Six degree of freedom aerial vehicle with offset propulsion mechanisms

• US 10,377,483 B2
• Filed: 12/20/2016
• Issued: 08/13/2019
• Est. Priority Date: 03/01/2016
• Status: Active Grant

• Current Assignee: Amazon Technologies, Inc. (Amazon.com, Inc.)
• Original Assignee: Amazon Technologies, Inc. (Amazon.com, Inc.)
• Inventors: Champagne, Jr., Robert Roy, Kimchi, Gur, LeGrand, III, Louis LeRoi, Roberts, Nicholas Hampel, Welsh, Ricky Dean
• Primary Examiner(s): Xavier, Valentina
• Application Number:
  US15/384,899
• Publication Number:
  US 20170253332A1
• Time in Patent Office: 966 Days
• CPC Class Codes: B64C 39/02 characterised by special use
• CPC Class Codes: B64C 39/024 of the remote controlled vehicle type, i.e. RPV
• CPC Class Codes: B64U 10/10 Rotorcrafts
• 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 2201/10 autonomous, i.e. by navigating independently from ground or air stations, e.g. by using inertial navigation systems [INS]
• 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 30/26 Ducted or shrouded rotors
• CPC Class Codes: B64U 30/29 Constructional aspects of rotors or rotor supports; Arrangements thereof
• CPC Class Codes: B64U 50/13 using external fans or propellers
• CPC Class Codes: B64U 50/18 Thrust vectoring
• CPC Class Codes: B64U 50/19 using electrically powered motors
• CPC Class Codes: B64U 50/30 Supply or distribution of electrical power
• CPC Class Codes: B64U 50/37 Charging when not in flight
• CPC Class Codes: G05D 1/0858 specially adapted for vertical take-off of aircraft
• CPC Class Codes: G05D 1/652 Take-off delivering or retrieving payloads G05D1/667

Abstract

This disclosure describes an aerial vehicle, such as an unmanned aerial vehicle (“UAV”), which includes a plurality of maneuverability propulsion mechanisms that enable the aerial vehicle to move in any of the six degrees of freedom (surge, sway, heave, pitch, yaw, and roll). The aerial vehicle may also include a lifting propulsion mechanism that operates to generate a force sufficient to maintain the aerial vehicle at an altitude.

Claims

1. An aerial vehicle apparatus, comprising:

a first maneuverability propulsion mechanism oriented in a first direction with respect to a vertical orientation;

a second maneuverability propulsion mechanism oriented in a second direction with respect to the vertical orientation, wherein the first orientation is opposite the second orientation;

a third maneuverability propulsion mechanism oriented in the first direction;

a fourth maneuverability propulsion mechanism oriented in the second direction;

a fifth maneuverability propulsion mechanism oriented in the first direction;

a sixth maneuverability propulsion mechanism oriented in the second direction;

a propulsion mechanism controller configured to at least;

send commands to each of the first maneuverability propulsion mechanism, the second maneuverability propulsion mechanism, the third maneuverability propulsion mechanism, the fourth maneuverability propulsion mechanism, the fifth maneuverability propulsion mechanism, and the sixth maneuverability propulsion mechanism to generate respective forces such that the aerial vehicle apparatus can aerially navigate in any of six degrees of freedom;

detect a failure of the sixth maneuverability propulsion mechanism; and

in response to detecting the failure send commands to each of the first maneuverability propulsion mechanism, the second maneuverability propulsion mechanism, the fourth maneuverability propulsion mechanism, and the fifth maneuverability propulsion mechanism to generate respective forces such that the aerial vehicle apparatus can aerially navigate in any of four degrees of freedom.

2. The aerial vehicle apparatus of claim 1, wherein the first maneuverability propulsion mechanism, the second maneuverability propulsion mechanism, the third maneuverability propulsion mechanism, the fourth maneuverability propulsion mechanism, the fifth maneuverability propulsion mechanism, and the sixth maneuverability propulsion mechanism are substantially aligned in a same X-Y plane.

3. The aerial vehicle apparatus of claim 1, wherein:

a first force produced by the first maneuverability propulsion mechanism and a sixth force produced by the sixth maneuverability propulsion mechanism form a first resultant force;

a second force produced by the second maneuverability propulsion mechanism and a third force produced by the third maneuverability propulsion mechanism form a second resultant force; and

a fourth force produced by the fourth maneuverability propulsion mechanism and a fifth force produced by the fifth maneuverability propulsion mechanism form a third resultant force.

4. The aerial vehicle apparatus of claim 3, wherein a sum of the first resultant force, the second resultant force, and the third resultant force produce a net force having a magnitude, no Y component, and an X component such that the aerial vehicle apparatus surges in an X direction without pitching forward about a Y axis.

5. The aerial vehicle apparatus of claim 3, wherein a sum of the first resultant force, the second resultant force, and the third resultant force produce a net force having a magnitude, no X component, and a Y component such that the aerial vehicle apparatus sways in a Y direction without rolling about an X axis.

6. The aerial vehicle apparatus of claim 3, wherein a sum of the first resultant force, the second resultant force, and the third resultant force produce a net force having no X component, no Y component, and a moment about the Z axis that causes the aerial vehicle apparatus to yaw about the Z axis.

7. The aerial vehicle apparatus of claim 3, wherein a sum of the first resultant force, the second resultant force, and the third resultant force produce a net force having no X component, no Y component, and a moment about the Y axis that causes the aerial vehicle apparatus to pitch about the Y axis.

8. A method to navigate an aerial vehicle, the method comprising:

receiving a maneuver command that includes a surge command;

determining a first magnitude for a first force to be produced by a first propulsion mechanism and for a sixth force to be produced by a sixth propulsion mechanism such that, when the first force and the sixth force are combined, a resultant force having a second magnitude, an X component and no Y component is produced;

determining a second magnitude for a second force to be produced by a second propulsion mechanism and for a fifth force to be produced by a fifth propulsion mechanism;

sending a command to each of the first propulsion mechanism and the sixth propulsion mechanism to generate the first force and the sixth force, each of the first force and the sixth force having the first magnitude;

sending a command to the second propulsion mechanism and the fifth propulsion mechanism to produce the second force and the fifth force, each of the second force and the fifth force having the second magnitude; and

executing by each of the first propulsion mechanism, the third propulsion mechanism, the fifth propulsion mechanism, and the sixth propulsion mechanism the respective commands such that the aerial vehicle surges in an X direction without pitching about the Y axis.

9. The method of claim 8, further comprising:

sending a command to each of a third propulsion mechanism and a fourth propulsion mechanism to generate a third force and a fourth force, each of the third force and the fourth force having the first magnitude; and

wherein a sum of the first force, the second force, the third force, the fourth force, the fifth force, and the sixth force is a net force having a third magnitude, an X component, and no Y component.

10. The method of claim 9, wherein:

the second propulsion mechanism is aligned with respect to the third propulsion mechanism such that a sum of the second force and the third force produces a second resultant force that has a third magnitude, a second positive X component and a second positive Y component; and

the fourth propulsion mechanism is aligned with respect to the fifth propulsion mechanism such that a sum of the fourth force and the fifth force produces a third resultant force that has a fourth magnitude, a third positive X component and a third negative Y component.

11. The method of claim 10, wherein at least a portion of the second positive Y component cancels out at least a portion of the third negative Y component.

12. The method of claim 9, wherein the net force further includes a Z component that is equal in magnitude and opposite in direction to a gravitational force.

13. The method of claim 8, wherein:

the aerial vehicle includes at least six propulsion mechanisms;

at least one of the at least six propulsion mechanisms is oriented in a first direction with respect to a vertical alignment; and

at least one of the at least six propulsion mechanisms is oriented in a second direction with respect to the vertical alignment, wherein the first orientation is opposite the second orientation.

14. An aerial vehicle apparatus, comprising:

a first propulsion mechanism;

a second propulsion mechanism;

a third propulsion mechanism;

a fourth propulsion mechanism;

a fifth propulsion mechanism;

a sixth propulsion mechanism; and

wherein;

the first propulsion mechanism and the sixth propulsion mechanism are oriented to form a first pair of propulsion mechanisms in which at least a portion of a first force produced by the first propulsion mechanism cancels out at least a portion of a sixth force produced by the sixth propulsion mechanism;

the second propulsion mechanism and the third propulsion mechanism are oriented to form a second pair of propulsion mechanisms in which at least a portion of a second force produced by the second propulsion mechanism cancels out at least a portion of a third force produced by the third propulsion mechanism;

the fourth propulsion mechanism and the fifth propulsion mechanism are oriented to form a third pair of propulsion mechanisms in which at least a portion of a fourth force produced by the fourth propulsion mechanism cancels out at least a portion of a fifth force produced by the fifth propulsion mechanism; and

a payload engagement component configured to engage a payload that includes an item ordered through an electronic commerce website for delivery to a destination by the aerial vehicle apparatus.

15. The aerial vehicle apparatus of claim 14, wherein:

each of the first propulsion mechanism, the second propulsion mechanism, the third propulsion mechanism, the fourth propulsion mechanism, the fifth propulsion mechanism, and the sixth propulsion mechanism are within a plane and extend radially around a central portion of the aerial vehicle apparatus.

16. The aerial vehicle apparatus of claim 14, further comprising:

a first arm extending from a central portion of the aerial vehicle apparatus;

a second arm extending from the central portion of the aerial vehicle apparatus;

a third arm extending from the central portion of the aerial vehicle apparatus;

a fourth arm extending from the central portion of the aerial vehicle apparatus;

a fifth arm extending from the central portion of the aerial vehicle apparatus; and

a sixth arm extending from the central portion of the aerial vehicle apparatus.

17. The aerial vehicle apparatus of claim 16, wherein:

the first propulsion mechanism is coupled to an end of the first arm and oriented in a first direction about the first arm with respect to a vertical alignment;

the second propulsion mechanism is coupled to an end of the second arm and oriented in a second direction about the second arm with respect to the vertical alignment;

the third propulsion mechanism is coupled to an end of the third arm and oriented in the first direction about the third arm with respect to the vertical alignment;

the fourth propulsion mechanism is coupled to an end of the fourth arm and oriented in the second direction about the fourth arm with respect to the vertical alignment;

the fifth propulsion mechanism is coupled to an end of the fifth arm and oriented in the first direction about the fifth arm with respect to the vertical alignment; and

the sixth propulsion mechanism is coupled to an end of the sixth arm and oriented in the second direction about the sixth arm with respect to the vertical alignment.

18. The aerial vehicle apparatus of claim 16, further comprising:

a controller configured to at least;

send commands to each of the first propulsion mechanism, the second propulsion mechanism, the third propulsion mechanism, the fourth propulsion mechanism, the fifth propulsion mechanism, and the sixth propulsion mechanism to cause the aerial vehicle apparatus to operate in any one or more of six degrees of freedom;

determine one of the first propulsion mechanism, the second propulsion mechanism, the third propulsion mechanism, the fourth propulsion mechanism, the fifth propulsion mechanism, and the sixth propulsion mechanism has failed; and

send commands to each of the first propulsion mechanism, the second propulsion mechanism, the third propulsion mechanism, the fourth propulsion mechanism, the fifth propulsion mechanism, and the sixth propulsion mechanism that have not failed to cause the aerial vehicle apparatus to continue to operate in any of four degrees of freedom.

19. The aerial vehicle apparatus of claim 14, wherein a first propulsion mechanism, the second propulsion mechanism, the third propulsion mechanism, the fourth propulsion mechanism, the fifth propulsion mechanism, and the sixth propulsion mechanism are arranged such that the aerial vehicle can aerially navigate independent in any of a surge direction, a heave direction, a sway direction, a pitch direction, a yaw direction, or a roll direction.

20. The aerial vehicle apparatus of claim 14, wherein a net force produced by a sum of the first force, the second force, the third force, the fourth force, the fifth force, and the sixth force has no X component, no Y component, and a moment that causes the aerial vehicle apparatus to pitch about a Y axis, roll about an X axis, or yaw about a Z axis.