阅读说明：本技术 车辆对接系统、有效载荷传递系统和相关方法 (Vehicle docking system, payload delivery system, and related methods ) 是由 E·J·马丁 于 2019-07-08 设计创作，主要内容包括：本申请公开一种车辆对接系统、有效载荷传递系统和相关方法。车辆对接系统(200)包括具有多个对接插入单元(210)的车辆(60)和具有多个对接接受器单元(220)的对接平台(70)。每个对接接受器单元(220)被配置成在解锁配置和锁定配置之间转变。利用车辆对接系统(200)的方法(400)包括将车辆(60)带到(410)对接平台(70)上的对接位置,以及将车辆(60)固定(420)在对接位置。对接平台(70)包括多个对接接受器单元(220),并且车辆(60)包括多个对接插入单元(210),每个对接接受器单元(220)被配置成接收相应的对接插入单元(210)。将车辆(60)固定(420)在对接位置包括将每个对接接受器单元(220)从解锁配置转变到锁定配置。有效载荷传递系统包括有效载荷接合系统和车辆对接系统(200)。(A vehicle docking system, payload delivery system, and related methods are disclosed. A vehicle docking system (200) includes a vehicle (60) having a plurality of docking insert units (210) and a docking platform (70) having a plurality of docking receptacle units (220). Each docking receptacle unit (220) is configured to transition between an unlocked configuration and a locked configuration. A method (400) of utilizing a vehicle docking system (200) includes bringing (410) a vehicle (60) to a docking position on a docking platform (70), and securing (420) the vehicle (60) in the docking position. The docking platform (70) comprises a plurality of docking receptacle units (220) and the vehicle (60) comprises a plurality of docking insert units (210), each docking receptacle unit (220) being configured to receive a respective docking insert unit (210). Securing (420) the vehicle (60) in the docked position includes transitioning each docking acceptor unit (220) from the unlocked configuration to the locked configuration. The payload delivery system includes a payload engagement system and a vehicle docking system (200).)

1. A vehicle docking system (200) for selectively retaining a vehicle (60) in a docked position with respect to a docking platform (70), the vehicle docking system (200) comprising:

a vehicle (60), the vehicle (60) comprising a landing gear (66), the landing gear (66) having an associated plurality of docking insert units (210) in a geometric arrangement; and

a docking platform (70) comprising a plurality of docking receptacle units (220);

wherein each docking receptacle unit (220) is configured to selectively engage a respective docking insert unit (210) of the plurality of docking insert units (210) to selectively retain the vehicle (60) in a docked position relative to the docking platform (70); wherein the plurality of docking acceptor units (220) have a geometric arrangement corresponding to the geometric arrangement of the plurality of docking insertion units (210); wherein each docking insertion unit (210) is received in a respective docking receptacle unit (220) to maintain the vehicle (60) in the docked position when the vehicle (60) is in the docked position; wherein each docking receptacle unit (220) is configured to transition between an unlocked configuration in which the respective docking insertion unit (210) is freely inserted into and removed from the docking receptacle unit (220) and a locked configuration in which the respective docking insertion unit (210) is prevented from being removed from the docking receptacle unit (220) when the vehicle (60) is in the docked position.

2. The vehicle docking system (200) of claim 1, wherein the vehicle docking system (200) comprises at least one insert holder (230), the at least one insertion holder (230) being associated with a respective docking receptacle unit (220) of the plurality of docking receptacle units (220), and configured such that when the vehicle (60) is in the docked position and when the docking acceptor unit (220) is in the locked configuration, selectively preventing a respective docking insertion unit (210) of the plurality of docking insertion units (210) from being removed from the respective docking receptacle unit (220), and wherein when the vehicle (60) is in the docked position and when the docking acceptor unit (60) is in the locked configuration, each insertion holder (230) mechanically prevents removal of the respective docking insertion unit (210) from the docking receptacle unit (220).

3. The vehicle docking system (200) of claim 2, wherein each docking receptacle unit (220) comprises a receptacle opening (222), wherein each docking receptacle unit (220) is configured to receive the respective docking insertion unit (210) via the receptacle opening (222), and wherein the each insertion holder (230) at least substantially covers the receptacle opening (222) of each docking receptacle unit (220) when the docking receptacle unit (220) is in the locked configuration.

4. The vehicle docking system (200) of claim 2, wherein each insertion holder (230) is hingedly coupled to the respective docking receptacle unit (220), and wherein the vehicle docking system (200) further comprises a holder actuator (232), the holder actuator (232) configured to pivot each insertion holder (230) relative to the respective docking receptacle unit (220) to mechanically prevent removal of the respective docking insertion unit (210) from each docking receptacle unit (220) when the vehicle (60) is in the docked position and when the docking receptacle unit (220) is in the locked configuration.

5. The vehicle docking system (200) of claim 4, wherein the vehicle docking system (200) further comprises a position sensor (34), the position sensor (34) configured to detect when the vehicle (60) is in the docked position, and wherein the retainer actuator (232) is configured to pivot each insert retainer (230) in response to the position sensor (34) detecting that the vehicle (60) is in the docked position.

6. The vehicle docking system (200) according to any one of claims 1 to 5, wherein each docking receptacle unit (220) comprises an insertion receiver (224), the insertion receiver (224) being configured to receive and guide a respective docking insertion unit (210) of the plurality of docking insertion units (210) into alignment with the docking receptacle unit (220) when the vehicle (60) approaches the docking position.

7. The vehicle docking system (200) of claim 6, wherein each docking insert unit (210) is at least substantially surrounded by the insert receiver (224) of the respective docking receptacle unit (220) when the vehicle (60) is in the docked position.

8. The vehicle docking system (200) of claim 6, wherein each docking insertion unit (210) is at least substantially conical, wherein the insertion receiver (224) of each docking receptacle unit (220) is at least substantially conical, and wherein the insertion receiver (224) of each docking receptacle unit (220) comprises an inclined portion (226), the inclined portion (226) configured to engage the respective docking insertion unit (210) to passively guide the respective docking insertion unit (210) into the docking receptacle unit (220).

9. A method (400) of selectively retaining a vehicle (60) in a docked position with respect to a docking platform (70) with a vehicle docking system (200), the method (400) comprising:

bringing (410) the vehicle (60) to the docking position relative to the docking platform (70); and

-securing (420) the vehicle (60) in the docking position;

wherein the docking platform (70) comprises a plurality of docking receptacle units (220) having a geometric arrangement; wherein the vehicle (60) comprises a plurality of docking plug-in units (210) having a geometrical arrangement corresponding to the geometrical arrangement of the plurality of docking plug-in units (210); wherein each docking insertion unit (210) of the plurality of docking insertion units (210) is received into a respective docking acceptor unit (220) of the plurality of docking acceptor units (220) to maintain the vehicle (60) in the docked position when the vehicle (60) is in the docked position; wherein securing the vehicle (60) in the docked position comprises: transitioning (422) each docking acceptor unit (220) from an unlocked configuration, in which a respective docking insertion unit (210) of the plurality of docking insertion units (210) is freely inserted into and removed from the docking acceptor unit (220), to a locked configuration, in which the respective docking insertion unit (210) is prevented from being removed from the docking acceptor unit (220), when the vehicle (60) is in the docked position.

10. The method (400) of claim 9, wherein bringing (410) the vehicle (60) to the docked position comprises coarsely aligning (412) each docking insertion unit (210) with the respective docking receptacle unit (220), and then passively guiding (414) the vehicle (60) to the docked position.

11. The method (400) of claim 10, wherein the coarse alignment (412) comprises guiding the vehicle (60) towards the docking platform (70) using an automated controller (40).

12. The method (400) of claim 10, wherein the passive guiding (414) comprises engaging each docking insertion unit (210) with the respective docking receptacle unit (220) to bring the vehicle (60) to the docked position.

13. The method (400) according to any of claims 9 to 12, wherein transitioning (422) each docking receptacle unit (220) from the unlocked configuration to the locked configuration comprises rotating at least one insertion holder (230) to prevent removal of a respective docking insertion unit (210) of the plurality of docking insertion units (210) from the docking receptacle unit (220).

14. The method (400) of any of claims 9 to 13, wherein the method (400) further comprises starting the vehicle (60) from the docking platform (70) after transitioning (422) each docking acceptor unit (220) from the unlocked configuration to the locked configuration, wherein the vehicle (60) comprises a thrust generator (68) configured to propel the vehicle (60), and wherein the starting (430) comprises:

(i) generating (432) a thrust force by the thrust generator (68) away from the docking platform (70); and

(ii) transitioning (434) each docking acceptor unit (220) from the locked configuration to the unlocked configuration;

wherein the generating (432) a pushing force is performed prior to transitioning (434) each docking acceptor unit (220) from the locked configuration to the unlocked configuration.

15. The vehicle docking system (200) of claim 1, included in a payload transfer system (10) for transferring a payload (50) to a vehicle (60), the vehicle docking system (200) comprising:

at least one engagement latch (110) on the vehicle, the vehicle including a landing gear (66), the landing gear (66) having an associated plurality of docking insert units (210) in a geometric arrangement;

a payload (50) comprising at least one engagement receptacle (130);

a plurality of docking acceptor units (220) included on the docking platform (70); and

a payload engagement system (100) for selectively coupling the payload (50) to the vehicle (60);

wherein the vehicle docking system (200) comprises the plurality of docking insertion units (210) and the plurality of docking receptacle units (220);

wherein the payload engagement system (100) comprises the at least one engagement latch (110) and the at least one engagement receptacle (130);

wherein each engagement latch (110) is configured to selectively engage a respective engagement receptacle (130) of the at least one engagement receptacle (130) to selectively couple the payload (50) to the vehicle (60); wherein each engagement latch (110) is configured to selectively transition between an engaged configuration in which each engagement latch (110) engages the respective engagement receptacle (130) to couple the payload (50) to the vehicle (60), and a disengaged configuration in which each engagement latch (110) is removed from each engagement receptacle (130); wherein the payload engagement system (100) is configured to guide the payload (50) to a predetermined coupling position relative to the vehicle (60) to establish alignment of each engagement latch (110) relative to the respective engagement receptacle (130) in an alignment plane (102) prior to each engagement latch (110) transitioning from the disengaged configuration to the engaged configuration; and wherein each engagement latch (110) is configured to translate in a lateral direction (104) that is at least substantially parallel to the alignment plane (102) as the engagement latch (110) transitions between the engaged configuration and the disengaged configuration.

Technical Field

The present disclosure relates to vehicle docking systems, payload delivery systems, and related methods.

Background

Vehicles such as aircraft may be used to deliver the payload to the delivery site. For example, Unmanned Aerial Vehicles (UAVs) may be used to transport payloads substantially autonomously. However, such applications typically require human interaction to place the package in the UAV cargo area and/or otherwise couple and/or decouple the payload to/from the UAV. Such human interaction with the UAV may require the use of special procedures and/or devices to ensure the safety of the human user, and/or may result in a long short-stop (turn) time relative to an automated system to couple and/or decouple the payload to/from the UAV.

Disclosure of Invention

Vehicle docking systems, payload delivery systems, and related methods are disclosed herein. A vehicle docking system for selectively retaining a vehicle in a docked position relative to a docking platform includes a vehicle and a docking platform, the vehicle including a landing gear having an associated plurality of docking insert units in a geometric arrangement, and the docking platform including a plurality of docking receptacle units. Each docking acceptor unit is configured to selectively engage a respective docking insert unit of the plurality of docking insert units to selectively retain the vehicle in a docked position relative to the docking platform. The plurality of docking receptacle units have a geometric arrangement corresponding to the geometric arrangement of the plurality of docking insertion units. Each docking insert unit is received in a respective docking acceptor unit when the vehicle is in the docked position to maintain the vehicle in the docked position. Each docking receptacle unit is configured to transition between an unlocked configuration in which the respective docking insertion unit is freely inserted into and removed from the docking receptacle unit and a locked configuration in which the respective docking insertion unit is prevented from being removed from the docking receptacle unit when the vehicle is in the docked position.

A method of selectively retaining a vehicle in a docked position relative to a docking platform with a vehicle docking system includes: bringing the vehicle to a docking position relative to the docking platform, and securing the vehicle in the docking position. The docking platform includes a plurality of docking receptacle units having a geometric arrangement, and the vehicle includes a plurality of docking insert units having a geometric arrangement corresponding to the geometric arrangement of the plurality of docking insert units. Each docking insert unit of the plurality of docking insert units is received in a respective docking receptacle unit of the plurality of docking receptacle units to maintain the vehicle in the docked position when the vehicle is in the docked position. Securing the vehicle in the docked position includes: transitioning each docking receptacle unit from an unlocked configuration, in which the respective docking insertion unit is freely inserted into and removed from the docking receptacle unit, to a locked configuration, in which the respective docking insertion unit is prevented from being removed from the docking receptacle unit, when the vehicle is in the docked position.

A payload transfer system for transferring a payload to a vehicle comprising: a vehicle comprising at least one engagement latch and a landing gear having an associated plurality of docking insert units in a geometric arrangement; a payload comprising at least one engagement receptacle; a docking platform configured to selectively maintain a vehicle in a docked position relative to the docking platform and comprising a plurality of docking receptacle units; a vehicle docking system for selectively holding a vehicle in a docked position relative to the docking platform; and a payload engagement system for selectively coupling the payload to the vehicle. The vehicle docking system includes a plurality of docking insert units and a plurality of docking receptacle units. Each docking acceptor unit is configured to selectively engage a respective docking insert unit of the plurality of docking insert units to selectively retain the vehicle in a docked position relative to the docking platform. The plurality of docking receptacle units have a geometric arrangement corresponding to the geometric arrangement of the plurality of docking insertion units. Each docking insert unit is received in a respective docking acceptor unit when the vehicle is in the docked position to maintain the vehicle in the docked position. Each docking receptacle unit is configured to transition between an unlocked configuration in which the respective docking insertion unit is freely inserted into and removed from the docking receptacle unit and a locked configuration in which the respective docking insertion unit is prevented from being removed from the docking receptacle unit when the vehicle is in the docked position. The payload engagement system includes at least one engagement latch and at least one engagement receptacle. Each engagement latch is configured to selectively engage a respective engagement receptacle of the at least one engagement receptacle to selectively couple the payload to the vehicle. Each engagement latch is configured to selectively transition between an engaged configuration in which each engagement latch engages a respective engagement receptacle to couple the payload to the vehicle and a disengaged configuration in which each engagement latch is removed from each engagement receptacle. The payload engagement system is configured to guide the payload to a predetermined coupling position relative to the vehicle to establish alignment of each engagement latch relative to the respective engagement receptacle in an alignment plane prior to each engagement latch transitioning from the disengaged configuration to the engaged configuration. Each engagement latch is configured to translate in a lateral direction at least substantially parallel to the alignment plane when the engagement latch transitions between the engaged configuration and the disengaged configuration.

Drawings

Fig. 1 is a schematic side view illustrating an example of a payload delivery system according to the present disclosure.

Fig. 2 is a schematic side view illustrating an example of a payload transfer system according to the present disclosure, wherein a vehicle approaches a docking platform to receive a payload.

Fig. 3 is a schematic side view representation of the payload transfer system of fig. 2 with a vehicle in a docked position relative to a docking platform and with a plurality of docking acceptor units in an unlocked configuration in accordance with the present disclosure.

Fig. 4 is a schematic side view representation of the payload transfer system of fig. 2-3 with a plurality of docking acceptor units in a latched configuration according to the present disclosure.

Fig. 5 is a schematic side view representation of the payload transfer system of fig. 2-4 with a payload in a coupled position relative to a vehicle and with a plurality of engagement latches in a disengaged configuration in accordance with the present disclosure.

Fig. 6 is a schematic side view representation of the payload delivery system of fig. 2-5 with a payload in a coupled position and with a plurality of engagement latches in an engaged configuration according to the present disclosure.

Fig. 7 is a schematic side view representation of the payload delivery system of fig. 2-6 with a payload in a coupled position and with a plurality of engagement latches in a secured configuration according to the present disclosure.

Fig. 8 is a schematic side view representation of the payload transfer system of fig. 2-7 with a vehicle carrying a payload off of a docking platform according to the present disclosure.

Fig. 9 is a top plan view representing an example of a payload engaged by an alignment guide according to the present disclosure.

Fig. 10 is a side view illustrating the payload and alignment guide of fig. 9 according to the present disclosure.

Fig. 11 is a side view illustrating a pair of engagement latches transitioning from a disengaged configuration to an engaged configuration and further transitioning to a secured configuration relative to a pair of engagement receptacles according to the present disclosure.

FIG. 12 is a top plan view illustrating a docking platform with four engagement receptacles according to the present disclosure.

Fig. 13 is a side view illustrating an example of a payload transfer system according to the present disclosure, wherein a vehicle approaches the docking platform of fig. 12.

Fig. 14 is a side view representation of the payload transfer system of fig. 13 with the vehicle in a docked position relative to the docking platform and with the plurality of docking acceptor units in an unlocked configuration in accordance with the present disclosure.

Fig. 15 is a side view representation of the payload delivery system of fig. 13-14 with a plurality of docking receptacles in a latched configuration according to the present disclosure.

Fig. 16 is a side view representation of the payload transfer system of fig. 13-15 with a vehicle carrying a payload off of a docking platform according to the present disclosure.

FIG. 17 is a flow chart describing a method of selectively coupling a payload to a vehicle utilizing a payload engagement system in accordance with the present disclosure.

Fig. 18 is a flow chart describing a method of utilizing the vehicle docking system to selectively hold a vehicle in a docked position relative to a docking platform according to the present disclosure.

Detailed Description

Fig. 1-18 provide illustrative, non-exclusive examples of a payload transfer system 10 including a payload engagement system 100 and/or a vehicle docking system 200, a payload 50 including a partial payload engagement system 100, a vehicle 60 including a partial payload engagement system 100 and/or a vehicle docking system 200, a docking platform 70 including a partial vehicle docking system 200, a method 300 utilizing a payload engagement system, and/or a method 400 utilizing a vehicle docking system according to the present disclosure. The same reference numerals are used for similar or at least substantially similar elements in each of fig. 1-18, and these elements are not discussed in detail herein with reference to each of fig. 1-18. Similarly, not all elements may be labeled in each of fig. 1-18, but reference numerals associated therewith may be used herein to maintain consistency. Elements, components, and/or features discussed with reference to one or more of fig. 1-18 may be included in and/or used with any of fig. 1-18 without departing from the scope of the present disclosure. Generally, in the drawings, elements that may be included in a given example are shown in solid lines, while elements that are optional for the given example are shown in dashed lines. However, the elements shown in solid lines are not essential to all embodiments of the disclosure, and the elements shown in solid lines may be omitted from a particular example without departing from the scope of the disclosure.

Fig. 1 is a schematic diagram of an example of a payload delivery system 10, and fig. 2-8 are schematic diagrams of an example of a payload delivery system 10. Specifically, and as discussed in more detail herein, fig. 2-8 describe examples of utilizing payload transfer system 10, payload engagement system 100, and/or vehicle docking system 200. As schematically shown in fig. 1-8, payload transfer system 10 includes a payload engagement system 100 and a vehicle docking system 200, payload engagement system 100 configured to selectively couple payload 50 to vehicle 60, and vehicle docking system 200 configured to selectively retain vehicle 60 in a docked position relative to docking platform 70. Although fig. 1-8 schematically illustrate examples of payload transfer system 10 including payload engagement system 100 and vehicle docking system 200, it is within the scope of the present disclosure that payload engagement system 100 may be used independently of vehicle docking system 200 and/or payload transfer system 10, and that vehicle docking system 200 may be used independently of payload engagement system 100 and/or payload transfer system 10. Additionally, any reference to a component of payload transfer system 10 may additionally or alternatively be understood to refer to a corresponding component of payload engagement system 100 and/or vehicle docking system 200. As an example, as used herein, reference to the vehicle 60 of the payload transfer system 10 may additionally or alternatively be understood to refer to the vehicle 60 of the payload engagement system 100 and/or the vehicle 60 of the vehicle docking system 200. In other words, as an example, the vehicle 60 may refer to the vehicle 60 of the payload transfer system 10, the vehicle 60 of the payload engagement system 100, and/or the vehicle 60 of the vehicle docking system 200, as the case may be. Similarly, as used herein, any reference to payload transfer system 10 may be understood to refer to any suitable component of payload engagement system 100 and/or vehicle docking system 200, even in examples that do not include each of payload engagement system 100 and vehicle docking system 200.

As schematically shown in fig. 1-8, the payload engagement system 100 includes a payload 50 and a vehicle 60. Vehicle 60 of payload engagement system 100 includes at least one engagement latch 110, and payload 50 includes at least one engagement receptacle 130, such that each engagement latch 110 is configured to selectively engage a respective engagement receptacle 130 to selectively couple payload 50 to vehicle 60. More specifically, each engagement latch 110 is configured to selectively transition between an engaged configuration (shown schematically in dashed lines in fig. 1) in which the engagement latch 110 engages the respective engagement receptacle 130 to couple the payload 50 to the vehicle 60, and a disengaged configuration (shown schematically in solid lines in fig. 1) in which the engagement latch 110 is removed from each engagement receptacle 130.

As used herein, each engagement latch 110 may be described as engaging a respective engagement receptacle 130, and/or may be described as being in an engaged configuration, even when the engagement latch 110 is not in direct contact with a respective engagement receptacle 130. That is, when each engagement latch 110 is in the engaged configuration, payload 50 may be described as being selectively coupled to vehicle 60 regardless of whether each engagement latch 110 is in direct contact with a respective engagement receptacle 130 at all times in the engaged configuration. In other words, each engagement latch 110 may be spaced apart from a respective engagement receptacle 130 and/or may not contact a respective engagement receptacle 130 when the engagement latch 110 is in the engaged configuration. In other words, when each engagement latch 110 is in the engaged configuration, payload 50 may be prevented from being removed from vehicle 60 even in examples in which each engagement latch 110 is spaced apart from a respective engagement receptacle 130 in the engaged configuration.

Payload 50 may include and/or be any suitable structure. As an example and as schematically shown in fig. 1-8, payload 50 may include a plurality of stacking legs 56 disposed on an underside of payload 50 and configured to facilitate stacking of payload 50 on top of the same payload 50. This stacking arrangement is schematically shown in dashed lines in fig. 1. Additionally or alternatively, payload 50 may include and/or be a payload container, such as a reusable payload container configured to selectively and repeatedly hold individual objects. As schematically illustrated in fig. 1-8, payload 50 may be at least substantially in the shape of a rectangular prism. However, this is not required for all examples of payload 50, and it is also within the scope of the present disclosure that payload 50 may have any suitable overall shape. Payload delivery system 10 according to the present disclosure may be used in conjunction with any suitable size and/or mass of payload 50. As an example, the payload 50 may have a volume of at least 10 liters (L), at least 50L, at least 100L, at least 500L, at least 1,000L, at least 5,000L, at least 10,000L, at least 50,000L, up to 100,000L, up to 70,000L, up to 20,000L, up to 7,000L, up to 2,000L, up to 200L, up to 70L, and/or up to 20L. Additionally or alternatively, the payload 50 may have a mass of at least 1 kilogram (kg), at least 5kg, at least 10kg, at least 50kg, at least 100kg, at least 500kg, at least 1,000kg, at most 1500kg, at most 700kg, at most 200kg, at most 70kg, at most 20kg, at most 7kg, and/or at most 2 kg.

As schematically shown in fig. 1, the vehicle 60 may include and/or be an aircraft. In such embodiments, and as discussed herein, vehicle 60 includes landing gear 66, landing gear 66 being configured to support vehicle 60 on docking platform 70 and/or on the ground. Further, and as schematically shown in fig. 1, the landing gear 66 may include at least one shock absorber 67, the shock absorber 67 configured to elastically contract when the vehicle 60 engages the docking platform 70 and/or the ground. As further schematically shown in fig. 1, vehicle 60 may include at least one thrust generator 68, the thrust generator 68 configured to propel vehicle 60 away from docking platform 70. As a more specific example, in embodiments in which vehicle 60 is an aircraft, each thrust generator 68 may be a rotor and/or a propeller.

While the specific examples and embodiments discussed herein generally refer to examples in which the vehicle 60 is an aircraft, this is not required for all payload delivery systems 10 according to the present disclosure, and it is also within the scope of the present disclosure that the vehicle 60 may include and/or be any suitable vehicle for carrying a payload, such as a land-based vehicle, an aquatic vehicle, a submersible vehicle, and/or a space vehicle.

In embodiments where vehicle 60 comprises and/or is an aircraft payload delivery system 10, vehicle 60 may comprise and/or be any suitable aircraft. By way of example, vehicle 60 may include and/or be a rotorcraft, such as a rotorcraft that includes two rotors, three rotors, four rotors, or more than four rotors. In one example embodiment, the vehicle 60 is an Unmanned Aerial Vehicle (UAV) and/or drone. As a more specific example, the vehicle 60 may be a remotely piloted UAV or may be an autonomously controlled UAV. Using the payload engagement system 100 in conjunction with a vehicle 60 in the form of a UAV may facilitate transport of a payload 50, such as a package, and require little or no human intervention to couple the payload 50 to the vehicle 60 or decouple the payload 50 from the vehicle 60, thereby increasing delivery short stop speeds relative to systems in which human intervention is required to couple the payload 50 to the vehicle 60.

As described in more detail herein, and as schematically illustrated in fig. 1, payload engagement system 100 includes an alignment guide 140, which alignment guide 140 is configured to guide payload 50 to a predetermined coupling position relative to vehicle 60 to establish alignment of each engagement latch 110 and each respective engagement receptacle 130. Specifically and as schematically shown in fig. 1, when payload 50 is in the coupled position, each engagement latch 110 is aligned in alignment plane 102 with respect to each respective engagement receptacle 130, and payload engagement system 100 is configured to establish alignment of each engagement latch 110 with respect to each respective engagement receptacle 130 in alignment plane 102 prior to each engagement latch 110 transitioning from the disengaged configuration to the engaged configuration. As schematically shown in fig. 1, each engagement latch 110 is configured to translate in a lateral direction 104 that is at least substantially parallel to the alignment plane 102 as the engagement latch 110 transitions between the engaged and disengaged configurations. As used herein, reference to each of the plurality of engagement latches 110 moving and/or translating in the lateral direction 104 does not require that each engagement latch 110 move and/or translate in the same direction. In other words, as used herein, lateral direction 104 may not refer to a single direction, but may refer to any direction that is at least substantially parallel to alignment plane 102. Thus, in examples where two different engaging latches 110 each translate in a direction parallel to the alignment plane 102 and translate toward each other, each engaging latch 110 may still be described as translating in the lateral direction 104.

As schematically shown in fig. 1, each engagement latch 110 is located on the underside 62 of the vehicle 60 such that the alignment plane 102 is at least substantially parallel to the lower surface 64 of the vehicle 60. However, this is not required for all examples of payload engagement system 100, and it is also within the scope of the present disclosure that each engagement latch 110 and/or alignment plane 102 may have any suitable spatial relationship with vehicle 60 and/or components thereof.

As used herein, positional terms such as "above," "below," "beneath," "underside," and the like may be used to describe, in an illustrative, non-limiting manner, the spatial relationship between components of payload transfer system 10, payload engagement system 100, and/or vehicle docking system 200, and generally refer to a configuration in which landing gear 66 of vehicle 60 faces the ground and/or alignment plane 102 is parallel to the ground. Such terms are provided merely as context, and do not limit the particular orientation of the component parts of payload transfer system 10, payload engagement system 100, and/or vehicle docking system 200 relative to the ground at all times.

Each engagement receptacle 130 may be fixedly mounted to payload 50, and each engagement latch 110 is configured to translate relative to the respective engagement receptacle 130 as engagement latch 110 transitions between the engaged and disengaged configurations. While the examples discussed herein describe examples of payload engagement system 100 in which payload 50 includes each engagement receptacle 130 and vehicle 60 includes each engagement latch 110, this is not required for all examples of payload engagement system 100, and it is also within the scope of the present disclosure that payload 50 may include each engagement latch 110 and vehicle 60 may include each engagement receptacle 130.

Payload engagement system 100 may include any suitable number of engagement latches 110 and/or any suitable number of engagement receptacles 130. As examples, the at least one engaging latch 110 may include one engaging latch 110, two engaging latches 110, three engaging latches 110, four engaging latches 110, or more than four engaging latches 110. Similarly, the at least one engagement receptacle 130 may include one engagement receptacle 130, two engagement receptacles 130, three engagement receptacles 130, four engagement receptacles 130, or more than four engagement receptacles 130.

In one particular example, and as schematically illustrated in fig. 1, the payload engagement system 100 includes a first engagement receptacle 132 and a second engagement receptacle 134 such that the first engagement receptacle 132 and the second engagement receptacle 134 are positioned on the payload 20 in a spaced arrangement. In such an example, payload engagement system 100 also includes a first engagement latch 112 configured to engage first engagement receptacle 132 and a second engagement latch 114 configured to engage second engagement receptacle 134. In such an example, and as schematically shown in fig. 1, first engagement latch 112 and second engagement latch 114 are spaced apart from one another such that when each engagement latch 110 is in the engaged configuration, first engagement latch 112 engages first engagement receptacle 132 and second engagement latch 114 engages second engagement receptacle 134. As further schematically shown in fig. 1, first engagement latch 112 and second engagement latch 114 may be configured to translate toward each other as each engagement latch 110 transitions from the disengaged configuration to the engaged configuration.

As shown in fig. 1-8 and 11, the number of engagement latches 110 may be equal to the number of engagement receptacles 130. However, this is not required for all examples of payload engagement system 100, and it is also within the scope of the present disclosure that the number of engagement latches 110 may be greater or less than the number of engagement receptacles 130.

Each engagement receptacle 130 may be configured to receive a respective engagement latch 110 in any suitable manner. For example, and as schematically shown in fig. 1, each engagement receptacle 130 may include a latch receptacle 136 such that when the engagement latch 110 is in the engaged configuration, each engagement latch 110 is at least partially received within the latch receptacle 136 of the respective engagement receptacle 130.

Although fig. 1-8 generally depict each engagement latch 110 as being substantially enclosed within each respective engagement receptacle 130 when each engagement latch 110 is in the engaged configuration, this is not required for all examples of payload engagement system 100, and it is also within the scope of the present disclosure that each engagement latch 110 and/or each engagement receptacle 130 may have any suitable respective shape. As an example, although fig. 1-8 generally schematically illustrate each engagement latch 110 as being generally "L" shaped and each engagement receptacle 130 as being generally "U" shaped, it is also within the scope of the present disclosure that each engagement latch 110 may be generally "U" shaped and/or each engagement receptacle 130 may be generally "L" shaped. In other words, as used herein, the term "latch" generally describes a structure (e.g., engaging latch 110) that translates relative to a substantially fixed receptor unit (e.g., engaging receptor unit 130) to selectively engage the receptor unit.

As schematically shown in fig. 1, payload engagement system 100 is further configured to transition each engagement latch 110 between an engaged configuration and a secured configuration (shown in phantom in fig. 1) when engagement latch 110 is engaged with a respective engagement receptacle 130. Specifically, each engagement latch 110 may be configured to translate in a lateral direction 106 that is at least substantially perpendicular to the alignment plane 102 as the engagement latch 110 transitions between the engaged configuration and the secured configuration. When vehicle 60 carries payload 50 and when each engagement latch 110 is in the fixed configuration, payload 50 is prevented from moving relative to vehicle 60. For example, and as discussed herein, when each engagement latch 110 is in a secured configuration, payload 50 may be forcibly held against vehicle 60 and/or a portion of payload engagement system 100 by each engagement latch 110.

Each engagement latch 110 is configured to transition between a disengaged configuration, an engaged configuration, and a secured configuration in any suitable manner. As an example, and as schematically shown in fig. 1-8, payload engagement system 100 and/or vehicle 60 may include a latch actuator 120, the latch actuator 120 configured to translate each engagement latch 110 in lateral direction 104 to translate each engagement latch 110 between an engaged configuration and a disengaged configuration. The latch actuator 120 may also be configured to translate each engagement latch 110 in the lateral direction 106 to transition each engagement latch 110 between the engaged configuration and the secured configuration. In such embodiments, latch actuator 120 may be configured to sequentially (1) translate each engagement latch 110 along lateral direction 104, and (2) translate each engagement latch 110 along transverse direction 106. In other words, the latch actuator 120 may be configured to translate each engagement latch 110 from the disengaged configuration to the engaged configuration, and from the engaged configuration to the secured configuration in separate sequential steps. Alternatively, the latch actuator 120 may be configured to translate each engagement latch 110 along the lateral direction 104 and the transverse direction 106 at least partially simultaneously.

Latch actuator 120 may be configured to translate each engagement latch 110 in any suitable manner. As an example, and as schematically shown in fig. 1-8, the latch actuator 120 may include at least one latch actuator motor 122, such that each latch actuator motor 122 is configured to translate at least one respective engagement latch 110 along the lateral direction 104 and/or the transverse direction 106. As a more specific example, each latch actuator motor 122 is configured to translate a single respective engagement latch 110. Alternatively, each latch actuator motor 122 may be configured to translate each of the respective plurality of engagement latches 110. Additionally or alternatively, each latch actuator motor 122 may be configured to translate each respective engagement latch 110 along the lateral direction 104 or the transverse direction 106. Alternatively, each latch actuator motor 122 may be configured to translate each respective engagement latch 110 along each of the lateral and transverse directions 104, 106.

The latch actuator 120 and/or the latch actuator motor 122 may be configured to operate in any suitable manner. By way of example, and as schematically illustrated in fig. 1, the payload engagement system 100 also includes an alignment sensor 32, the alignment sensor 32 configured to detect when the payload 50 is in the coupled position. In such an example, the latch actuator 120 is configured to transition each engagement latch 110 from the disengaged configuration to the engaged configuration in response to the alignment sensor 32 detecting that the payload 50 is in the coupled position. However, this is not required for all examples of payload engagement system 100, and it is also within the scope of the present disclosure that latch actuator 120 and/or latch actuator motor 122 may be manually operated and/or operated in response to user input.

As discussed, payload engagement system 100 is generally configured to guide payload 50 to the coupled position prior to transitioning each engagement latch 110 from the disengaged configuration to the engaged configuration. As an example embodiment, and as schematically shown in fig. 1-8, alignment guide 140 of payload engagement system 100 is disposed on an underside of vehicle 60 and is configured to guide and establish alignment of payload 50 and vehicle 60 to establish alignment of each engagement latch 110 relative to each respective engagement receptacle 130. In other words, the alignment guide 140 may be configured to guide the payload 50 to a coupled position relative to the vehicle 60.

Alignment guide 140 may have any suitable structure for guiding payload 50 to the coupling position. In an example embodiment, and as discussed in more detail herein in the context of fig. 9-10, the alignment guide 140 includes a ramp portion 146, the ramp portion 146 configured to engage at least a portion of the payload 50 to passively guide the payload 50 to the coupled position as each engagement receptacle 130 approaches the respective engagement latch 110 along the lateral direction 106. The ramp portion 146 may include and/or be a surface that is angled with respect to the lateral direction 104 and/or the transverse direction 106. In this manner, as payload 50 is driven in lateral direction 106 toward ramp portion 146 and/or as each engagement receptacle 130 approaches a respective engagement latch 110 in lateral direction 106, ramp portion 146 may urge payload 50 in a direction that is at least substantially parallel to alignment plane 102 and/or lateral direction 104.

Alignment guide 140 and/or ramp portion 146 may engage payload 50 in any suitable manner. For example, and as schematically illustrated in fig. 1, payload 50 includes a plurality of corners 52, and alignment guide 140 includes a plurality of corner units 142, such that each corner unit 142 is configured to receive a respective corner 52 when payload 50 is proximate to a coupling location. In such an embodiment, at least one corner unit 142 may include a ramp portion 146. Additionally or alternatively, and as further schematically shown in fig. 1, payload 50 may include a plurality of edges 54, and alignment guide 140 may include a plurality of alignment rails 144, each configured to engage a respective edge 54 of payload 50 as payload 50 approaches the coupling position. In such an embodiment, the at least one alignment rail 144 may include a ramp portion 146. In embodiments of payload engagement system 100 in which alignment guide 140 includes a plurality of corner units 142 and a plurality of alignment rails 144, each alignment rail 144 may extend between a respective pair of corner units 142. Additionally or alternatively, and as further schematically shown in fig. 1, the alignment guide 140 may include at least one payload stop 148, the payload stop 148 configured to engage the payload 50 when the payload 50 is in the coupled position, e.g., to limit the extent to which the payload 50 may translate in the lateral direction 106 toward the vehicle 60. In such embodiments, each engagement latch 110 may be configured to forcibly retain payload 50 against each payload stop 148 when payload 50 is in the coupled position and when each engagement latch 110 is in the secured configuration.

Fig. 1-8 additionally schematically illustrate components and/or operations of a vehicle docking system 200 of the payload transfer system 10. As schematically shown in fig. 1-8, vehicle docking system 200 includes a vehicle 60 and a docking platform 70, vehicle 60 including landing gear 66. The landing gear 66 includes and/or is associated with a plurality of docking insert units 210 in a geometric arrangement, and the docking platform 70 includes a plurality of docking receptacle units 220, such that each docking receptacle unit 220 is configured to selectively engage a respective docking insert unit 210 to selectively retain the vehicle 60 in a docked position relative to the docking platform 70. More specifically, the plurality of docking acceptor units 220 have a geometric arrangement corresponding to the geometric arrangement of the plurality of docking insert units 210 such that each docking insert unit 210 is received in a respective docking acceptor unit 220 to maintain the vehicle 60 in the docked position. As discussed in more detail herein, each docking acceptor unit 220 is configured to transition between an unlocked configuration (shown in dashed lines in fig. 1) and a locked configuration (shown in solid lines in fig. 1). Specifically, when each docking receptacle unit 220 is in the unlocked configuration, the respective docking insertion unit 210 is freely inserted into and removed from the docking receptacle unit 220. Conversely, when the vehicle 60 is in the docked position and when each docking receptacle unit 220 is in the latched configuration, the respective docking insertion unit 210 is prevented from being removed from the docking receptacle unit 220.

While the examples discussed herein describe examples of the vehicle docking system 200 in which the vehicle 60 includes each docking insert unit 210 and the docking platform 70 includes each docking receptacle unit 220, this is not required for all examples of the vehicle docking system 200, and it is also within the scope of the present disclosure that the vehicle 60 may include each docking receptacle unit 220 and the docking platform 70 may include each docking insert unit 210.

Each docking receptacle unit 220 may be configured to transition between the locked and unlocked configurations in any suitable manner. For example, and as schematically shown in fig. 1-8, the vehicle docking system 200 comprises at least one insert holder 230, the insert holder 230 being associated with a respective docking receptacle unit 220 and configured to selectively prevent removal of the respective docking insert unit 210 from the respective docking receptacle unit 220 when the vehicle 60 is in the docked position and when the docking receptacle unit 220 is in the locked configuration. More specifically, each insertion holder 230 may be configured to mechanically prevent removal of the respective docking insertion unit 210 from the docking receptacle unit 220.

The vehicle docking system 200 may include any suitable number of docking insert units 210 and/or any suitable number of docking receptacle units 220. As an example, the plurality of docking insertion units 210 may include two docking insertion units 210, three docking insertion units 210, four docking insertion units 210, or more than four docking insertion units 210. Similarly, the plurality of docking receptacle units 220 may comprise two docking receptacle units 220, three docking receptacle units 220, four docking receptacle units 220, or more than four docking receptacle units 220. As shown in fig. 1-8 and 12-16, the number of docking insertion units 210 may be equal to the number of docking receptacle units 220. However, this is not required for all examples of vehicle docking system 200, and it is also within the scope of the present disclosure that the number of docking insert units 210 may be greater or less than the number of docking receptacle units 220.

Each docking receptacle unit 220 may have any suitable structure for receiving and/or retaining a respective docking insertion unit 210. For example, and as schematically shown in fig. 1-3, each docking receptacle unit 220 comprises a receptacle opening 222, such that docking receptacle unit 220 is configured to receive a respective docking insertion unit 210 via receptacle opening 222. In such a configuration, the insertion retainer 230 may at least substantially cover the receptacle opening 222 when the docking receptacle unit 220 is in the locked configuration. This operation is schematically illustrated in fig. 1, where each insertion holder 230 covers a respective receptacle opening 222 when the respective docking receptacle unit 220 is in the locked configuration (solid lines), and each insertion holder 230 is spaced apart from a respective receptacle opening 222 when the respective docking receptacle unit 220 is in the unlocked configuration (dashed-dotted lines). This operation is further illustrated in fig. 2-8, where fig. 2-3 and 8 illustrate each docking receptacle unit 220 in the unlocked configuration, and fig. 4-7 illustrate each docking receptacle unit 220 in the locked configuration.

As further schematically shown in fig. 1-2, each docking acceptor unit 220 comprises an insertion receiver 224, the insertion receiver 224 being configured to receive and guide the respective docking insertion unit 210 into alignment with the docking acceptor unit 220 when the vehicle 60 approaches the docking position. More specifically, when the vehicle 60 is in the docked position, the insertion receiver 224 receives the respective docking insertion unit 210 such that the respective docking insertion unit 210 is at least substantially (and optionally completely) surrounded by the insertion receiver 224 of the respective docking receptacle unit 220. The insertion receivers 224 may have any suitable shape and/or configuration for receiving and guiding the respective docking insertion units 210. By way of example, each docking receptacle unit 220 and/or its insertion receptacle 224 may be at least substantially conical, optionally fully conical, and optionally frusto-conical. Similarly, each docking insertion unit 210 may be at least substantially conical, optionally fully conical, and optionally frusto-conical. As schematically shown in fig. 1-2, the insertion receiver 224 includes a ramped portion 226, the ramped portion 226 configured to engage a corresponding docking insertion unit 210 to passively guide the docking insertion unit 210 into the docking receptacle unit 220. In other words, the insertion receiver 224 and/or the inclined portion 226 thereof may be configured to engage the corresponding docking insertion unit 210 in such a way that the docking insertion 210 is pushed towards the center of the receiver insertion receiver 224 and the vehicle 60 is pushed towards the docking position. However, this is not required for all examples of vehicle docking system 200, and it is also within the scope of the present disclosure that each docking insert unit 210 may be guided into alignment with a respective docking receptacle unit 220 in any suitable manner. As an example, each docking insertion unit 210 may be directed to align with a respective docking receptacle unit 220 at least partially via active control and/or via magnetic force. In embodiments in which each of the docking insertion unit 210 and the insertion receiver 224 is at least substantially tapered, the docking insertion unit 210 may also be referred to as a docking probe, and/or the docking insertion receiver 224 may also be referred to as a docking drogue (drogue).

Each docking receptacle unit 220 may be configured to transition between the unlocked configuration and the locked configuration in any suitable manner. By way of example, and as schematically illustrated in fig. 1-8, the vehicle docking system 200 and/or docking acceptor unit 220 includes a retainer actuator 232, the retainer actuator 232 configured to transition at least one docking acceptor unit 220 between an unlocked configuration and a locked configuration. As a more specific example, each insertion holder 230 may be hingedly coupled to a respective docking receptacle unit 220, and the holder actuator 232 may be configured to pivot each insertion holder 230 relative to the respective docking receptacle unit 220 to transition the respective docking receptacle unit 220 between the unlocked configuration and the locked configuration.

The vehicle docking system 200, the insert holder 230, and/or the holder actuator 232 may be configured to transition each docking receptacle unit 220 between the unlocked configuration and the locked configuration in any suitable manner. As an example, and as schematically shown in fig. 1-8, the holder actuator 232 may comprise at least one holder actuator motor 234, such that each holder actuator motor 234 is configured to actuate at least one respective insertion holder 230 to transition at least one respective docking receptacle unit 220 between the unlocked configuration and the locked configuration. In such examples, each holder actuator motor 234 may be configured to actuate a single respective insertion holder 230, or may be configured to actuate each of a respective plurality of insertion holders 230.

The holder actuator 232 and/or the holder actuator motor 234 may be configured to operate in any suitable manner. As an example, and as schematically shown in fig. 1, the vehicle docking system 200 further includes a position sensor 34 configured to detect when the vehicle 60 is in a docked position. In such an example, the retainer actuator 232 may be configured to pivot and/or otherwise actuate each insertion retainer 230 in response to the position sensor 34 detecting that the vehicle 60 is in the docked position. However, this is not required for all examples of the vehicle docking system 200, and it is also within the scope of the present disclosure that the holder actuator 232 and/or the holder actuator motor 234 may be operated manually and/or in response to user input.

While the above discussion provides a broad overview of the operational components of payload engagement system 100 and/or vehicle docking system 200 of payload transfer system 10 according to the present disclosure, it is also within the scope of the present disclosure for payload transfer system 10 to include and/or utilize any suitable additional components to facilitate operation of payload engagement system 100 and/or vehicle docking system 200. As an example, and as schematically illustrated in fig. 1-8, the payload transfer system 10 may also include a loader 20, the loader 20 being configured to transfer the payload 50 to a vehicle 60. When loader 20 transfers payload 50 to vehicle 60, loader 20 may have any suitable positional relationship with respect to vehicle 60. By way of example, and as schematically illustrated in fig. 1, the docking platform 70 may define a docking platform plane 72, the docking platform plane 72 separating a first side 74 and a second side 76 of the docking platform 70. In such embodiments, when the vehicle 60 is in the docked position, the vehicle 60 may be positioned at least substantially on the first side 74 of the docking platform 70, and when the loader 20 is transporting the payload 50 to the vehicle 60, the loader 20 may be positioned within the loading area 12 relative to the docking platform 70, the loading area 12 being at least substantially on the second side 76 of the docking platform 70.

The docking platform plane 72 may be described as extending horizontally. As used herein, positional alignment terms such as "horizontal", "vertical", and the like may be used to describe the spatial relationship between components of payload transfer system 10, payload engagement system 100, and/or vehicle docking system 200 in an illustrative, non-limiting manner, and generally refer to a configuration in which landing gear 66 of vehicle 60 faces the ground and/or docking platform plane 72 is parallel to the ground. By way of example, the docking platform plane 72 may be described as extending in a horizontal direction. Such terms are provided merely as context and do not limit the particular orientation of the component parts of payload transfer system 10, payload engagement system 100, and/or vehicle docking system 200 with respect to the ground at all times.

Loader 20 may also be configured to transport payload 50 to loading area 12 and away from loading area 12. For example, and as schematically illustrated in fig. 1, the loader 20 may be configured to transport the payload 50 between the loading area 12 and the payload storage area 14 remote from the docking platform 70. In such an example, loader 20 may be configured to traverse the ground to transport payload 50 between loading area 12 and payload storage area 14.

Loader 20 may be configured to support and/or translate payload 50 in any suitable manner. By way of example, and as schematically illustrated in fig. 1-8, the loader 20 may include a support surface 22, the support surface 22 being configured to support a payload 50. In such an example, the support surface 22 may be configured to translate the payload 50 in a direction at least substantially parallel to the lateral direction 106 to transfer the payload 50 to the vehicle 60. Additionally or alternatively, the support surface 22 may be configured to facilitate translation of the payload 50 relative to the support surface 22 (e.g., in a direction parallel to the support surface 22) while the support surface 22 supports the payload 50. Such a configuration may facilitate payload 50 being guided to the coupling position by alignment guide 140 as loader 20 translates payload 50 toward vehicle 60. As a more specific example, and as schematically illustrated in fig. 1, support surface 22 and/or payload 50 may include a low friction interface 24, with low friction interface 24 configured to facilitate sliding between payload 50 and support surface 22. As more specific examples, low friction interface 24 may include rollers, bearings, and/or materials configured to produce a low coefficient of friction between payload 50 and support surface 22.

Payload delivery system 10 may also include one or more components configured to at least partially automate operation of payload engagement system 100 and/or vehicle docking system 200. As an example, and as schematically illustrated in fig. 1, the payload delivery system 10 may include at least one automatic sensor 30, the automatic sensor 30 configured to automatically detect a state of at least a portion of the payload delivery system 10. As more specific examples, as discussed herein, the automatic sensor(s) 30 may include and/or be an alignment sensor 32 for detecting that the payload 50 is in the coupled position, and/or a position sensor 34 for detecting that the vehicle 60 is in the docked position. Additionally or alternatively, the automatic sensor(s) 30 may include and/or be an orientation sensor 36 configured to determine an orientation of the loader 20, payload 50, vehicle 60, and/or docking platform 70.

As further schematically shown in fig. 1, payload delivery system 10 may also include an automation controller 40, the automation controller 40 configured to coordinate the transfer of information between at least one automation sensor 30 and at least one other component of payload delivery system 10. As an example, the automatic controller 40 may be configured to direct the latch actuator 120 to transition each engagement latch 110 of the payload engagement system 100 from the disengaged configuration to the engaged configuration in response to the alignment sensor 32 detecting that the payload 50 is in the coupled position. As another example, the automated controller 40 may be configured to direct the retainer actuator 232 to transition each docking acceptor unit 220 from the unlocked configuration to the locked configuration in response to the position sensor 34 detecting that the vehicle 60 is in the docked position. As yet another example, automatic controller 40 may be configured to direct loader 20 between loading area 12 and payload storage area 14, e.g., in response to position sensor 36 determining the position of loader 20. The automation controller 40 may be configured to coordinate the transfer of information in any suitable manner. For example, the automation controller 40 may be configured to receive information from the automation sensor(s) 30 wirelessly and/or via a wired connection. Additionally or alternatively, the automatic controller 40 may be configured to coordinate information transfer without human input.

The automated sensor(s) 30 and/or the automated controller 40 may include and/or be any suitable device or devices configured to perform the functions of the automated sensor(s) 30 and/or the automated controller 40 discussed herein. For example, the automatic controller 40 may include one or more of the following: an electronic controller, a dedicated controller, a special purpose controller, a personal computer, a special purpose computer, a display device, a logic device, a memory device, and/or a memory device having a non-transitory computer-readable medium adapted to store computer-executable instructions to implement aspects of a system and/or method according to the present disclosure.

Turning now more particularly to fig. 2-8, fig. 2-8 schematically illustrate an example of bringing a vehicle 60 to a docked position relative to a docking platform 70, selectively coupling a payload 50 to the vehicle 60, and launching the vehicle 60 from the docking platform 70 using the payload engagement system 100 and the vehicle docking system 200 of the payload transfer system 10. Specifically, fig. 2-8 illustrate an example of payload transfer system 10, wherein payload 50 includes a pair of engagement receptacles 130, and wherein vehicle 60 is a UAV that includes a corresponding pair of engagement latches 110. The vehicle 60 in fig. 2-8 further includes four docking insert units 210 (two of which are visible in fig. 2-8), and the docking platform 70 of fig. 2-8 includes four corresponding docking receptacle units 220 (two of which are visible in fig. 2-8). The vehicle docking system 200 of fig. 2-8 also includes two insert holders 230 associated with each docking acceptor unit 220.

Fig. 2 schematically illustrates a state of the payload transfer system 10 in which the vehicle 60 approaches the docking platform 70 from above. In fig. 2, each engagement latch 110 is in a disengaged configuration and each docking receptacle unit 220 is in an unlocked configuration. Fig. 3 schematically shows a state of the payload transfer system 10 after the state of fig. 2, in which the vehicle 60 has reached a docking position such that each docking insert unit 210 is enclosed within the insert receiver 224 of the corresponding docking receptacle unit 220. Fig. 4 schematically shows a state of payload transfer system 10 after the state of fig. 3, in which each insertion holder 230 has been pivoted relative to a respective docking receptacle unit 220 to mechanically prevent each docking insertion unit 210 from being removed from the respective docking receptacle unit 220, thereby transitioning each docking receptacle unit 220 to the locked configuration. Fig. 5 schematically illustrates a state of the payload transfer system 10 subsequent to the state of fig. 4, in which the loader 20 has translated the payload 50 toward the vehicle 60 such that the payload 50 is in the coupled position. More specifically, fig. 5 schematically illustrates each corner 52 and each edge 54 of payload 50 being engaged by a respective alignment guide 140 of payload engagement system 100 to guide payload 50 to the coupled position. Fig. 5 further schematically illustrates that each engagement latch 110 is aligned with each respective engagement receptacle 130 such that each engagement latch 110 may be translated along lateral direction 104 to enter latch receptacle 136 of a respective engagement receptacle 130. Fig. 6 schematically illustrates a state of payload delivery system 10 subsequent to the state of fig. 5, in which each engagement latch 110 has transitioned from the disengaged configuration to the engaged configuration such that each engagement latch 110 may be further translated along lateral direction 106. Fig. 7 schematically illustrates a state of payload transfer system 10 subsequent to the state of fig. 6, in which each engagement latch 110 has been translated in lateral direction 106 to transition from the engaged configuration to the secured configuration to secure payload 50 to vehicle 60. Finally, fig. 8 schematically shows the state of the payload transfer system 10 after the state of fig. 7, in which each docking acceptor unit 220 has been transitioned from the locked configuration to the unlocked configuration, and the vehicle 60 has been launched from the docking platform 70 while carrying the payload 50.

Turning now to fig. 9-11, fig. 9-11 are less schematic views of portions of an example of a payload engagement system 100. More specifically, fig. 9-11 illustrate portions of an example of payload engagement system 100, wherein payload 50 includes a pair of engagement receptacles 130 and wherein vehicle 60 includes a corresponding pair of engagement latches 110 (shown in fig. 11). Fig. 9-10 specifically illustrate the engagement of payload 50 by alignment guide 140 of payload engagement system 100. In the example of fig. 9-10, the alignment guide 140 includes four corner units 142, each configured to receive a respective corner 52 of the payload 50, and a pair of alignment rails 144, each configured to engage a respective edge 54 of the payload 50. As shown in fig. 9-10, each corner unit 142 includes a ramp portion 146 and a payload stop 148. Fig. 11 shows payload engagement system 100 of fig. 9-10 as each engagement latch 110 engages a respective engagement receptacle 130. Specifically, fig. 11 shows each engagement latch 110 translating in the lateral direction 104 to transition from a disengaged configuration (shown in phantom lines) to an engaged configuration (shown in phantom lines), and then translating in the transverse direction 106 to transition from the engaged configuration to a secured configuration (shown in solid lines). In the example of fig. 11, each engagement latch 110 is translated by a respective latch actuator 120, the latch actuator 120 including a respective latch actuator motor 122.

Fig. 12-16 illustrate portions of an example of a vehicle docking system 200. In particular, and as best shown in fig. 12, fig. 12-16 show an example of a vehicle docking system 200 in which the docking platform 70 includes four docking acceptor units 220, each docking acceptor unit 220 being configured to receive a respective docking insert unit 210 (two of which are visible in the views of fig. 13-16). As further shown in fig. 12-16, the example of the vehicle docking system 200 of fig. 12-16 includes two insert holders 230 corresponding to each docking acceptor unit 220. Each insertion holder 230 is pivoted by a holder actuator 232 having a holder actuator motor 234 to transition each respective docking receptacle unit 220 between an unlocked configuration (shown in fig. 12-14 and 16) and a locked configuration (shown in fig. 15). Fig. 13-16 collectively illustrate a sequence of examples utilizing the vehicle docking system 200 of fig. 12-16. In particular, fig. 13 shows the vehicle 60 approaching the docking platform 70, while fig. 14 shows the vehicle 60 in a docked position relative to the docking platform 70, and with each docking acceptor unit 220 in an unlocked configuration. Fig. 15 shows the vehicle in a docked position with each docking acceptor unit 220 in a locked configuration after operatively coupling the payload 50 to the vehicle 60, while fig. 16 shows the vehicle 60 being launched from the docking platform 70 while carrying the payload 50 after each docking acceptor unit 220 is transitioned to an unlocked configuration to release each docking insertion unit 210.

Fig. 17 is a flow chart depicting a method 300 of selectively coupling a payload to a vehicle utilizing a payload engagement system (e.g., payload engagement system 100) in accordance with the present disclosure. As shown in fig. 17, method 300 includes positioning a vehicle (such as vehicle 60) on a first side of a docking platform (such as first side 74 of docking platform 70) at 320; at 330, directing a payload (such as payload 50) toward the vehicle; and coupling the payload to the vehicle at 340.

The directing at 330 includes directing the payload toward the vehicle from a second side of the docking platform opposite the first side of the docking platform (e.g., the second side 76 of the docking platform 70) to position the payload in a predetermined coupled position relative to the vehicle. The directing at 330 may be performed in any suitable manner. For example, the directing at 330 may include directing the payload toward the vehicle using a loader (such as loader 20) configured to transfer the payload to the vehicle. In such an example, the loader may be located in a loading area (e.g., loading area 12) relative to the docking platform that is at least substantially located on the second side of the docking platform when the loader directs the payload toward the vehicle. Additionally or alternatively, in such an example, the guiding at 330 may include translating a support surface (e.g., support surface 22) of the loader toward the vehicle in a lateral direction (e.g., lateral direction 106).

The guiding at 330 also includes guiding to align the payload with the vehicle, such as positioning the payload in a coupled position. For example, the guiding at 330 may include passively guiding the payload to the coupling location using an alignment guide (e.g., alignment guide 140), such as may be contained by a vehicle. In such an example, the payload includes a plurality of corners (e.g., corner 52) and the alignment guide includes a plurality of corner elements (e.g., corner element 142) each having a ramp portion (e.g., ramp portion 146). In such an example, the directing at 330 includes passively directing the payload toward the coupling location by engaging each corner of the payload with a ramp portion of a respective corner element.

The vehicle of method 300 includes at least one engagement latch (e.g., engagement latch 110) and the payload of method 300 includes at least one engagement receptacle (e.g., engagement receptacle 130), such that the coupling at 340 includes engaging each engagement receptacle with a respective engagement latch. Specifically, when the payload is in the coupled position relative to the vehicle, each engagement receptacle is aligned with a respective engagement latch within an alignment plane (e.g., alignment plane 102), and the coupling at 340 includes transitioning each engagement latch from the disengaged configuration to the engaged configuration at 342. More specifically, each engagement latch is removed from each engagement receptacle when the engagement latch is in the disengaged configuration, and each engagement latch engages a respective engagement receptacle when the engagement latch is in the engaged configuration.

The transition at 342 may be performed in any suitable manner. For example, the transitioning at 342 can include translating each engagement latch in a lateral direction (e.g., lateral direction 104) that is at least substantially parallel to the alignment plane. As a more specific example, the at least one engagement receptacle may include a first engagement receptacle (e.g., first engagement receptacle 132) and a second engagement receptacle (e.g., second engagement receptacle 134) positioned on the payload in a spaced-apart arrangement. In such an example, the at least one engagement latch may include a first engagement latch (e.g., first engagement latch 112) configured to engage a first engagement receptacle and a second engagement latch (e.g., second engagement latch 114) configured to engage a second engagement receptacle. The first engagement latch and the second engagement latch may be spaced apart from each other such that when each engagement latch is in the engaged configuration, the first engagement latch engages the first engagement receptacle and the second engagement latch engages the second engagement receptacle. In such an example, the transitioning at 342 can include translating the first engagement latch and the second engagement latch toward each other.

The transition at 342 may be performed at least partially automatically. For example, the transition at 342 may be performed in response to an alignment sensor (e.g., alignment sensor 32) detecting that the payload is in the coupled position such that each engagement receptacle is aligned with a respective engagement latch.

As further shown in fig. 17, in an example of a method 300 that includes using a loader, the method 300 may include obtaining a payload with the loader at 310 prior to the directing at 330. In such an example, and as shown in fig. 17, the obtaining at 310 may include obtaining a payload from a payload storage area remote from the loading area (e.g., payload storage area 14), and carrying the payload from the payload storage area to the loading area at 312. The carrying at 312 may be performed at least partially automatically. For example, the carrying at 312 may include using an automation controller (e.g., automation controller 40) to direct the loader to the loading area.

As further shown in fig. 17, the coupling at 340 also includes transitioning each engagement latch to a secured configuration at 344 to secure the payload to the vehicle. In such an example, transitioning at 344 may include translating each engagement latch in a lateral direction to transition each engagement latch to a secured configuration. The transition at 344 may be performed after the transition at 342, or may be performed at least partially concurrently with the transition at 342.

Fig. 18 is a flow chart describing a method 400 of utilizing a vehicle docking system, such as vehicle docking system 200, to selectively hold a vehicle in a docked position relative to a docking platform according to the present disclosure. As shown in fig. 18, method 400 includes, at 410, bringing a vehicle (e.g., vehicle 60) to a docked position relative to a docking platform (e.g., docking platform 70), and, at 420, securing the vehicle in the docked position. More specifically, the docking platform of method 400 includes a plurality of docking receptacle units (e.g., docking receptacle unit 220) having a geometric arrangement, and the vehicle of method 400 includes a plurality of docking insert units (e.g., docking insert unit 210) having a geometric arrangement corresponding to the geometric arrangement of the plurality of docking receptacle units. Each docking insert unit is received in a respective docking acceptor unit when the vehicle is in the docked position to maintain the vehicle in the docked position.

As shown in fig. 18, the securing at 420 includes transitioning each docking acceptor unit from the unlocked configuration to the locked configuration at 422. More specifically, when each docking receptacle unit is in the unlocked configuration, the respective docking insertion unit is freely inserted into and removed from the docking receptacle unit. When the vehicle is in the docked position, the respective docking insert unit is prevented from being removed from the docking receptacle unit when each docking receptacle unit is in the locked configuration. The transition at 422 may be performed in any suitable manner. As an example, the transitioning at 422 may include rotating at least one insertion holder (e.g., insertion holder 230) to prevent removal of the respective docking insertion unit from the docking receptacle unit. However, this is not required for all examples of method 400, and it is also within the scope of the present disclosure that the transitioning at 422 may include linearly translating each insertion holder, horizontally sliding each insertion holder, rotating each insertion holder in a horizontal plane, rotating each insertion holder in a vertical plane, rotating each insertion holder about a horizontal axis, and/or rotating each insertion holder about a vertical axis.

The bringing at 410 may be performed in any suitable manner. For example, as shown in fig. 18, the bringing at 410 may include coarsely aligning each docking insertion unit with a respective docking receptacle unit at 412, and then passively guiding the vehicle to the docking position at 414. The coarse alignment at 412 may be performed at least partially automatically. For example, the coarse alignment at 412 may include using an automation controller (e.g., automation controller 40) to guide the vehicle toward the docking platform. The passive boot at 414 may also be performed in any suitable manner. As an example, passive guiding at 414 may include engaging each docking insert unit with a respective docking receptacle unit to bring the vehicle to the docked position. As a more specific example, each docking receptacle unit may include an insertion receiver (e.g., insertion receiver 224) configured to receive and guide the respective docking insertion unit into alignment with the docking receptacle unit as the vehicle approaches the docking position. In such an example, each insertion receiver may include a ramped portion (e.g., ramped portion 226) configured to engage the respective docking insertion unit to passively guide the respective docking insertion unit into the docking receiver unit. In such an example, the passive guiding at 414 may include engaging each docking insertion unit with a sloped portion of the insertion receiver of the respective docking receptacle unit.

As further shown in fig. 18, the method 400 may further include, after the transition at 422, launching the vehicle from the docking platform at 430. The initiation at 430 may be performed in any suitable manner. As an example, the vehicle may include a thrust generator (e.g., thrust generator 68) configured to propel the vehicle away from the docking platform. In such an example, the initiating at 430 may include generating a thrust force away from the docking platform with each thrust generator at 432, and transitioning each docking acceptor unit from the locked configuration to the unlocked configuration at 434. In such an example, the generation at 432 and the transition at 434 may be performed in any suitable order. For example, the generation at 432 may be performed and/or initiated prior to the transition at 434. Such a procedure may facilitate stable launch of the vehicle from the docking station. For example, in embodiments where the vehicle includes multiple thrust generators (e.g., a rotorcraft having multiple rotors, where each rotor is a thrust generator), each thrust generator may begin to generate thrust at a different rate, such that the vehicle may unstably and/or unevenly exit the docking platform if not forcibly secured to the docking platform. Thus, performing the generation at 432 prior to the transition at 434 may allow each thrust generator to generate a steady and uniform thrust before releasing the vehicle from the docking platform, thereby facilitating a steady and controlled launch of the vehicle from the docking platform. Thus, in such an example, the transitioning at 434 can include simultaneously transitioning each docking acceptor unit from the locked configuration to the unlocked configuration. However, this is not required for all examples of method 400, and it is also within the scope of the present disclosure that the generation at 432 may be performed after the transition at 434.

Illustrative, non-exclusive examples of inventive subject matter in accordance with this disclosure are described in the following enumerated paragraphs:

A1. a payload engagement system for selectively coupling a payload to a vehicle, comprising:

a vehicle comprising at least one engagement latch; and

a payload comprising at least one engagement receptacle;

wherein each engagement latch is configured to selectively engage a respective engagement receptacle of the at least one engagement receptacle to selectively couple the payload to the vehicle; wherein each engagement latch is configured to selectively transition between an engaged configuration in which each engagement latch engages a respective engagement receptacle to couple the payload to the vehicle and a disengaged configuration in which each engagement latch is removed from each engagement receptacle; wherein the payload engagement system includes an alignment guide configured to guide the payload to a predetermined coupling position relative to the vehicle to establish alignment of each engagement latch relative to the respective engagement receptacle in an alignment plane prior to each engagement latch transitioning from the disengaged configuration to the engaged configuration; and wherein each engagement latch is configured to translate in a lateral direction at least substantially parallel to the alignment plane as the engagement latch transitions between the engaged configuration and the disengaged configuration.

A2. The payload engagement system of paragraph a1, wherein at least one engagement latch includes one of: one engaging latch, two engaging latches, three engaging latches, four engaging latches, and more than four engaging latches.

A3. The payload engagement system of any of paragraphs a1-a2, wherein the at least one engagement receptacle comprises one of: one engagement receptacle, two engagement receptacles, three engagement receptacles, four engagement receptacles, and more than four engagement receptacles.

A4. The payload engagement system of any of paragraphs a1-A3 wherein each engagement receptacle is fixedly mounted to a payload.

A5. The payload engagement system of any of paragraphs a1-a4, wherein each engagement latch is spaced apart from the respective engagement receptacle when each engagement latch is in an engaged configuration.

A6. The payload engagement system of any of paragraphs a1-a5, wherein when each engagement latch is in an engaged configuration, a payload is prevented from being removed from a vehicle.

A7. The payload engagement system of any of paragraphs a1-a6, wherein each engagement receptacle includes a latch receiver, and wherein each engagement latch is at least partially received within the latch receiver of the respective engagement receptacle when the engagement latch is in an engaged configuration.

A8. The payload engagement system of any of paragraphs a1-a7, wherein the payload engagement system is further configured to transition each engagement latch between an engaged configuration and a secured configuration when engaged with the respective engagement receptacle; wherein when the vehicle carries a payload and when each engagement latch is in a fixed configuration, the payload is prevented from moving relative to the vehicle; and wherein each engagement latch is configured to translate in a lateral direction at least substantially perpendicular to the alignment plane as the engagement latch transitions between the engaged configuration and the secured configuration.

A9. The payload engagement system of any of paragraphs a1-A8, wherein an alignment guide is disposed on an underside of the vehicle and is configured to guide and establish alignment of the payload and the vehicle to establish alignment of each engagement latch with respect to a respective engagement receptacle.

A10. The payload engagement system of paragraph a9, wherein the alignment guide is configured to guide the payload to a coupled position relative to the vehicle.

A11. The payload engagement system of any of paragraphs a9-a10, wherein the alignment guide includes a ramp portion configured to engage at least a portion of the payload to passively guide the payload to the coupling position as each engagement receptacle approaches a respective engagement latch of the at least one engagement latch along or in a lateral direction that is at least substantially perpendicular to the alignment plane.

A12. The payload engagement system of paragraph a11, wherein the ramp portion is configured to translate the payload in a direction at least substantially parallel to the alignment plane as each engagement receptacle approaches the respective engagement latch in the lateral direction.

A13. The payload engagement system of any of paragraphs a9-a12 wherein the payload includes a plurality of corners; and wherein the alignment guide comprises a plurality of corner units, each corner unit configured to receive a respective corner of the payload when the payload is proximate to the coupling position.

A14. The payload engagement system of paragraph a13 when referring to paragraph a11, wherein at least one corner element includes a ramp portion.

A15. The payload engagement system of any of paragraphs a9-a14, wherein the payload includes a plurality of edges, and wherein the alignment guide includes a plurality of alignment rails, each alignment rail configured to engage a respective edge of the payload as the payload approaches the coupled position.

A16. The payload engagement system of paragraph a15 when referring to paragraph a11, wherein at least one of the plurality of alignment rails includes a ramp portion.

A17. The payload engagement system of any of paragraphs a15-a16, wherein each alignment rail extends between a respective pair of the plurality of corner cells.

A18. The payload engagement system of any of paragraphs a9-a17, wherein the alignment guide comprises at least one payload stop configured to engage the payload when the payload is in the coupled position to limit the extent to which the payload can translate in or towards the vehicle in the lateral direction.

A19. The payload engagement system of paragraph a18, wherein each engagement latch is configured to forcibly retain a payload against each payload stop when a payload is in a coupled position and when each engagement latch is in a secured configuration or the secured configuration.

A20. The payload engagement system of any of paragraphs a1-a19, wherein the vehicle includes a latch actuator configured to translate each engagement latch in a lateral direction to transition each engagement latch between an engaged configuration and a disengaged configuration.

A21. The payload engagement system of paragraph a20, wherein the latch actuator is further configured to translate each engagement latch in a transverse direction or the transverse direction at least substantially perpendicular to the alignment plane to transition each engagement latch between the engaged configuration and the secured configuration or the secured configuration.

A22. The payload engagement system of paragraph a21, wherein the latch actuator is configured to sequentially:

(i) translating each engagement latch in a lateral direction; and

(ii) each engagement latch is translated in a lateral direction.

A23. The payload engagement system of paragraph a22, wherein the latch actuator is configured to translate each engagement latch in the lateral and transverse directions at least partially simultaneously.

A24. The payload engagement system of any of paragraphs a20-a23, wherein the latch actuators comprise at least one latch actuator motor, wherein each latch actuator motor is configured to translate at least one respective engagement latch along a lateral direction and a transverse direction or at least one of the transverse directions.

A25. The payload engagement system of paragraph a24, wherein each latch actuator motor is configured to translate a single respective engagement latch of at least one engagement latch.

A26. The payload engagement system of paragraph a24, wherein the at least one engagement latch includes at least two engagement latches, and wherein each latch actuator motor is configured to translate each of a respective plurality of the at least two engagement latches.

A27. The payload engagement system of any of paragraphs a24-a26, wherein each latch actuator motor is configured to translate at least one respective engagement latch in one of a lateral direction and a transverse direction.

A28. The payload engagement system of any of paragraphs a24-a26, wherein each latch actuator motor is configured to translate at least one respective engagement latch along each of a lateral direction and a transverse direction.

A29. The payload engagement system of any of paragraphs a20-a28, wherein the payload engagement system further comprises an alignment sensor configured to detect when the payload is in the coupled position, and wherein the latch actuator is configured to transition each engagement latch from the disengaged configuration to the engaged configuration in response to the alignment sensor detecting that the payload is in the coupled position.

A30. The payload engagement system of any of paragraphs a1-a29, wherein the at least one engagement receptacle comprises a first engagement receptacle and a second engagement receptacle; wherein the first engagement receptacle and the second engagement receptacle are disposed in a spaced apart arrangement on the payload; wherein the at least one engagement latch comprises a first engagement latch configured to engage the first engagement receptacle and a second engagement latch configured to engage the second engagement receptacle; and wherein the first engagement latch and the second engagement latch are spaced apart from each other such that when each engagement latch is in the engaged configuration, the first engagement latch engages the first engagement receptacle and the second engagement latch engages the second engagement receptacle.

A31. The payload engagement system of paragraph a30, wherein the first engagement latch and the second engagement latch are configured to translate toward each other as each engagement latch transitions from the disengaged configuration to the engaged configuration.

B1. A vehicle docking system for selectively maintaining a vehicle in a docked position relative to a docking platform, comprising:

a vehicle comprising a landing gear having an associated plurality of docking insert units in a geometric arrangement; and

a docking platform comprising a plurality of docking receptacle units;

wherein each docking receptacle unit is configured to selectively engage a respective docking insert unit of the plurality of docking insert units to selectively retain the vehicle in a docked position relative to the docking platform; wherein the plurality of docking acceptor units have a geometric arrangement corresponding to a geometric arrangement of the plurality of docking insertion units; wherein each docking insert unit is received in a respective docking acceptor unit when the vehicle is in the docked position to maintain the vehicle in the docked position; and wherein each docking receptacle unit is configured to transition between an unlocked configuration in which the respective docking insertion unit is freely inserted into and removed from the docking receptacle unit and a locked configuration in which the respective docking insertion unit is prevented from being removed from the docking receptacle unit when the vehicle is in the docked position.

B2. The vehicle docking system of paragraph B1, wherein the plurality of docking acceptor units comprises one of: two docking acceptor units, three docking acceptor units, four docking acceptor units and more than four docking acceptor units.

B3. The vehicle docking system of any of paragraphs B1-B2, wherein the plurality of docking insert units comprise one of: two docking insertion units, three docking insertion units, four docking insertion units, and more than four docking insertion units.

B4. The vehicle docking system of any one of paragraphs B1-B3, wherein the vehicle docking system comprises at least one insert holder associated with a respective docking receptacle unit of the plurality of docking receptacle units and configured to selectively prevent removal of the respective docking receptacle unit of the plurality of docking receptacle units from the respective docking receptacle unit when the vehicle is in the docked position and when the docking receptacle unit is in the locked configuration.

B5. The vehicle docking system of paragraph B4, wherein each insert holder is configured to mechanically prevent removal of the respective docking insert unit from the docking receptacle unit when the vehicle is in the docked position and when the docking receptacle unit is in the locked configuration.

B6. The vehicle docking system of any one of paragraphs B4-B5, wherein each docking receptacle unit comprises a receptacle opening, wherein each docking receptacle unit is configured to receive a respective docking insert unit via the receptacle opening, and wherein each insert holder at least substantially covers the receptacle opening of each docking receptacle unit when the docking receptacle unit is in the locked configuration.

B7. The vehicle docking system of any one of paragraphs B1-B6, wherein the vehicle docking system further comprises a retainer actuator configured to transition the at least one docking acceptor unit between the unlocked configuration and the locked configuration.

B8. The vehicle docking system of paragraph B7, when referring to paragraph B4, wherein each insertion holder is hingedly coupled to a respective docking receptacle unit, and wherein the holder actuator is configured to pivot each insertion holder relative to the respective docking receptacle unit when the vehicle is in the docked position and when the docking receptacle unit is in the locked configuration to mechanically prevent removal of the respective docking insertion unit from each docking receptacle unit.

B9. The vehicle docking system of any of paragraphs B7-B8, wherein the vehicle docking system further comprises a position sensor configured to detect when the vehicle is in the docked position, and wherein the retainer actuator is configured to pivot each insert retainer in response to the position sensor detecting that the vehicle is in the docked position.

B10. The vehicle docking system of any one of paragraphs B7-B9, when referring to paragraph B4, wherein the retainer actuator comprises at least one retainer actuator motor, wherein each retainer actuator motor is configured to actuate at least one of the at least one insert retainer to transition the at least one docking acceptor unit between the unlocked configuration and the locked configuration.

B11. The vehicle docking system of paragraph B10, wherein each holder actuator motor is configured to actuate a single respective insertion holder of the at least one insertion holder.

B12. The vehicle docking system of paragraph B10, wherein the at least one insert holder includes at least two insert holders, and wherein each holder actuator motor is configured to actuate each of a respective plurality of the at least two insert holders.

B13. The vehicle docking system of any one of paragraphs B1-B12, wherein each docking receptacle unit comprises an insertion receiver configured to receive and guide a respective docking insertion unit of the plurality of docking insertion units into alignment with the docking receptacle unit as the vehicle approaches the docking position.

B14. The vehicle docking system of paragraph B13, wherein each docking insert unit is at least substantially surrounded by the insert receiver of the corresponding docking receptacle unit when the vehicle is in the docked position.

B15. The vehicle docking system of any one of paragraphs B13-B14, wherein each docking insertion unit is at least substantially conical, optionally frusto-conical, and wherein the insertion receiver of each docking receiver unit is at least substantially conical, optionally frusto-conical.

B16. The vehicle docking system of any one of paragraphs B13-B15, wherein the insertion receiver of each docking receptacle unit includes a ramped portion configured to engage the respective docking insertion unit to passively guide the respective docking insertion unit into the docking receptacle unit.

B17. The vehicle docking system of any of paragraphs B1-B16, wherein the landing gear includes at least one shock absorber configured to elastically contract when the vehicle engages the docking platform.

B18. The vehicle docking system of any of paragraphs B1-B17, wherein the landing gear is configured to support the vehicle on at least one of the docking platform and the ground, and wherein the landing gear includes each docking insert unit.

C1. A payload transfer system for transferring a payload to a vehicle, the payload transfer system comprising:

the payload engagement system of any of paragraphs a1-a 31; and

the vehicle docking system of any of paragraphs B1-B18;

wherein the vehicle of the payload engagement system is a vehicle of a vehicle docking system.

C2. The payload transfer system of paragraph C1, wherein the payload transfer system further includes a loader configured to transfer the payload to the vehicle.

C3. The payload delivery system of paragraph C2, wherein the docking platform defines a docking platform plane; wherein the docking platform plane separates the first side of the docking platform and the second side of the docking platform; wherein the vehicle is positioned at least substantially on the first side of the docking platform when the vehicle is in the docked position; and wherein when the loader transports the payload to the vehicle, the loader is located within a loading area relative to the docking platform that is at least substantially on the second side of the docking platform.

C4. The payload transfer system of any of paragraphs C2-C3, wherein the loader is configured to transport the payload between a loading area and a payload storage area remote from the docking platform.

C5. The payload transfer system of paragraph C4, wherein the loader is configured to traverse the ground to transport the payload between a loading area and a payload storage area.

C6. The payload transfer system of any of paragraphs C2-C5, wherein the loader comprises a support surface configured to support a payload.

C7. The payload transfer system of paragraph C6, wherein the support surface is configured to translate the payload along at least substantially parallel to or in the lateral direction to transfer the payload to the vehicle when the vehicle is in the docked position.

C8. The payload transfer system of any of paragraphs C6 to C7, wherein at least one of the payload and the support surface includes a low friction interface configured to facilitate sliding between the payload and the support surface.

C9. The payload delivery system of paragraph C8, wherein the low friction interface includes at least one of: the roller, the bearing, and the material configured to produce a low coefficient of friction between the payload and the support surface.

C10. The payload delivery system of any of paragraphs C1-C10, wherein the payload delivery system further comprises at least one automated sensor configured to automatically detect a state of at least a portion of the payload delivery system.

C11. A payload delivery system according to paragraph C10, when referring to paragraph a29, wherein the at least one automatic sensor comprises an alignment sensor.

C12. The payload delivery system of any of paragraphs C10-C11, when referring to paragraph B9, wherein the at least one automated sensor comprises a position sensor.

C13. The payload transfer system of any of paragraphs C10-C12, wherein the at least one automatic sensor comprises an orientation sensor configured to determine an orientation of at least one of the loader, the payload, the vehicle, and the docking platform.

C14. The payload transfer system of any of paragraphs C10-C13, wherein the payload transfer system further comprises an automation controller configured to coordinate information transfer between at least one automation sensor and at least one other component of the payload transfer system.

C15. The payload delivery system of paragraph C14, wherein the automation controller is configured to wirelessly receive information from the at least one automation sensor.

C16. The payload transfer system of any of paragraphs C14-C15, wherein the automation controller is configured to receive information from at least one automation sensor via a wired connection.

C17. The payload transfer system of any of paragraphs C14-C16, wherein the automation controller is configured to coordinate information transfer without human input.

C18. The payload transfer system of any of paragraphs C14-C17, when referring to paragraph C11, wherein the automatic controller is configured to instruct the latch actuator to transition each engagement latch from the disengaged configuration to the engaged configuration in response to the alignment sensor detecting that the payload is in the coupled position.

C19. The payload transfer system of any of paragraphs C14-C18, when referring to paragraph C12, wherein the automatic controller is configured to instruct the retainer actuator to transition each docking acceptor unit from the unlocked configuration to the locked configuration in response to the position sensor detecting that the vehicle is in the docked position.

C20. The payload transfer system of any of paragraphs C14-C19, when referring to paragraph C4, wherein the automation controller is configured to direct the loader between the loading area and the payload storage area.

C21. The payload transfer system of paragraph C20, when referring to paragraph C13, wherein the automation controller is configured to direct the loader between the loading area and the payload storage area in response to the orientation sensor determining the position of the loader.

C22. The payload transfer system of any of paragraphs C1-C21, wherein the vehicle is at least one of an aircraft, a land-based vehicle, a water-borne vehicle, a submersible vehicle, and a space vehicle.

C23. The payload delivery system of paragraph C22, wherein the vehicle is an Unmanned Aerial Vehicle (UAV).

C24. The payload delivery system of paragraph C23, wherein the UAV is a remotely piloted UAV.

C25. The payload delivery system of paragraph C23, wherein the UAV is an autonomously controlled UAV.

C26. The payload delivery system of any of paragraphs C22-C25 wherein the vehicle is a rotorcraft having at least one rotor.

C27. The payload delivery system of paragraph C26, wherein the at least one rotor includes one of: two rotors, three rotors, four rotors, and more than four rotors.

C28. The payload transfer system of any of paragraphs C1-C27 wherein each engagement latch is positioned on an underside of a vehicle; and wherein the alignment plane is at least substantially parallel to the lower surface of the vehicle.

C29. The payload transfer system of any of paragraphs C1-C28, wherein the vehicle includes at least one thrust generator configured to propel the vehicle away from the docking platform.

C30. The payload delivery system of paragraph C29, wherein the vehicle is a rotorcraft or the rotorcraft having or the at least one rotor, and wherein each rotor of the at least one rotor is a thrust generator.

C31. The payload delivery system of any of paragraphs C1-C30, wherein the payload includes a payload container configured to selectively contain the object.

C32. The payload transfer system of any of paragraphs C1-C31, wherein the payload includes a plurality of stacking legs disposed on an underside of the payload and configured to facilitate stacking of the payload on top of the same payload.

C33. The payload delivery system of any of paragraphs C1-C32, wherein the payload has a volume of at least one of at least 10 liters (L), at least 50L, at least 100L, at least 500L, at least 1,000L, at least 5,000L, at least 10,000L, at least 50,000L, at least 100,000L, at most 70,000L, at most 20,000L, at most 7,000L, at most 2,000L, at most 700L, at most 200L, at most 70L, and at most 20L.

C34. The payload delivery system of any of paragraphs C1-C33, wherein the payload has a mass of at least one of at least 1 kilogram (kg), at least 5kg, at least 10kg, at least 50kg, at least 100kg, at least 500kg, at least 1,000kg, at most 1,500kg, at most 700kg, at most 200kg, at most 70kg, at most 20kg, at most 7kg, at most 2 kg.

D1. A method of selectively coupling a payload to a vehicle with a payload engagement system, the method comprising:

positioning a vehicle on a first side of a docking platform;

directing the payload toward the vehicle from a second side of the docking platform opposite the first side of the docking platform to position the payload at a predetermined coupling position relative to the vehicle; and

coupling a payload to a vehicle;

wherein the vehicle comprises at least one engagement latch; wherein the payload includes at least one engagement receptacle; wherein each engagement receptacle is aligned with a respective engagement latch of the at least one engagement latch in the alignment plane when the payload is in the coupled position relative to the vehicle; and wherein coupling the payload to the vehicle comprises transitioning each engagement latch from a disengaged configuration, in which the engagement latch is removed from each engagement receptacle, to an engaged configuration, in which each engagement latch engages a respective engagement receptacle of the at least one engagement receptacle.

D2. The method of paragraph D1, wherein the payload engagement system is the payload engagement system of any one of paragraphs a1-a 31.

D3. The method of any of paragraphs D1-D2, wherein directing the payload toward the vehicle includes directing with a loader configured to transfer the payload to the vehicle.

D4. The method of paragraph D3, wherein the loader is a loader according to any of paragraphs C2-C34.

D5. The method of any of paragraphs D3-D4, wherein the loader is located at or in a loading area relative to the docking platform when the loader is directing the payload toward the vehicle, the loading area being located at least substantially on the second side of the docking platform.

D6. The method of any of paragraphs D3-D5, wherein the method further comprises obtaining the payload with a loader prior to directing the payload toward the vehicle.

D7. A method according to paragraph D6, wherein obtaining the payload includes obtaining the payload from or in a payload storage area and carrying the payload from the payload storage area to a loading area.

D8. The method of paragraph D7, wherein carrying a payload includes directing a loader with or to a loading area.

D9. The method of any of paragraphs D3-D8, wherein directing a payload includes translating a support surface of a loader, or the support surface, in or towards a vehicle in a lateral direction.

D10. The method of any of paragraphs D1-D9, wherein directing the payload includes translating the payload to or to a coupling position relative to the vehicle.

D11. The method of any of paragraphs D1-D10, wherein transitioning each engagement latch from the disengaged configuration to the engaged configuration includes translating each engagement latch in a lateral direction that is at least substantially parallel to the alignment plane.

D12. The method of any of paragraphs D1-D11, wherein directing the payload toward the vehicle includes passively guiding the payload to the coupled position using an alignment guide.

D13. The method of paragraph D12, wherein the vehicle includes an alignment guide.

D14. The method of any of paragraphs D12-D13, wherein the payload comprises a plurality of corners; wherein the alignment guide includes a plurality of corner units, each corner unit having a ramp portion; and wherein directing the payload toward the vehicle includes passively directing the payload toward the coupling location by engaging each corner of the payload with a ramp portion of a respective corner unit of the plurality of corner units.

D15. The method of any of paragraphs D1-D14, wherein transitioning each engagement latch from the disengaged configuration to the engaged configuration such that each engagement receptacle is aligned with a respective engagement latch is performed in response to the alignment sensor detecting that the payload is in the coupled position.

D16. The method of any of paragraphs D1-D15, wherein the method further comprises transitioning each engagement latch to a securing configuration to secure the payload to the vehicle.

D17. The method of paragraph D16, wherein transitioning each engagement latch to the secured configuration includes translating each engagement latch in a lateral direction at least substantially perpendicular to the alignment plane.

D18. The method of any of paragraphs D16-D17, wherein transitioning each engagement latch to a secured configuration is performed after transitioning each engagement latch from a disengaged configuration to an engaged configuration.

D19. The method of any of paragraphs D1-D18, wherein the at least one engagement receptacle comprises a first engagement receptacle and a second engagement receptacle; wherein the first engagement receptacle and the second engagement receptacle are positioned on the payload in a spaced arrangement; wherein the at least one engagement latch comprises a first engagement latch configured to engage the first engagement receptacle and a second engagement latch configured to engage the second engagement receptacle; wherein the first engagement latch and the second engagement latch are spaced apart from each other such that when each engagement latch is in the engaged configuration, the first engagement latch engages the first engagement receptacle and the second engagement latch engages the second engagement receptacle; and wherein transitioning each engagement latch from the disengaged configuration to the engaged configuration includes translating the first engagement latch and the second engagement latch toward each other.

E1. A method of selectively retaining a vehicle in a docked position with respect to a docking platform with a vehicle docking system, the method comprising:

bringing the vehicle to a docking position relative to the docking platform; and

securing the vehicle in the docked position;

wherein the docking platform comprises a plurality of docking receptacle units having a geometric arrangement; wherein the vehicle comprises a plurality of docking insertion units having a geometric arrangement corresponding to the geometric arrangement of the plurality of docking receptacle units; wherein each docking insert unit of the plurality of docking insert units is received in a respective docking acceptor unit of the plurality of docking acceptor units to maintain the vehicle in the docked position when the vehicle is in the docked position; wherein securing the vehicle in the docked position comprises transitioning each docking receptacle unit from an unlocked configuration, in which a respective docking insertion unit of the plurality of docking insertion units is freely inserted into and removed from the docking receptacle unit, to a locked configuration, in which the respective docking insertion unit is prevented from being removed from the docking receptacle unit, when the vehicle is in the docked position.

E2. The method of paragraph E1, wherein the vehicle docking system is the vehicle docking system of any one of paragraphs B1-B18.

E3. The method of any of paragraphs E1-E2, wherein bringing the vehicle to the docked position comprises coarsely aligning each docking insertion unit with a respective docking receptacle unit, and then passively guiding the vehicle to the docked position.

E4. The method of paragraph E3, wherein coarse alignment includes guiding a vehicle toward a docking platform using or the automated controller.

E5. The method of any of paragraphs E3-E4, wherein passively guiding comprises engaging each docking insert unit with a respective docking receptacle unit to bring the vehicle into a docked position.

E6. The method of paragraph E5, wherein each docking receptacle unit includes an insertion receiver configured to receive and guide a respective docking insertion unit of the plurality of docking insertion units into alignment with the docking receptacle unit as the vehicle approaches the docking position, wherein each insertion receiver includes an angled portion configured to engage the respective docking insertion unit to passively guide the respective docking insertion unit into the respective docking receptacle unit, and wherein passively guiding includes engaging each docking insertion unit with the angled portion of the insertion receiver of the respective docking receptacle unit.

E7. The method of any of paragraphs E1-E6, wherein transitioning each docking receptacle unit from the unlocked configuration to the locked configuration comprises rotating at least one insertion holder to prevent removal of a respective docking insert unit of the plurality of docking insert units from the docking receptacle unit.

E8. The method of any of paragraphs E1-E7, wherein the method further comprises launching the vehicle from the docking platform after transitioning each docking acceptor unit from the unlocked configuration to the locked configuration.

E9. The method of paragraph E8, wherein the vehicle includes at least one thrust generator configured to propel the vehicle, and wherein initiating includes:

(i) generating thrust with each thrust generator away from the docking platform; and

(ii) transitioning each docking acceptor unit from the locked configuration to the unlocked configuration.

E10. The method according to paragraph E9, wherein generating a pushing force is performed before transitioning each docking receptacle unit from the locked configuration to the unlocked configuration.

E11. The method according to paragraph E9, wherein generating a pushing force is performed after transitioning each docking receptacle unit from the locked configuration to the unlocked configuration.

E12. The method of any one of paragraphs E9-E11, wherein transitioning each docking acceptor unit from the locked configuration to the unlocked configuration comprises concurrently transitioning each docking acceptor unit from the locked configuration to the unlocked configuration.

As used herein, the terms "selective" and "selectively" when used in reference to an action, movement, configuration, or other activity that modifies one or more components or characteristics of an apparatus means that the particular action, movement, configuration, or other activity is a direct or indirect result of a user manipulating an aspect or one or more components of the apparatus.

As used herein, the terms "adapted to" and "configured to" mean that an element, component, or other subject matter is designed and/or intended to perform a given function. Thus, use of the terms "adapted to" and "configured to" should not be construed to mean that a given element, component, or other subject matter is only "capable of" performing a given function, but that the element, component, and/or other subject matter is specifically selected, created, implemented, used, programmed, and/or designed to perform the function. It is also within the scope of the present disclosure that elements, components, and/or other recited subject matter recited as being suitable for performing a particular function may additionally or alternatively be described as being configured to perform that function, and vice versa. Similarly, subject matter recited as being configured to perform a particular function may additionally or alternatively be described as being operable to perform that function.

As used herein, the term "and/or" disposed between a first entity and a second entity refers to one of the following: (1) a first entity, (2) a second entity, and (3) the first entity and the second entity. Multiple entities listed with "and/or" should be interpreted in the same way, i.e., "one or more" of the entities so connected. In addition to entities specifically identified by the "and/or" clause, other entities may optionally be present, whether related or unrelated to those specifically identified entities. Thus, as a non-limiting example, when used with open language such as "including," references to "a and/or B" may refer in one example only to a (optionally including entities other than B); in another example to B only (optionally including entities other than a); in yet another example, reference is made to a and B (optionally including other entities). These entities may refer to elements, acts, structures, steps, operations, values, etc.

As used herein, the phrase "at least one" in reference to a list of one or more entities should be understood to mean at least one entity selected from any one or more entities in the list of entities, but not necessarily including at least one of each and every entity specifically listed in the list of entities and not excluding any combination of entities in the list of entities. This definition also allows for the optional presence of other entities, whether related or unrelated to those specifically identified entities, in addition to the specifically identified entities in the list of entities referred to by the phrase "at least one". Thus, as a non-limiting example, "at least one of a and B" (or, equivalently, "at least one of a or B," or, equivalently "at least one of a and/or B") can refer, in one embodiment, to at least one a (optionally including more than one a) without B (optionally including an entity other than B); in another embodiment may refer to at least one B (optionally including more than one B) without a (and optionally including entities other than a); in yet another embodiment may refer to at least one a (optionally including more than one a) and at least one B (optionally including more than one B) (and optionally including other entities). In other words, the phrases "at least one," "one or more," and/or "are open-ended expressions that are both conjunctive and disjunctive in operation. For example, each expression of "at least one of A, B and C", "at least one of A, B or C", "one or more of A, B and C", "one or more of A, B or C", and "A, B, and/or C" may mean a alone, B alone, C, A alone, B alone, C alone, B and C together, A, B and C together, and optionally any of the above in combination with at least one other entity.

As used herein, the phrase "for example," the phrase "as an example" and/or the simple term "example" when used with reference to one or more components, features, details, structures, embodiments, and/or methods according to the present disclosure is intended to convey that the described components, features, details, structures, embodiments, and/or methods are illustrative, non-exclusive examples of components, features, details, structures, embodiments, and/or methods according to the present disclosure. Accordingly, the described components, features, details, structures, embodiments, and/or methods are not intended to be limiting, required, or exclusive/exhaustive; and other components, features, details, structures, embodiments, and/or methods that include similar and/or equivalent components, features, details, structures, embodiments, and/or methods in structure and/or function are also within the scope of the present disclosure.

Further, the present disclosure includes embodiments according to the following clauses:

clause 1. a vehicle docking system (200) for selectively retaining a vehicle (60) in a docked position relative to a docking platform (70), comprising:

a vehicle (60) comprising a landing gear (66), the landing gear (66) having an associated plurality of docking insert units (210) in a geometric arrangement; and

a docking platform (70) comprising a plurality of docking receptacle units (220);

wherein each docking receptacle unit (220) is configured to selectively engage a respective docking insert unit (210) of the plurality of docking insert units (210) to selectively retain the vehicle (60) in a docked position relative to the docking platform (70); wherein the plurality of docking acceptor units (220) have a geometric arrangement corresponding to a geometric arrangement of the plurality of docking insertion units (210); wherein each docking insert unit (210) is received in a respective docking receptacle unit (220) when the vehicle (60) is in the docked position to maintain the vehicle (60) in the docked position; wherein each docking receptacle unit (220) is configured to transition between an unlocked configuration, in which the respective docking insertion unit (210) is freely inserted into and removed from the docking receptacle unit (220), and a locked configuration, in which the respective docking insertion unit (210) is prevented from being removed from the docking receptacle unit (220), when the vehicle (60) is in the docked position.

Clause 2. the vehicle docking system (200) according to clause 1, wherein the vehicle docking system (200) comprises at least one insert holder (230), the at least one insertion holder (230) being associated with a respective docking receptacle unit (220) of the plurality of docking receptacle units (220), and is configured such that when the vehicle (60) is in the docked position and when the docking acceptor unit (220) is in the latched configuration, selectively preventing a respective docking insertion unit (210) of the plurality of docking insertion units (210) from being removed from a respective docking receptacle unit (220), and wherein when the vehicle (60) is in the docked position and when the docking receptacle unit (220) is in the locked configuration, each insertion holder (230) mechanically prevents removal of the respective docking insertion unit (210) from the docking receptacle unit (220).

Clause 3. the vehicle docking system (200) according to clause 2, wherein each docking receptacle unit (220) comprises a receptacle opening (222), wherein each docking receptacle unit (220) is configured to receive a respective docking insertion unit (210) via the receptacle opening (222), and wherein each insertion holder (230) at least substantially covers the receptacle opening (222) of each docking receptacle unit (220) when the docking receptacle unit (220) is in the locked configuration.

Clause 4. the vehicle docking system (200) according to clause 2, wherein each insertion holder (230) is hingedly coupled to a respective docking receptacle unit (220), and wherein the vehicle docking system (200) further comprises a holder actuator (232), the holder actuator (232) being configured to pivot each insertion holder (230) relative to the respective docking receptacle unit (220) to mechanically prevent the respective docking insertion unit (210) from being removed from each docking receptacle unit (220) when the vehicle (60) is in the docked position and when the docking receptacle unit (220) is in the locked configuration.

Clause 5. the vehicle docking system (200) according to clause 4, wherein the vehicle docking system (200) further comprises a position sensor (34), the position sensor (34) configured to detect when the vehicle (60) is in the docked position, and wherein the retainer actuator (232) is configured to pivot each insert retainer (230) in response to the position sensor (34) detecting that the vehicle (60) is in the docked position.

Clause 6. the vehicle docking system (200) according to clause 1, wherein each docking receptacle unit (220) comprises an insertion receiver (224), the insertion receiver (224) being configured to receive and guide a respective docking insertion unit (210) of the plurality of docking insertion units (210) into alignment with the docking receptacle unit (220) when the vehicle (60) approaches the docking position.

Clause 7. the vehicle docking system (200) according to clause 6, wherein each docking insert unit (210) is at least substantially surrounded by the insert receiver (224) of the corresponding docking receptacle unit (220) when the vehicle (60) is in the docked position.

Clause 8. the vehicle docking system (200) according to clause 6, wherein each docking insertion unit (210) is at least substantially conical, wherein the insertion receiver (224) of each docking receptacle unit (220) is at least substantially conical, and wherein the insertion receiver (224) of each docking receptacle unit (220) comprises an inclined portion (226), the inclined portion (226) configured to engage the respective docking insertion unit (210) to passively guide the respective docking insertion unit (210) into the docking receptacle unit (220).

Clause 9. the vehicle docking system (200) according to clause 1, wherein the landing gear (66) is configured to support the vehicle (60) on the ground, and wherein the landing gear (66) includes each docking insert unit (210).

Clause 10. the vehicle docking system (200) of clause 1, wherein the vehicle (60) is an autonomously controlled Unmanned Aerial Vehicle (UAV).

Clause 11. a method (400) of selectively retaining a vehicle (60) in a docked position with respect to a docking platform (70) with a vehicle docking system (200), the method (400) comprising:

bringing (410) the vehicle (60) to a docking position relative to the docking platform (70); and

securing (420) the vehicle (60) in the docked position;

wherein the docking platform (70) comprises a plurality of docking receptacle units (220) having a geometric arrangement; wherein the vehicle (60) comprises a plurality of docking plug-in units (210) having a geometrical arrangement corresponding to the geometrical arrangement of the plurality of docking plug-in units (210); wherein each docking insertion unit (210) of the plurality of docking insertion units (210) is received into a respective docking acceptor unit (220) of the plurality of docking acceptor units (220) to maintain the vehicle (60) in the docked position when the vehicle (60) is in the docked position; wherein securing the vehicle (60) in the docked position comprises: transitioning (422) each docking receptacle unit (220) from an unlocked configuration, in which a respective docking insertion unit (210) of the plurality of docking insertion units (210) is freely inserted into and removed from the docking receptacle unit (220), to a locked configuration, in which the respective docking insertion unit (210) is prevented from being removed from the docking receptacle unit (220), when the vehicle (60) is in the docked position.

Clause 12. the method (400) of clause 11, wherein bringing (410) the vehicle (60) to the docked position includes coarsely aligning (412) each docking insertion unit (210) with a respective docking receptacle unit (220), and then passively guiding (414) the vehicle (60) to the docked position.

Clause 13. the method (400) of clause 12, wherein the rough alignment (412) includes guiding the vehicle (60) with the automatic controller (40) toward the docking platform (70).

Clause 14. the method (400) of clause 12, wherein the passive guiding (414) includes engaging each docking insert unit (210) with a respective docking receptacle unit (220) to bring the vehicle (60) to the docked position.

Clause 15. the method (400) according to clause 11, wherein transitioning (422) each docking receptacle unit (220) from the unlocked configuration to the locked configuration comprises rotating at least one insertion holder (230) to prevent removal of a respective docking insertion unit (210) of the plurality of docking insertion units (210) from the docking receptacle unit (220).

Clause 16. the method (400) of clause 11, wherein the method (400) further comprises starting (430) the vehicle (60) from the docking platform (70) after transitioning (422) each docking acceptor unit (220) from the unlocked configuration to the locked configuration.

Clause 17 the method (400) of clause 16, wherein the vehicle (60) includes a thrust generator (68) configured to propel the vehicle (60), and wherein starting (430) includes:

(i) generating (432) a thrust force with a thrust generator (68) away from the docking platform (70); and

(ii) transitioning (434) each docking acceptor unit (220) from a locked configuration to an unlocked configuration;

wherein generating (432) a pushing force is performed prior to transitioning (434) each docking acceptor unit (220) from the locked configuration to the unlocked configuration.

Clause 18. the method (400) of clause 17, wherein transitioning (434) each docking acceptor unit (220) from the locked configuration to the unlocked configuration comprises simultaneously transitioning (434) each docking acceptor unit (220) from the locked configuration to the unlocked configuration.

Clause 19. a payload transfer system (10) for transferring a payload (50) to a vehicle (60), the payload transfer system (10) comprising:

a vehicle (60) comprising at least one engagement latch (110) and a landing gear (66), the landing gear (66) having an associated plurality of docking insert units (210) in a geometric arrangement;

a payload (50) comprising at least one engagement receptacle (130);

a docking platform (70) configured to selectively hold a vehicle (60) in a docked position relative to the docking platform (70) and comprising a plurality of docking acceptor units (220);

a vehicle docking system (200) for selectively retaining a vehicle (60) in a docked position relative to a docking platform (70); and

a payload engagement system (100) for selectively coupling a payload (50) to a vehicle (60);

wherein the vehicle docking system (200) comprises a plurality of docking insertion units (210) and a plurality of docking receptacle units (220);

wherein each docking receptacle unit (220) is configured to selectively engage a respective docking insert unit (210) of the plurality of docking insert units (210) to selectively retain the vehicle (60) in a docked position relative to the docking platform (70); wherein the plurality of docking acceptor units (220) have a geometric arrangement corresponding to a geometric arrangement of the plurality of docking insertion units (210); wherein each docking insert unit (210) is received in a respective docking receptacle unit (220) when the vehicle (60) is in the docked position to maintain the vehicle (60) in the docked position; wherein each docking receptacle unit (220) is configured to transition between an unlocked configuration in which the respective docking insertion unit (210) is freely inserted into and removed from the docking receptacle unit (220) and a locked configuration in which the respective docking insertion unit (210) is prevented from being removed from the docking receptacle unit (220) when the vehicle (60) is in the docked position;

wherein the payload engagement system (100) comprises at least one engagement latch (110) and at least one engagement receptacle (130);

wherein each engagement latch (110) is configured to selectively engage a respective engagement receptacle (130) of the at least one engagement receptacle (130) to selectively couple the payload (50) to the vehicle (60); wherein each engagement latch (110) is configured to selectively transition between an engaged configuration in which each engagement latch (110) engages a respective engagement receptacle (130) to couple the payload (50) to the vehicle (60), and a disengaged configuration in which each engagement latch (110) is removed from each engagement receptacle (130); wherein the payload engagement system (100) is configured to guide the payload (50) to a predetermined coupling position relative to the vehicle (60) to establish alignment of each engagement latch (110) relative to the respective engagement receptacle (130) in the alignment plane (102) prior to transitioning each engagement latch (110) from the disengaged configuration to the engaged configuration; and wherein each engagement latch (110) is configured to translate in a lateral direction (104) that is at least substantially parallel to the alignment plane (102) as the engagement latch (110) transitions between the engaged configuration and the disengaged configuration.

Clause 20. the payload delivery system (10) of clause 19, wherein the vehicle (60) is an autonomously controlled Unmanned Aerial Vehicle (UAV); wherein the landing gear (66) comprises a plurality of docking insert units (210); wherein the plurality of docking insertion units (210) comprises four docking insertion units (210) positioned in a rectangular geometric arrangement; wherein the plurality of docking acceptor units (220) comprises four docking acceptor units (220) positioned in a rectangular geometric arrangement; wherein the at least one engagement receptacle (130) comprises a first engagement receptacle (132) and a second engagement receptacle (134); wherein the first engagement receptacle (132) and the second engagement receptacle (134) are positioned in a spaced apart arrangement on the payload (50); wherein the at least one engagement latch (110) comprises a first engagement latch (112) configured to engage the first engagement receptacle (132) and a second engagement latch (114) configured to engage the second engagement receptacle (134); and wherein the first engagement latch (112) and the second engagement latch (114) are spaced apart from each other such that when each engagement latch (110) is in the engaged configuration, the first engagement latch (112) engages the first engagement receptacle (132) and the second engagement latch (114) engages the second engagement receptacle (134).

The various disclosed elements of the various devices and systems and steps of the methods disclosed herein are not required for all devices, systems and methods according to this disclosure, and this disclosure includes all novel and nonobvious combinations and subcombinations of the various elements and steps disclosed herein. In addition, one or more of the various elements and steps disclosed herein may define independent inventive subject matter, separate and apart from the entirety of the disclosed apparatus, system, or method. Thus, such inventive subject matter need not be associated with the particular apparatus, systems, and methods explicitly disclosed herein, and such inventive subject matter may find utility in apparatus, systems, and/or methods not explicitly disclosed herein.