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WO2025179009A1 - Sonde d'accéléromètre larguée par avion pour stratigraphie et caractérisation de la neige - Google Patents

Sonde d'accéléromètre larguée par avion pour stratigraphie et caractérisation de la neige

Info

Publication number
WO2025179009A1
WO2025179009A1 PCT/US2025/016580 US2025016580W WO2025179009A1 WO 2025179009 A1 WO2025179009 A1 WO 2025179009A1 US 2025016580 W US2025016580 W US 2025016580W WO 2025179009 A1 WO2025179009 A1 WO 2025179009A1
Authority
WO
WIPO (PCT)
Prior art keywords
drop probe
probe
computer
drop
snow
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Pending
Application number
PCT/US2025/016580
Other languages
English (en)
Inventor
Alex Miller
Christopher ECKERT
Jeffrey Hoffman
Michael Brown
Aaron MAKIKALLI
Cesar MEZA
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Massachusetts Institute of Technology
Original Assignee
Massachusetts Institute of Technology
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Massachusetts Institute of Technology filed Critical Massachusetts Institute of Technology
Publication of WO2025179009A1 publication Critical patent/WO2025179009A1/fr
Pending legal-status Critical Current
Anticipated expiration legal-status Critical

Links

Classifications

    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01D—MEASURING NOT SPECIALLY ADAPTED FOR A SPECIFIC VARIABLE; ARRANGEMENTS FOR MEASURING TWO OR MORE VARIABLES NOT COVERED IN A SINGLE OTHER SUBCLASS; TARIFF METERING APPARATUS; MEASURING OR TESTING NOT OTHERWISE PROVIDED FOR
    • G01D21/00—Measuring or testing not otherwise provided for
    • G01D21/02—Measuring two or more variables by means not covered by a single other subclass
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64D—EQUIPMENT FOR FITTING IN OR TO AIRCRAFT; FLIGHT SUITS; PARACHUTES; ARRANGEMENT OR MOUNTING OF POWER PLANTS OR PROPULSION TRANSMISSIONS IN AIRCRAFT
    • B64D1/00—Dropping, ejecting, releasing or receiving articles, liquids, or the like, in flight
    • B64D1/02—Dropping, ejecting, or releasing articles
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01W—METEOROLOGY
    • G01W1/00—Meteorology
    • G01W1/14—Rainfall or precipitation gauges
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U2101/00—UAVs specially adapted for particular uses or applications
    • B64U2101/35—UAVs specially adapted for particular uses or applications for science, e.g. meteorology
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U2101/00—UAVs specially adapted for particular uses or applications
    • B64U2101/60—UAVs specially adapted for particular uses or applications for transporting passengers; for transporting goods other than weapons
    • B64U2101/67—UAVs specially adapted for particular uses or applications for transporting passengers; for transporting goods other than weapons the UAVs comprising tethers for lowering the goods
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U2101/00—UAVs specially adapted for particular uses or applications
    • B64U2101/60—UAVs specially adapted for particular uses or applications for transporting passengers; for transporting goods other than weapons
    • B64U2101/69—UAVs specially adapted for particular uses or applications for transporting passengers; for transporting goods other than weapons the UAVs provided with means for airdropping goods, e.g. deploying a parachute during descent

Definitions

  • This air-dropped system would also be useful for characterizing snow water content, which is useful for estimating city water supplies in mountainous regions, such as the Sierra Nevada, the Rockies, or the Alps.
  • Existing ways of measuring snow water content involve taking precise density measurements in particular locations.
  • a drop probe system includes a drop probe including a nose at one end and a tail at an opposite end of an elongated body.
  • the drop probe further includes a power source contained in the elongated body; a computing device including a processor and a timing device and in electrical communication with the power source; an on-board accelerometer in communication with the computing device; a global positioning system in communication with the computing device; a motion sensor in communication with the computing device; a thermocouple in communication with the computing device; a weighted mass positioned proximate to the nose to place a center of gravity of the drop probe closer to the nose than a center of pressure of the drop probe, as measured when the drop probe orthogonally penetrates a bed of snow with the nose leading; and an attachment mechanism at the tail for attachment to cordage.
  • a method of using this drop probe system includes implanting the drop probe into surface snow on a mountain and transmitting data relating to properties of the surface snow.
  • the drop probe can be implanted by dropping the drop probe (e.g., from a drone) into the surface snow.
  • a computer system for calculating (measuring) the water content of surface snow on a mountain includes a processor and a timing device; computer memory storage accessible to the processor, and computer program instructions encoded in the computer memory storage.
  • the computer system is configured to define data structures in the computer memory storage representing data from the drop probe system; and to execute algorithms of Equations (2) to (19), presented in the Detailed Description, applied to the data structures to calculate the water content of surface snow in which the drop probe is dropped on a mountain.
  • FIG. 1 is a side view of the disclosed probe 10 and its chief functional components.
  • FIG. 2 is a top view of the disclosed probe and 10 its chief functional components.
  • FIG. 5 shows the probe 12 in a cannon device 14 for delivery to a site of interest.
  • FIG. 6 schematically shows an example of a computer 500 that comprises a processing system, including at least one processing unit 502 and a memory storage device 504.
  • FIG. 7 shows a compaction model that features an infinite grid of 1D elastic elements 16 with modulus, E, that depends nonlinearly on the material density.
  • FIG. 8 schematically shows a microcontroller circuit board 20, including an electronic microcontroller 50, including an accelerometer 52, a global positioning system (GPS) module 54, and a battery management system 56.
  • the microcontroller circuit board 20 is further coupled with and in communication with computer memory storage 58.
  • first, second, third, etc. maybe used herein to describe various elements, these elements are not to be limited by these terms. These terms are simply used to distinguish one element from another. Thus, a first element, discussed below, could be termed a second element without departing from the teachings of the exemplary implementations.
  • spatially relative terms such as “above,” “below,” “left,” “right,” “in front,” and “behind,” may be used herein for ease of description to describe the relationship of one element to another element, as illustrated in the figures. It will be understood that the spatially relative terms, as well as the illustrated configurations, are intended to encompass different orientations of the apparatus in use or operation in addition to the orientations described herein and depicted in the figures. For example, if the apparatus in the figures is turned over, elements described as “below” or “beneath” other elements or features would then be oriented “above” the other elements or features. Thus, the exemplary term “above” may encompass both an orientation of above and below.
  • the apparatus may be otherwise oriented e.g., rotated 90 degrees or at other orientations), and the spatially relative descriptors used herein should be interpreted accordingly.
  • the term “about” can mean within ⁇ 10% of the value recited.
  • each subrange and each individual value between the upper and lower ends of the range is contemplated and, therefore, disclosed.
  • the various components identified herein can be provided in an assembled and finished form; or some or all of the components can be packaged together and marketed as a kit with instructions (e.g., in written, video, or audio form) for assembly and/or modification by a customer to produce a finished product.
  • a small, air-dropped metal probe 10 (around 0.3-m long with a mass of 2 kg), as shown in FIGS. 1 and 2, that can be dropped into snow to characterize the stratigraphy of the snow.
  • the probe 10 has a well-characterized tip shape (can be pointy or rounded), with, e.g., a cone end 18, that is known to go into snow of different elastic moduli with different accelerations.
  • the probe has an accelerometer (e.g., as a component of a microcontroller circuit board 20) inside that can record the acceleration values during the impact, and it runs an algorithm that translates the acceleration readings to a stratigraphy profile.
  • an accelerometer 52 e.g., a 200-g, three-axis accelerometer as a component of the microcontroller circuit board 20, which is the main sensor for data collection;
  • a temperature sensor 26 e.g., including a thermocouple
  • a temperature sensor 26 that reads temperature near the tip for rapid response
  • a memory e.g., SD card
  • a printer or other form of computer memory storage 58 in communication with the microcontroller;
  • a small battery 28 coupled with and configured for powering the microcontroller, sensors, and transmitter/receiver;
  • a battery management system 56 coupled with the microcontroller 50 and the battery 28 to control charging and discharging of the battery 28; and • one or more control buttons 29 for turning the device on/off, changing its mode of operation, and/or changing the data displayed.
  • the device comprises a small, air-dropped metal probe 10 (around 0.3 m long, 2 kg).
  • the probe 10 can include a steel outer casing 30.
  • the back (top) portion of the casing 30 is secured with screws 31 such that the electronics may be removed.
  • the probe 10 further comprises a hook 32 or other attachment mechanism coupled via a hook fitting 36 on the back portion for use in transport.
  • the front (bottom) section of the probe e.g., in the form of a cone end 18
  • a spool 38 can be used to unfurl cordage (a line), such as rope, cord, or metallic or plastic cable.
  • the spool can have a relatively low- friction brake that adds stability to the drop probe, as well as a pin-puller release mechanism for dropping the probe. Additionally, the spool can be coupled with a motor to form a winch so that the probe may be automatically retrieved.
  • the probe and the probe system are deployed via at least one of the following methods.
  • the probe 10 can be dropped by hand on, e.g., a snow slope 39, as shown in FIG. 4.
  • a spool 38 of small cordage 40 e.g., rope
  • the person lifts the spool 38 to pull out the attached probe 10.
  • a similar spool 38 and motorized winch system with a brake and release mechanism can be mounted on a drone 12, as shown in FIG. 3.
  • the drone 12 can be used to drop the probe 10 for automated snow stratigraphy mapping over a very large area.
  • the probe 10 can be dropped from a tower, such as a chairlift tower.
  • the tower can have a spool at the top that can rapidly release cordage and can be actuated like a winch to retrieve the system from the snow.
  • the spool can be rotated or translated around the tower to change the exact location where the drop probe lands. This technique can be used to measure compaction of the same snowpack over time or to take numerous repeated measurements.
  • the probe 10 can be launched out of an air cannon 14 powered by a pressurized air tank 42 with the pressurized air delivered from the tank 42 through a hose 44 to the cannon 14 while subject to controlled release by a large butterfly valve 46, as shown in FIG. 5.
  • the air cannon 14 can also contain packing material 48 upstream from the probe 10 so as not to inhibit launch of the probe 10 from the cannon 14.
  • the air cannon 14 can be useful to assess far-away snowpacks in areas where drone use is not permitted. Additionally, the air cannon 14 can be used to get higher probe velocity when deeper probing is needed.
  • the initial kinetic energy and the acceleration profile are used to calculate the snow stratigraphy, and the processed data is saved to the SD card with timestamps.
  • the stratigraphy profile is displayed on the onboard display; and, if a cell phone is connected computer, both the raw data and the processed data are transferred via a wireless (e.g., Bluetooth) communication, and the data is displayed in a configurable graphic view.
  • the application can store profiles from several users for many locations and display the locations on a map.
  • the app is configured to take the raw data and reprocess it with additional information inputs. These inputs include:
  • the app can automatically spatially average between profiles taken nearby within a short time window.
  • FIG. 6 is a block diagram of a general-purpose computer that processes computer programs using a processing system.
  • Computer programs on a general- purpose computer generally include an operating system and applications.
  • the operating system is a computer program running via a processor in the computer that manages access to resources of the computer by the applications and the operating system.
  • the resources generally include memory, storage, communication interfaces, input devices, and output devices.
  • an exemplary computer 500 comprises a processing system including at least one processing unit 502 and a memory 504.
  • the processing unit 502 can include or can be in communication with a timing device, such as a crystal oscillator, to provide a stable clock signal for digital integrated circuits to track received information as a function of time.
  • the computer can have multiple processing units 502 and multiple devices implementing the memory 504.
  • a processing unit 502 can include one or more processing cores (not shown) that operate independently of each other. Additional co-processing units, such as a graphics processing unit 520, also can be present in the computer.
  • the memory storage device 504 may include volatile devices (such as dynamic random-access memory (DRAM) or other random-access memory device) and non-volatile devices (such as a read-only memory, flash memory, and the like) or some combination of the two, and may optionally include any memory available in a processing device. Other memory, such as dedicated memory or registers, also can reside in a processing unit. Such a memory configuration is delineated by the dashed line 504 in FIG. 6.
  • the computer 500 may include additional storage (removable and/or non-removable) including, but not limited to, solid-state devices or magnetically recorded or optically recorded disks or tape. Such additional storage is illustrated in FIG. 6 by removable storage 508 and non-removable storage 510.
  • the various components in FIG. 6 are generally interconnected by an interconnection mechanism, such as one or more buses 530.
  • a computer memory storage medium is any medium in which data can be stored in and retrieved from addressable physical storage locations by the computer.
  • Computer memory storage media includes volatile and nonvolatile memory devices and removable and non-removable storage devices.
  • Memory 504, removable storage 508, and non-removable storage 510 are all examples of computer memory storage media.
  • Some examples of computer memory storage media are RAM, ROM, EEPROM, flash memory or other memory technology, CD-ROM, digital versatile disks (DVD) or other optically or magneto-optically recorded storage device, magnetic cassettes, magnetic tape, magnetic disk storage or other magnetic storage devices.
  • Computer memory storage media and communication media are mutually exclusive categories of media.
  • communication media includes wired media such as a wired network or direct -wired connection
  • wireless media include any non-wired communication media that allows propagation of signals, such as acoustic, electromagnetic, electrical, optical, infrared, radio frequency and other signals.
  • Communications connections 512 are devices, such as a network interface or radio transmitter, that interface with the communication media to transmit data over and receive data from signals propagated through communication media.
  • the communications connections can include one or more radio transmitters for telephonic communications over cellular telephone networks and/or a wireless communication interface for wireless connection to a computer network.
  • a cellular connection For example, a Wi-Fi connection, a Bluetooth connection, and other connections may be present in the computer.
  • Such connections support communication with other devices, such as to support voice or data communications.
  • the computer 500 may have various input device(s) 514 such as any of various pointer (whether single pointer or multi-pointer) devices, such as a mouse, tablet and pen, touchpad and other touch-based input devices, stylus, image input devices, such as still and motion cameras, audio input devices, such as a microphone.
  • the computer may have various output device(s) 516, such as a display, speakers, printers, and so on, any of which also may be included.
  • the various storage 510, communication connections 512, output devices 516, and input devices 514 can be integrated within a housing of the computer or can be connected through various input/output interface devices on the computer, in which case the reference numbers 510, 512, 514 and 516 can indicate either the interface for connection to a device or the device itself as the case may be.
  • Any of the foregoing aspects may be embodied as a computer system, as any individual component of such a computer system, as a process performed by such a computer system or any individual component of such a computer system, or as an article of manufacture, including computer memory storage in which computer program code is stored and which, when processed by the processing system(s) of one or more computers, configures the processing system(s) of the one or more computers to provide such a computer system or individual component of such a computer system.
  • Each component which also may be called a “module” or “engine” or “computational model” or the like, of a computer system, such as described herein, and which operates on one or more computers, can be implemented as computer program code processed by the processing system(s) of one or more computers.
  • Computer program code includes computer-executable instructions and/or computer-interpreted instructions, such as program modules, that are processed by a processing system of a computer.
  • Such instructions define routines, programs, objects, components, data structures, etc., that, when processed by a processing system, instruct the processing system to perform operations on data or configure the processor or computer to implement various components or data structures in computer memory storage.
  • a data structure is defined in a computer program and specifies how data is organized in computer memory storage, such as in a memory device or a storage device, so that the data can accessed, manipulated, and stored by a processing system of a computer.
  • the nonlinear elastic compaction model uses a set of elastic "spring" elements that are arranged radially around the site of impact, such as shown in FIG. 7. During impact, these elements deform radially, with the nose cone forcing these elements outwards; it is assumed in this model that there is no vertical transport of material.
  • the model splits the impact material into discrete and non-interacting radial slices; each slice has a known volumetric change from the probe going through the target material. Although the slices are shaped like an annulus, the compaction is solved as a set of 1D problems arranged radially.
  • the energy absorption in a volumetric element is calculated by a series of infinitesimal elastic deformations, each at a different strain and corresponding elastic modulus.
  • the amount of energy absorbed in each vertical layer slice may be calculated and used to form a complete impact trajectory.
  • This model neglects other energy absorption modalities in snow, such as frictional interaction during particle transport and fracture. Thus, this model is most applicable to surface snow with densities below 600 kg m-3 and no significant crust or ice lens features. For impact materials with fracturing features at the surface, this model may be superimposed with another model on a layer-by-layer basis.
  • the impact is nonlinear and elastic.
  • This model models inelastic energy by iteratively evaluating small elastic deformations of individual material elements with an elastic modulus that is nonlinear with respect to the strain without consideration of strain rate. In reality, the deformations are inelastic and strain-rate dependent.
  • the elastic modulus In an elastic deformation of snow, the elastic modulus is given by a power law shown in Equation (2) this forms a nonlinearity where the material becomes stiffer the more it has been compacted. In this model, the elastic modulus is used rather than the bulk modulus, E, because the compression is uniaxial and shear is neglected.
  • the elastic modulus can be calculated as follows:
  • E cp k [Pa], (2) where p [kg m ⁇ 3] is the density of snow; c is a non-dimensional fitting constant, derived through material testing; and k is a non-dimensional fitting constant, derived through material testing.
  • the nonlinear elastic model considers deformations in uniaxial strain, c. depicted in Equation (3) as follows: where I [m] is the deformed length of a cube of material along the radial axis of the probe, and Iceii [m] is the original undeformed length of a cube of material.
  • Equation (5) p 0 [kg m ⁇ 3] is the density of the cube of snow before compaction, and pf [kg m ⁇ 3] is the density of the cube of snow after compaction.
  • Equation (7) the change in volume, dVceii, in a cube is shown in Equation (7), as follows:
  • Equation (8) the energy stored in that cube, Uceii, is given in Equation (8). Note that the elastic modulus is depicted as a function of density, which is a function of strain, the variable of integration.
  • Equation (11) the total energy per layer, uiayer, may be written simply in Equation (11). This is an oversimplification that will be explored and amended later but is useful conceptually and for making faster runtime solvers. By totaling up the energy absorbed in all layers through this procedure, the complete impact mechanical trajectory may be simulated.
  • Equation (12) Leone [m] is the length of the nose cone of the probe,.
  • v SO und [m s- 1 ] is the speed of sound in snow, and
  • Vpenetrator [m s -1 ] is the velocity of the probe evaluated at the height z of the layer of interest.
  • Equation (16) Equation (16) and Equation (17), as follows:
  • Equation (18) Plugging the value of a from Equation (17) and the value of ey from Equation (14) into an expression for the final strain in each element as a function of r, £ r , is described in Equation (18).
  • those parameters or values can be adjusted up or down by 1/100*, 1/50*, 1/20*, i/io Lh , 1/5*, i/3 rd , 1/2, 2/3 rd , 3/4*, 4/5 111 , 9/io th , 19/20*, 49/50*, 99/100*, etc.
  • the drop probe system of clause 1 further comprising a display screen in communication with the computing device and configured to display data based on measurements from at least one of the accelerometer, the global positioning system, the motion sensor, or the thermocouple.
  • a cannon configured for propelling the drop probe more than 10 meters, wherein the cannon comprises: a tube with packing material at its base; a hose connecting the tube to a pressurized gas tank; and a valve in or connected with the hose and configured to control gas flow from the pressurized gas tank through the hose.
  • drop probe further comprises a transmitter in communication with the computing device and configured to transmit data from the drop probe to a remote computer.
  • a method of using the drop probe system of clause 1, comprising implanting the drop probe into surface snow on a mountain; and transmitting data relating to properties of the surface snow.
  • a computer system for calculating the water content of surface snow on a mountain comprising: a processor; computer memory storage accessible to the processor, and computer program instructions encoded in the computer memory storage, wherein, when the computer program instructions are processed by the processing system, the computer system is configured to: define data structures in the computer memory storage representing data from the drop probe system of clause 1; and execute algorithms of Equations (2) to (19) applied to the data structures to calculate the water content of surface snow in which the drop probe is dropped on a mountain.
  • a computer program product comprising computer memory storage and computer program instructions encoded in the computer memory storage, wherein the computer program instructions, when processed by a processor of a computer, causes the computer to determine the mass of the surface snow from the method of clause 10.

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  • Engineering & Computer Science (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Environmental & Geological Engineering (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Hydrology & Water Resources (AREA)
  • Atmospheric Sciences (AREA)
  • Biodiversity & Conservation Biology (AREA)
  • Ecology (AREA)
  • Environmental Sciences (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Testing Or Calibration Of Command Recording Devices (AREA)

Abstract

Des mesures courantes pour la prévision des avalanches sont habituellement réalisées en creusant des puits dans la neige ou par sondage. Ces procédés sont principalement soit rapides et qualitatifs, soit lents et quantitatifs. Le procédé divulgué ici offre une approche à la fois rapide et quantitative et pourrait être utile pour les skieurs hors piste et les pisteurs. Le système largué par avion divulgué ici est également utile pour caractériser le contenu en eau de la neige, ce qui permet d'estimer les réserves d'eau des villes, en particulier dans les régions frappées par la sécheresse. Les procédés existants de mesure du contenu en eau de la neige impliquent la prise de mesures de densité précises dans des endroits précis, alors que ces techniques de largage par avion pourraient être mises en œuvre sur une zone beaucoup plus large pour obtenir une meilleure idée de la distribution du contenu en eau, ce qui conduit à de meilleures estimations des réserves d'eau des villes.
PCT/US2025/016580 2024-02-23 2025-02-20 Sonde d'accéléromètre larguée par avion pour stratigraphie et caractérisation de la neige Pending WO2025179009A1 (fr)

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US202463557022P 2024-02-23 2024-02-23
US202463557471P 2024-02-23 2024-02-23
US63/557,471 2024-02-23
US63/557,022 2024-02-23

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Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20140116162A1 (en) * 2012-10-25 2014-05-01 Avatech, Inc. Methods, apparatus and systems for measuring snow structure and stability
RU2571292C1 (ru) * 2014-07-04 2015-12-20 Открытое акционерное общество "Государственный научно-исследовательский навигационно-гидрофический институт" (ОАО "ГНИНГИ") Система измерения гидрологических параметров на больших глубинах
US20170044894A1 (en) * 2015-08-11 2017-02-16 Intrasen, LLC Groundwater monitoring system and method
USRE48356E1 (en) * 2013-07-24 2020-12-15 Bcb International Limited Air cannon and associated launch canister for a line-fouling system
US20230331383A1 (en) * 2022-04-14 2023-10-19 Workhorse Group Inc. Unmanned aerial vehicle delivery systems

Patent Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20140116162A1 (en) * 2012-10-25 2014-05-01 Avatech, Inc. Methods, apparatus and systems for measuring snow structure and stability
USRE48356E1 (en) * 2013-07-24 2020-12-15 Bcb International Limited Air cannon and associated launch canister for a line-fouling system
RU2571292C1 (ru) * 2014-07-04 2015-12-20 Открытое акционерное общество "Государственный научно-исследовательский навигационно-гидрофический институт" (ОАО "ГНИНГИ") Система измерения гидрологических параметров на больших глубинах
US20170044894A1 (en) * 2015-08-11 2017-02-16 Intrasen, LLC Groundwater monitoring system and method
US20230331383A1 (en) * 2022-04-14 2023-10-19 Workhorse Group Inc. Unmanned aerial vehicle delivery systems

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