GROUND EFFECT BASED SURFACE SENSING IN AUTOMATED AERIAL VEHICLES
First Claim
1. A computer-implemented method for operating an automated aerial vehicle, comprising:
- under control of one or more computing systems configured with executable instructions,receiving flight path instructions for flying the automated aerial vehicle along a flight path;
controlling a plurality of propeller motors for flying the automated aerial vehicle along the flight path, each of the propeller motors rotating a respective propeller for creating a respective airflow;
monitoring at least one parameter related to the operation of the automated aerial vehicle, wherein a ground effect that influences the respective airflow of at least one of the propellers also influences the parameter; and
determining a proximity of at least a portion of the automated aerial vehicle to a ground based on a change in the parameter as caused by a ground effect.
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Accused Products
Abstract
This disclosure describes a system and method for operating an automated aerial vehicle wherein influences of a ground effect may be utilized for sensing the ground or other surfaces. In various implementations, an operating parameter of the automated aerial vehicle may be monitored to determine when a ground effect is influencing the parameter, which correspondingly indicates a proximity to a surface (e.g., the ground). In various implementations, the ground effect based sensing techniques may be utilized for determining a proximity to the ground, as a backup for a primary sensor system, for determining if a landing location is uneven, etc.
126 Citations
20 Claims
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1. A computer-implemented method for operating an automated aerial vehicle, comprising:
under control of one or more computing systems configured with executable instructions, receiving flight path instructions for flying the automated aerial vehicle along a flight path; controlling a plurality of propeller motors for flying the automated aerial vehicle along the flight path, each of the propeller motors rotating a respective propeller for creating a respective airflow; monitoring at least one parameter related to the operation of the automated aerial vehicle, wherein a ground effect that influences the respective airflow of at least one of the propellers also influences the parameter; and determining a proximity of at least a portion of the automated aerial vehicle to a ground based on a change in the parameter as caused by a ground effect. - View Dependent Claims (2, 3, 4, 5, 6)
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7. A system for determining a distance from an automated aerial vehicle to a surface, the system comprising:
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an automated aerial vehicle, including; a plurality of motors; a power supply connected to the plurality of motors and configured to provide power to the plurality of motors; and a sensor system for providing an output that indicates a distance to a surface; and a computing system, including; one or more processors; and a memory coupled to the one or more processors and storing program instructions that when executed by the one or more processors cause the one or more processors to at least; receive an output from the sensor system that indicates a first distance to the surface; determine a second distance to the surface based at least in part on a level of a parameter that is influenced by a ground effect, wherein the second distance is different than the first distance; and determine that there is an issue related to the output of the sensor system based at least in part on the difference between the second distance and the first distance. - View Dependent Claims (8, 9, 10, 11)
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12. A computer-implemented method for determining a proximity to a surface, comprising:
under control of one or more computing systems configured with executable instructions, monitoring at least one operating parameter of an automated aerial vehicle; detecting a change in the at least one operating parameter as caused by a ground effect; and determining a proximity of at least a first portion of the automated aerial vehicle to a surface based on the change in the at least one operating parameter. - View Dependent Claims (13, 14, 15, 16, 17, 18, 19, 20)
Specification