Unmanned aerial vehicle sensor calibration validation before flight

• US 10,220,964 B1
• Filed: 06/21/2016
• Issued: 03/05/2019
• Est. Priority Date: 06/21/2016
• Status: Active Grant

• Current Assignee: Amazon Technologies, Inc. (Amazon.com, Inc.)
• Original Assignee: Amazon Technologies, Inc. (Amazon.com, Inc.)
• Inventors: Sperindeo, Samuel, Barash, Benji, Schoenberg, Yves Albers, Buchmueller, Daniel
• Primary Examiner(s): Teitelbaum, Michael E
• Application Number:
  US15/188,894
• Time in Patent Office: 987 Days
• CPC Class Codes: B64C 39/02 characterised by special use
• CPC Class Codes: B64C 39/022 Tethered aircraft
• CPC Class Codes: B64C 39/024 of the remote controlled vehicle type, i.e. RPV
• CPC Class Codes: B64D 47/08 Arrangements of cameras
• CPC Class Codes: B64F 5/60 Testing or inspecting aircraft components or systems
• CPC Class Codes: B64U 2101/30 for imaging, photography or videography
• CPC Class Codes: B64U 2101/60 for transporting passengers; for transporting goods other than weapons
• CPC Class Codes: B64U 2101/64 for parcel delivery or retrieval
• CPC Class Codes: B64U 2201/104 using satellite radio beacon positioning systems, e.g. GPS
• CPC Class Codes: B64U 30/20 Rotors; Rotor supports
• CPC Class Codes: B64U 50/11 using internal combustion piston engines
• CPC Class Codes: B64U 50/12 using turbine engines, e.g. turbojets or turbofans
• CPC Class Codes: B64U 50/19 using electrically powered motors
• CPC Class Codes: G01H 9/00 Measuring mechanical vibrations or ultrasonic, sonic or infrasonic waves by using radiation-sensitive means, e.g. optical means
• CPC Class Codes: G05D 1/106 Change initiated in response to external conditions, e.g. avoidance of elevated terrain or of no-fly zones
• CPC Class Codes: G06T 2207/10032 Satellite or aerial image; Remote sensing
• CPC Class Codes: G06T 2207/30108 Industrial image inspection
• CPC Class Codes: G06T 7/0002 Inspection of images, e.g. flaw detection
• CPC Class Codes: G06T 7/0004 Industrial image inspection
• CPC Class Codes: G06T 7/20 Analysis of motion motion estimation for coding, decoding, compressing or decompressing digital video signals H04N19/43, H04N19/51
• CPC Class Codes: H04N 17/002 : for television cameras
• CPC Class Codes: H04N 23/50 : Constructional details

Abstract

This disclosure describes systems, methods, and apparatus for automating the verification of aerial vehicle sensors as part of a pre-flight, flight departure, in-transit flight, and/or delivery destination calibration verification process. At different stages, aerial vehicle sensors may obtain sensor measurements about objects within an environment, the obtained measurements may be processed to determine information about the object, as presented in the measurements, and the processed information may be compared with the actual information about the object to determine a variation or difference between the information. If the variation is within a tolerance range, the sensor may be auto adjusted and operation of the aerial vehicle may continue. If the variation exceeds a correction range, flight of the aerial vehicle may be aborted and the aerial vehicle routed for a full sensor calibration.

Claims

1. A method for pre-flight verification of an unmanned aerial vehicle (UAV), comprising:

causing a motor of the UAV to be powered and generate a force;

measuring with at least one sensor, an output from the UAV, wherein the output is at least one of a vibration of the UAV while the motor is powered, the force, or a sound generated by the UAV while the motor is powered, wherein the at least one sensor comprises a camera configured to obtain a plurality of images that include a representation of the UAV;

processing the output to determine if the output is within a tolerance range, wherein the processing includes;

processing the plurality of images to determine an actual revolutions per minute of the motor;

receiving a revolutions per minute from the UAV; and

determining that a difference between the actual revolutions per minute and the revolutions per minute is within the tolerance range; and

in response to determining that the output is within the tolerance range, providing an indication that the UAV has successfully completed a pre-flight validation.

2. The method of claim 1, wherein the at least one sensor further comprises at least one of a microphone or a laser.

3. The method of claim 1, wherein the force is generated by a rotation of a propeller coupled to and rotated by the motor while the motor is powered.

5. The method of claim 1, wherein:

the at least one sensor further comprises a microphone configured to record a sound generated by the UAV while the motor is powered;

the processing includes;

determining at least one of a frequency, an amplitude, or an intensity of the sound generated by the motor; and

determining that the at least one of the frequency, the amplitude, or the intensity is within the tolerance range for the motor.

6. The method of claim 1, further comprising:

subsequent to providing an indication that the UAV has successfully completed a pre-flight validation, causing a payload to be coupled to the UAV for transport to a destination.

7. The method of claim 1, further comprising:

obtaining an image of the UAV; and

processing the image to determine if a physical component of the UAV corresponds to an expected physical component of the UAV.

8. The method of claim 7, further comprising:

in response to determining that the physical component of the UAV corresponds to the expected physical component of the UAV, providing a second indication that the UAV has successfully completed a pre-flight structural validation.

9. The method of claim 7, further comprising:

in response to determining that the physical component of the UAV does not correspond to the expected physical component of the UAV, causing the UAV to undergo a mechanical review prior to a flight of the UAV.

4. A method for pre-flight verification of an unmanned aerial vehicle (UAV), comprising:

causing a motor of the UAV to be powered and generate a force;

measuring with at least one sensor, an output from the UAV, wherein the output is at least one of a vibration of the UAV while the motor is powered, the force, or a sound generated by the UAV while the motor is powered, wherein the at least one sensor comprises a camera configured to obtain a plurality of images that include a representation of the UAV;

processing the output to determine if the output is within a tolerance range, wherein the processing includes;

processing the plurality of images to determine a vibration of at least a portion of the UAV while the motor is powered and generating a force; and

determining that the vibration is within the tolerance range; and

in response to determining that the output is within the tolerance range, providing an indication that the UAV has successfully completed a pre-flight validation.

10. An unmanned aerial vehicle (UAV) pre-flight verification apparatus comprising:

at least one sensor configured to measure an output from the UAV; and

a processor in communication with the at least one sensor, the processor configured to at least;

send instructions that cause the UAV to power a motor of the UAV;

receive the output from the UAV measured by the at least one sensor, wherein the output is obtained while the UAV is powering the motor, wherein the at least one sensor comprises a camera configured to obtain one or more images of the UAV, wherein receiving the output from the UAV comprises;

receiving a plurality of images captured by the camera, wherein the plurality of images each include a representation of at least a portion of the UAV and are captured while the UAV is powering the motor; and

receiving from the UAV an indication of a revolutions per minute of the motor;

process the output to determine that the output is within a tolerance range, wherein processing the output comprises;

processing the plurality of images to determine an actual revolutions per minute of the motor; and

determining that a difference between the indication of the revolutions per minute received from the UAV and the actual revolutions per minute are within the tolerance range; and

in response to a determination that the output is within the tolerance range, provide an indication that the motor is approved for flight, wherein providing the indication that the motor is approved for flight comprises;

in response to a determination that the difference is within the tolerance range, providing the indication that the motor is approved for flight.

11. The UAV pre-flight verification apparatus of claim 10, wherein the at least one sensor further comprises a microphone configured to record a sound of the UAV while the UAV is powering the motor, and wherein at least one of a frequency, an amplitude, or an intensity of the sound provides an indication of an operability of the motor.

12. The UAV pre-flight verification apparatus of claim 10,

wherein processing the output further comprises processing the plurality of images to determine that a movement of at least a portion of the UAV is within the tolerance range;

and

wherein the processor is further configured to at least;

in response to a determination that the movement of the at least a portion of the UAV is within the tolerance range, providing a second indication that the at least a portion of the UAV is approved for flight.

13. The UAV pre-flight verification apparatus of claim 10, wherein the at least one sensor further comprises a laser oriented to reflect off at least a portion of the UAV;

and

wherein receiving the output from the UAV further comprises measuring a vibration of the UAV based on a movement of a reflection of the laser off the at least a portion of the UAV.

14. A verification system, comprising:

at least one sensor configured to measure an output from an aerial vehicle; and

a processor in communication with the at least one sensor and configured to at least;

cause a motor of the aerial vehicle to be powered;

receive from the at least one sensor an output that is generated by the aerial vehicle prior to a flight of the aerial vehicle and while the motor is powered, wherein the at least one sensor comprises an imaging element positioned to include the aerial vehicle in a field of view of the imaging element, and wherein receiving from the at least one sensor the output that is generated by the aerial vehicle comprises receiving from the imaging element a plurality of images that each includes a representation of the motor of the aerial vehicle; and

process the output of the aerial vehicle to verify at least one aspect of the aerial vehicle prior to a flight of the aerial vehicle, wherein processing the output comprises processing the plurality of images to determine that an actual revolutions per minute of the motor is within a tolerance range of a revolutions per minute received from the aerial vehicle.

15. The verification system of claim 14, wherein the at least one sensor further comprises a microphone;

and

wherein receiving from the at least one sensor the output that is generated by the aerial vehicle further comprises receiving from the microphone a sound generated by the aerial vehicle prior to the flight of the aerial vehicle; and

wherein processing the output further comprises processing the sound to verify the at least one aspect of the aerial vehicle.

16. The verification system of claim 15, wherein the at least one aspect is an operability of the motor of the aerial vehicle.

17. The verification system of claim 14,

wherein the processor is in communication with the imaging element and further configured to at least:

cause activation of at least one mechanical component of the aerial vehicle; and

wherein receiving from the at least one sensor the output that is generated by the aerial vehicle further comprises receiving from the imaging element an image that includes a representation of the at least one mechanical component of the aerial vehicle; and

wherein processing the output further comprises processing the image to verify an operability of the at least one mechanical component.