean range from 10-20 fect above the delivery destination, In other examples, the particular altitude can be 500 ft above the delivery desti- pation. At lock 108, the UAV 102 caa apply a release force ‘onto the package, via a package launch mechanism. The release force can be substantially equal and opposite 1 a ore that is equivalent tothe acceleration ofthe UAV 102. Indoing so, resultat force on the package 104 can cause the escent irjectory of the package 104 0 change from a parabolic trajectory that runs in the direction of the UAV 102, 10a vertical descent trajectory various examples, the foree applied onto the package canbe isles than or greater than a Force equivalent to the feceleration of the UAV 102. In one non-limiting example, the UAV 102 may be lying into a headwind. Ahesdwind ean aller the shape of the package descent pat from a parabolic trajectory t0 a more venical descent path. In this example, the free applied onto the package can be reduced by compensating for the change in descent path that has been ‘aus by the heading, Alternatively, the UAV 102 may be ‘ying into tiv, which causes the shape ofthe package descent path 10 select a longer parabolic trajectory. In this sltemate example, the force applied onto the package can be increased to negate the effet of the tail wind as well as the acceleration of the UAV 102 Tn some examples, the release force applied onto the package can be vari to compensate for other factors, sich as aerodynamie drag on the package. In various packages packages can he subject to acrodynamic dag. Aerodynamic drag can cause a package to decelerate in a horizoatal direction, thereby creating a steeper parabolic descent pats than what would normally oecur in the absence of sueh drag. ‘Therefore, a consequence of the deceleration is that the release force applied by the UAV 102 can be reduced by compensating forthe change in the descent path that has been caused by the aerodynamic drag. Tn various examples, the amount af rlesse force applied by the UAV 102 can be proportional tothe surface area of the package 104 that is perpendicular to the horizoatal motion of the UAV 102. For example, the amount of deceleration caused by aerodynamic drag is proportional to the surface area of the package that is perpendicular to the horizontal motion of the UAV 102, Therefore, a package with a Targe surface area that is pespendicular to the hor ‘onial motion of the UAV 102 can induce a signifeant amount of drag, causing the descent path ofthe package 10 tend more closely towanls 2 vertical descent path. AS a result, the release foree applied by the UAV 102 ean be further redueed by compensating for the aerodynamic drag caused by a larger surface area. Moreover, at block 108, an advantage of applying a release force onto a package 104 js that an equal and ‘opposite reaction force is applied onto the UAV 102. The reaction force occurs ina diction that eomesponds to the horizontal motion of UAV 102, Therefore, by applying @ release force onto the package 104, UAV 102 can receive boost of acvelertion in its diretion of motion. The boost of scceleration ean assist the UAV 102 to climb to a higher fruise akitude oF accelerate at the current ruse atime towards its next destination ‘AU lock 110, the UAV 102 ean monitor the descent path of the package 104 ean cause a deployment of one or tare control surfaces that adjust the descent path of the package US 9,567,081 BI ‘ean include fat panels that protrude ino the airstream {0 tener a drag force. In some examples, the one oF more ‘contol surfaces may retain an airfoil cross-soetion, simi to flaps and slats ona fixed wing areraft In other examples, the one or more control surfaces can include parachutes, oF ‘compressed air canisters. In some examples, the vertical ‘descent path can he altered to avoid obstructions, such as twos, or other structures such as carports. In some examples, the UAV 102 can be equipped ‘with a midio frequency transmitter that can transmit radio signal to the package 104, The radio signal ean cause the deployment of the one ‘oF more contol surfaces In some examples, the UAV 102 can be further equipped ‘with one oF more optical sensors, such asa digital camera, that monitors the packave 104 during its descent. As cise ‘cussed in more detail below in FIG. 5, the optical sensors ‘ean monitor a view of unique marks of the package In some ‘examples, the package 104 can inlude unique marks on ‘each fop, bottom, aod side surface. The unique marks oa ‘each surface canbe different in eolor, such that when viewed via an optical sensor of the UAV 102, the UAV 102 can discom a descent trsjectory based on which colors are in view. For example, if the optical sensors intermittently view some unigue marks, the UAV 102 may deduce that the package 104 is spinning. In sponse, the UAV 102 may ‘deploy all control surfaces to stabilize the package descent mother examples, based on the unigue marks that ean be viewed fom the UAV 102, the UAV 102 may determine that the package is Iikely to strike-an obstruction, In response, the AV 102 may deploy one or more control surfaces that ide the package toa safer ground location away from the ‘obstruction. For example, when a contml surface is ‘depleved, a portion of the control surface protrudes int the sista, During descent, the protruding portion of the ‘contol surface generates drag. The drag subsequently aets as an upward force on the package, causing the package 10 pivot about its center of gravity and ultimately change trajectory. FIGS, 2A and 28 are pictorial flow diagrams of a UAV. 202 camying a package 204 and forceflly propelling the package 204 from the UAV 202 via a lanneh mechanism. Ia Various examples, the Lauach mechanism can include & uide rail 206, « coupling structure 208, and an actuator ‘device 210, In some examples, the guide ral 206 ean be rigidly attached onto the UAV 202. The guide rail 206 can ‘comprise ofa longitudinal member having a uniform cross section, In various examples, guide ral can be attached 10 the UAV 202 at each end position. The coupling structure 208 can act 38 an interface between the package 204 and the UAV 202, by interfacing with the package 104 ad the ide rail 206. The coupling sirucure 208 can include a release Joint that interfaces with the package 204, For example, ia response to being subjected to a particular foree, the cow- pling structure 208 may dislodge from the package 204. In Various examples, the release joint may ‘comprise of pre-lensioned clamp. In other examples, the release joint may comprise of a bal-socket join. In both examples, 2 particular amount of force can ease the pre-tensioned ‘lamp 19 open oF the bal iting w dislodge from a corre sponding socket joat. In some examples, the release force ‘ean correspond io the release force that is applied to the package to alter the escent path ofthe package to a vertical ‘descent trajectory. In some examples, a cross-section ofthe coupling struc ture 208 can incinde an eperture that is complementary to at least a portion of the guide rail 206 cross-section. In this 0 o 6 ‘example, the guide rail 206 can be slotted into the aperture of the coupling structure 208, allowing the coupling steve ture 208 ro traverse along the length ofthe guide rl 206 In some examples, the launch mechanism can iachade an actutor device 210. As illusiated in FIG. 2B, the aetwator ‘device 210 can cause the eoupling structure 208 to remain ia a fixed positon slong the guide rail 206 during a transpor- tation phase of the package delivery. As illustrated in FIG. 2A, the fixed position can eorespond to a position at the Tongituinal center ofthe guide ril 206, Tn some examples, the setuator device 240 can eause the coupling srvcture 208 and stacked package 204, wo accel- crate along the guide rail 206 froma fist position io a second positon, In the illustrated example, the first position can forrespondl to a position at the longitudinal center of the ide rail 206. Funber, the second positon can correspond an end position ofthe guide rail 206. In various examples, the foree applied by the actuator device 210 to the coupling structure 208 can coerespond to the force tat is required 10 dislodge the package 204 from the coupling stueture 208, la some examples, the force applied by the actuator device 240 fan also correspond tothe Torce that i intended 0 alter the package 204 descent path from a parabolic trajectory t0 a vertical trajectory In various examples, the actuator deviee 210 can eom- prise of a pneumatic actuator 2 spring actuator or any other actuator device that is configured to store and release kinetic fenergy within a predetermined period of time, In some ‘examples, the period of time i proportional tothe force that {sto be generated by moving the coupling strcture 208 over the guide rail 206, ‘In some examples, the launch mechanism can comprise ‘only of 2 guide ral 206 and the coupling structure 208. Rather dian including an actuator device 210 to forcefully propel the package 204, the Inunch mechanism can inelude flecim magnets on the guide rail 206 and the coupling structure 208, In some examples, the force required to propel the package 204 from the UAV 202 can he applied by causing eurtent to flow through the electro magnets, In this ‘ample, the amount of force applied onto the coupling Structure 208" is proportional t the cunent that flows through the clectromagncs ‘In other examples, the force required to propel the pack: ‘age 204 from the UAV 202 can be generated by compressed air canisters, In other examples, the force can be generated ‘using a controlled explosion ‘In various examples, he release force applied! onto the coupling sieuture 208, by one of the actuator device 210 or lectromagnets can cause an equal and opposite reaction force tobe applied onto the UAV 202. In some examples, the reaction force can oecur ina direction that corresponds to the horizontal motion of UAV 202, Therefore, by applying @ release foree ont the package 204, the UAV 202.can receive ‘boost of acceerati in is direction of motion. The boost ‘of acceleration can assist the UAV 202 to climb to a higher fenvise altude or accelerate at the current cruise aline towards its next destination FIG, 3 isa pictorial view of a UAV 302 carrying apackage 304, and forcefully propelling the package 304 from the ‘UAV 302 via a Jauich mechanism. In vatious examples, the Jaunch mechanism ean inelade a guide rail 306, a coupling structure 308, anda pareehute 310. In some examples, the ude rail 3106 can correspond to guide ril 206. The guide rail 306 can comprise of longitudinal member having a ‘uniform cross-section, In varios examples, the guide rail 306 cat be attached to the UAV 302 at each end positon US 9,567,081 BI 1 The coupling structure 308 can correspoad to coupling structure 208. la various examples, the coupling structure ‘can acts a& an interface between the package 304 and the UAV 302, by interfacing berween the package 304 and the guide rail 306, The coupling structure 308 ean include a Felease joint that interfaces wih the package 304, sich as but ot limited to pre-tensioned clamp or ball socket join. In some examples, the lainch mechanism can also include a parachute 310. The UAV’ 302 ean cause parachute 310 1 ‘deploy once the UAV 302 is at particular altitude over the delivery destinaGon. In some examples, the UAV 302 ean Jnclude un electronic parachute deployment system, which ‘causes the parachute to deplay a atime when the UAV 302 js a the particular altitude over the delivery destination. Ia ‘other examples, the parachute 310 ean be mechanically ‘deployed by pulling a release cordon the parachute 310. Fo ‘eximple, the launch mechanism can include an actuator ‘device 312 that causes the coupling structure 308 to traverse slong the guide rail 306. In some examples, the release cord ‘on the parachute 310 cin he coupled Wo a fixed position oa the UAV 302 such that a predetermined displacement of the ‘coupling structure 308 along the guide rail 306 can eause the Parachute 310 to mechanically deploy. In various examples, the seustor device 312 can eore- spond to aetustor device 210. The actuator device 312 can ‘comprise of pneumatic aetwator, spring aetator, oF any ‘other actuator device that is configured to store and release Kinetic energy within a predetermined time period, ‘In various examples the paruchute 310 is deployed while the UAV’ 302 is still in motion, Therefore, since the para- ‘chute 310 is deployed inthe horizontal plane, the parachute 310 can generate a drag force that is equal and opposite t0 fa force equivalent to the socelertion of the UAV 302. In doing s0, the esulaat force on the package 304 can cause the descent trajectory of the package 30M to change from a parabolic trajectory that uns in the direction of the UAV 5302, to a vertical descent trajectory. ‘Moreover, unlike the release force applied by actuator devices deseribed in FIG. 2, the drag force genersted by the parachute 310 does not cause a boost in acceleration that sss the motion ofthe UAW 302, This i because the UAV 302 does not apply the release foree onto the package 308 Instead, the drag force is generated aerodynamically by the deployment of the parachute 31, In various examples, the drag force generated by the parachute 310 ean also correspond (0 the foree required 10 ‘dislodge the package 304 from the coupling structure 308 of the UAV 302, In some examples, the parachute 310 can be dislodged from the package at the same time the package 04s dislodged from the coupling structure 308 ofthe UAV 302. In doing so, this ensures thatthe deceleration applied to the package 304 is equal and opposite w the horizontal ‘acceleration of the UAV 302, Tn some examples, the parachute 310 can remain atached to the package 304 after the package 304 is dislodged from the coupling structure 308 of the UAV’ 302. In doing so, the parachute 310 can cause the package 304 to further decel- ‘erate in the vertical direction during its descent, FIGS. 4A and 4B are pictorial flow diagrams of a UAV 402 carrying a package 404 and forcefully propelling the package 44 from the UAV 402 via launch mechanism that ‘nchides a lever arm. In various examples, the launch mechanism can include a puide rail 406, lever arm pivot structure 408, an actuator device 410, a lever arm 412, and ‘package attachment sticture 414, An advantage of includ ing a lever arm 412 as part of the lanching mechanist is that the release force generated by a linear motion of the 8 package 404 along the guide cal 406 can be proportionally famplified by the pivoted length of the lever am 412. Therefore, if a pockage 404 requires a release force that cexcoods the capability ofa launch mechanism, as deseibod in FIGS, 2 and 3, the lever arm configuration, as deseribed in FIGS. 4Aand 4B, ean be used to amply the release force capability ofthe launch mechanism. Ta the illustrated example of FIGS. 4 and 4B, the guide rail 406 can correspond to sce rail 206 and 306, The guide rail 406 can comprise of longitudinal member having @ ‘uniform eress-seetion. The guide rail 406 ean be attached 10 the UAV’ 402 at each end position. ‘In the illstrated example, the lever arm pivot stcture 408 can provide an interface between the UAV 402 and the Jever stm 412. The purpose ofthe lever arm pivot stectore 408 is two-fbd. First, the lever arm pivot structure 408 ca ‘move along the guide rail 406 to generate a release force that js ultimately transferred to the package 404 at a point of release. The cross-section of the lever arm pivot structure 408 can include aa aperture that is complementary oat least portion ofthe guide rail 406 cross-section. In this example, ‘the guide rail 406 can be slotted through the perture ofthe lever sem pivot strture 408, such thatthe lever am pivot structure 408 can move unimpeded along the length the ide rail 406, Second, the lever am pivot streture 408 can provide a platlorm to cause a rotation of the lever am 412. For ‘example, the lever arm pivot structure 408 can include 3 Spring coil 416 that can cause the lever arm 412 to pivot downwards. In doing so, the rotation ofthe lever arm 412 fan amplify the release force that is nominally generated by the horizontal movement of a lever ama pivot siruetire 408 along the ge eal 406 the illustrated example, the launch mechanism can also include an actuator device 410. In some examples, the actuator device 410 can comespond to aetuator device 210 and 312. In some examples, the actuator device 410 can cause the lever arm pivot structure 408 to aecelerate along the guide rail 406 from a fist position atthe longitudinal center of the guide rail 406 t0'2 second position that ean torrespond to an end positon of the guide rail 406, ‘In the illustrated example, the launch mechanism can also include a package attachment structure 414. The package attachment structure 414 ean couple te package 404 to the lever arm 412. The package attachment sirueture 414 can comprise ofa release joint such as a pre-tensioned clamp oF ball socket joint. In various examples, the release joint ean ‘uncouple the package 404 from the lever arm 412 at predetermined force that is equivalent tothe release foree of the package 404, ‘In various examples, the combined elect of the lever arm pivot structure 48 moving slong the guide rail 406, and the lever arm 412 pivoting about the lever arm pivot stucture 408 can eause an amplified release force to be applied onto the package 404 ut a point of release. Moreover, the release ore that is ultimately plied onto the package can enuse ‘an equal snd opposite reaction force wo be applied onto the UAV 402. In some examples, the rection foree ean occur in direction that corresponds tothe horizontal motion of UAV 4402. Therefore, by applying release foree onto the package 4404, the UAV 402 can receive @ boost of acceleration i its rection of motion, The boost of acceleration can assist the VAY 402 to climb toa higher euise altitude or accelerate at the current cruise altitude towards its next destination, FIG. 4C illustrates a pictorial fow diggram ofa UAV 402 playing a package 404 vis an attached line 41% In various ‘examples a line 18 can include, buts nt limited to, Wire, US 9,567,081 BI 9 ‘cable, or sting. Inthe illustrated example, the UAV 402. ‘can include a coil 420 of wire 418 that lowers the package (o height at which the package 404 is released. In some ‘embodiments, the UAV 402 may lower the package 404 t0 ground level. In other embodiments, the UAV’ 402 may lower the package to particle releavealtitde at which the package 404 js released while the UAV 402 is still in motion. In various examples, the coil 420 of wire 418 can sacl ‘onto flywheel 422 ofthe UAV 402. As depicted in FIG. 4D, the flywheel 422 may be furler coupled to an electric motor 424 that is secured to the underside of the UAV 402, The ‘eleciic motor 424 can cause the lywheel 10 rotate about its rotational axis, In doing 40, the rotation of the flywheel results in the attached coil 420 rotating about the same rotational axis of the flywheel. In various examples, the ‘irelar mation ofthe coil 420 ean initiate a centripetal force ‘onthe package 40 while the package 404 is attached to the Wire 418, As the package 404 is progressively lowered by the wire 418, the package 404 descent path begins to follow progressively lamer spins, whieh cause the centripetal ores on the package 404 to progressively inerease. This ‘ction causes the system fo operate similar fo a “slingatoa" lnunching mechanism. In some examples, the UAV 402 can release the package 404 in the direction that is opposite to the motion of the UAV. 4402, The acceleration force applied onto the package 404 a the point in time in which the packsge 404 is relessed is developed directly liom the generated centripetal force. In some examples, the point in time in which the package 404 Js released is based on producing an acceleration foree on the package 404 that is equal and opposite to the acceleration fore the UAV 402. Asa result the package 404 may follow a vertical descent path to an intended delivery destination Further, by applying an acceleration force onto the package 4404, the UAV 402 can receive a boost of acceleration in its ‘direction of motion, The boost of aoceleration ean assist the UAV 402 to climb toa higher cruise altitude or accelerate at the current cruise altitude towards its next destination, TFIGS, SA through to 5G illestrate various types of pack ‘ages S02 that can be deployed by a UAV 102, 202, 302 oF 402, In various examples, the package 502 can include plurality of sidewalls that combine to form a receptacle in between and an opening ata top rim. In various examples, items for delivery can be securely positioned withia the receptacle of the package $02. In various examples, items for delivery can be placed within the receptacle ofthe package 802 in such a way that the package 502 is bortom heavy. A bottom heavy weight

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