Aerial vehicle center of gravity adjustment

• US 10,207,794 B1
• Filed: 12/13/2016
• Issued: 02/19/2019
• Est. Priority Date: 08/11/2014
• Status: Active Grant

• Current Assignee: Amazon Technologies, Inc. (Amazon.com, Inc.)
• Original Assignee: Amazon Technologies, Inc. (Amazon.com, Inc.)
• Inventors: Beckman, Brian C., Porter, Brandon William, Kimchi, Gur, Buchmueller, Daniel, Bezos, Jeffrey P., Schaffalitzky, Frederik, Navot, Amir
• Primary Examiner(s): Trivedi, Atul
• Application Number:
  US15/377,639
• Time in Patent Office: 798 Days
• Field of Search: 701124
• CPC Class Codes: B64C 17/00 Aircraft stabilisation not otherwise provided for
• CPC Class Codes: B64C 27/08 with two or more rotors
• CPC Class Codes: B64C 27/20 Rotorcraft characterised by having shrouded rotors, e.g. flying platforms
• CPC Class Codes: B64C 39/024 of the remote controlled vehicle type, i.e. RPV
• CPC Class Codes: B64U 10/13 Flying platforms
• CPC Class Codes: B64U 10/16 with five or more distinct rotor axes, e.g. octocopters
• CPC Class Codes: B64U 2101/60 for transporting passengers; for transporting goods other than weapons
• CPC Class Codes: B64U 30/20 Rotors; Rotor supports
• CPC Class Codes: B64U 40/20 for in-flight adjustment of the base configuration
• CPC Class Codes: B64U 50/19 using electrically powered motors
• CPC Class Codes: G01G 19/07 for weighing aircraft
• CPC Class Codes: G01M 1/125 of aircraft
• CPC Class Codes: G01M 1/127 during the flight
• CPC Class Codes: G05D 3/00 Control of position or direction G05D1/00 takes precedence; numerical control to execute positioning G05B19/18

Abstract

This disclosure describes a system and method for determining the center of gravity of a payload engaged by an automated aerial vehicle and adjusting components of the automated aerial vehicle and/or the engagement location with the payload so that the center of gravity of the payload is within a defined position with respect to the center of gravity of the automated aerial vehicle. Adjusting the center of gravity to be within a defined position improves the efficiency, maneuverability and safety of the automated aerial vehicle. In some implementations, the stability of the payload may also be determined to ensure that the center of gravity does not change or shift during transport due to movement of an item of the payload.

Claims

1. An aerial vehicle, comprising:

a frame;

a power module coupled to the frame;

a payload engagement element coupled to the frame for engaging and disengaging a payload; and

a memory coupled to a processor and storing program instructions that when executed by the processor causes the processor to at least;

determine a first center of gravity, a first moment of inertia, or a first mass distribution of a combined payload and the aerial vehicle;

establish a first set of flight controls specifying operating parameters for the aerial vehicle while the payload is engaged by the payload engagement element of the aerial vehicle, wherein;

the first set of flight controls are based at least in part on the first center of gravity, the first moment of inertia, or the first mass distribution; and

the first set of flight controls limit at least one of a maneuverability of the aerial vehicle or a speed of the aerial vehicle compared to a default set of flight controls in which at least one of the maneuverability of the aerial vehicle or the speed of the aerial vehicle is not limited;

cause the aerial vehicle to operate according to the first set of flight controls while the payload is engaged by the aerial vehicle;

determine that the payload has been disengaged by the payload engagement element of the aerial vehicle; and

in response to a determination that the payload has been disengaged, cause the aerial vehicle to operate according to the default set of flight controls, the default set of flight controls based at least in part on a default center of gravity, a default moment of inertia, or a default mass distribution of the aerial vehicle.

2. The aerial vehicle of claim 1, further comprising:

a center of gravity adjustment mechanism configured to adjust a position of at least one of the power module, a counterweight, or a rigid member of the aerial vehicle to alter the first center of gravity, first moment of inertia, or first mass distribution.

3. The aerial vehicle of claim 2, wherein the program instructions further cause the processor to at least:

send instructions that cause the center of gravity adjustment mechanism to position in a first position at least one of the power module, the counterweight, or the rigid member while the payload is engaged by the aerial vehicle.

4. The aerial vehicle of claim 3, wherein the program instructions further cause the processor to at least:

in response to the determination that the payload has been disengaged, send instructions that cause the center of gravity adjustment mechanism to adjust a position of at least one of the power module, the counterweight, or the rigid member from the first position to a default position.

5. The aerial vehicle of claim 1, wherein the first center of gravity, the first moment of inertia, or the first mass distribution is determined based at least in part on a second center of gravity of the payload, a second moment of inertia of the payload, or a second mass distribution of the payload and the default center of gravity of the aerial vehicle, the default moment of inertia of the aerial vehicle, or the default mass distribution of the aerial vehicle.

6. The aerial vehicle of claim 1, wherein the first set of flight controls are established prior to an aerial transport of the payload.

7. A computer-implemented method to alter an operation of an aerial vehicle, comprising:

under control of one or more computing systems configured with executable instructions, determining a combined center of gravity of a payload and an aerial vehicle;

establishing a first set of flight controls for the aerial vehicle while the payload is engaged by the aerial vehicle, wherein;

the first set of flight controls are established based at least in part on the combined center of gravity; and

the first set of flight controls limit at least one of a maneuverability of the aerial vehicle or a speed of the aerial vehicle compared to a default set of flight controls in which at least one of the maneuverability of the aerial vehicle or the speed of the aerial vehicle is not limited;

instructing the aerial vehicle to operate according to the first set of flight controls while the payload is engaged by the aerial vehicle; and

instructing the aerial vehicle to operate according to the default set of flight controls while the payload is not engaged by the aerial vehicle, wherein the default set of flight controls is determined based at least in part on a center of gravity of the aerial vehicle.

8. The computer-implemented method of claim 7, wherein the combined center of gravity is determined based at least in part on an expected center of gravity of the payload and a known center of gravity of the aerial vehicle.

9. The computer-implemented method of claim 8, wherein the expected center of gravity is further based at least in part on an item included in the payload, a position of engagement between the payload and the aerial vehicle, or a simulation.

10. The computer-implemented method of claim 7, wherein the combined center of gravity is determined based at least in part on a position of the payload when engaged by the aerial vehicle.

11. The computer-implemented method of claim 7, wherein the combined center of gravity is determined based at least in part by measuring a mass of the aerial vehicle and the payload with a plurality of sensors.

12. The computer-implemented method of claim 7, wherein the payload includes an item ordered from an e-commerce website that is to be delivered to a destination using the aerial vehicle.

13. The computer-implemented method of claim 7, wherein the aerial vehicle is configured to at least:

engage the payload; and

adjust a position of the engaged payload with respect to the aerial vehicle or adjust a position of a component of the aerial vehicle.

14. The computer-implemented method of claim 13, wherein the component is at least one of a power supply, an adjustable motor arm, a payload engagement element, or a counterweight.

15. The computer-implemented method of claim 7, wherein the first set of flight controls indicate a rotational speed of each motor of the aerial vehicle needed to hold the aerial vehicle and the payload in an approximately stationary and level position.

16. A system to transport a payload, comprising:

an aerial vehicle having a frame and a payload engagement element coupled to the frame and configured to engage the payload; and

a memory coupled to a processor and storing program instructions that when executed by the processor cause the processor to at least;

receive a first set of flight controls, wherein the first set of flight controls limit at least one of a maneuverability of the aerial vehicle or a speed of the aerial vehicle compared to a default set of flight controls in which at least one of the maneuverability of the aerial vehicle or the speed of the aerial vehicle is not limited;

cause the aerial vehicle to aerially navigate with the payload according to the first set of flight controls;

determine that the payload has been disengaged by the aerial vehicle; and

cause the aerial vehicle to aerially navigate without the payload according to the default set of flight controls.

17. The system of claim 16, wherein the first set of flight controls is determined based at least in part on one or more of a combined center of gravity of the aerial vehicle and the payload, a combined moment of inertia of the aerial vehicle and the payload, or a combined mass distribution of the aerial vehicle and the payload.

18. The system of claim 16, further comprising:

a payload container configured with a plurality of engagement locations to receive and to engage the payload engagement element of the aerial vehicle; and

wherein the aerial vehicle includes a center of gravity adjustment controller configured to determine an engagement location between the payload engagement element and the payload based at least in part on a determined center of gravity of the payload.

19. The system of claim 18, wherein:

a combined center of gravity of the aerial vehicle and the payload, a combined moment of inertia of the aerial vehicle and the payload, or a combined mass distribution of the aerial vehicle and the payload is determined based at least in part on the engagement location; and

the first set of flight controls is determined based at least in part on one or more of the combined center of gravity, the combined moment of inertia, or the combined mass distribution.

20. The system of claim 16, further comprising:

an engagement location at which the payload is placed for engagement by the aerial vehicle;

a plurality of sensors positioned at the engagement location and configured to measure a mass of the payload when placed at the engagement location; and

wherein the program instructions further include instructions that cause the processor to at least;

receive from each of the plurality of sensors, mass information corresponding to a mass measured by each respective sensor when the payload is placed at the engagement location; and

determine, based at least in part on the mass information received from each of the plurality of sensors, the center of gravity of the payload.