Unmanned aerial vehicle motor driving randomization for noise abatement

• US 9,422,055 B1
• Filed: 09/02/2015
• Issued: 08/23/2016
• Est. Priority Date: 09/02/2015
• Status: Active Grant

• Current Assignee: Amazon Technologies, Inc. (Amazon.com, Inc.)
• Original Assignee: Amazon Technologies, Inc. (Amazon.com, Inc.)
• Inventors: Beckman, Brian C., Hensel, Fabian, Kalyan, Atishkumar, Kimchi, Gur
• Primary Examiner(s): Tarcza, Thomas
• Assistant Examiner(s): Lee, Tyler J
• Application Number:
  US14/843,560
• Time in Patent Office: 356 Days
• Field of Search: 701 1- 18
• US Class Current: 1/1
• CPC Class Codes: B64C 2220/00 Active noise reduction systems
• 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 20/40 Modular UAVs
• 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 2201/00 UAVs characterised by their flight controls
• CPC Class Codes: B64U 30/20 Rotors; Rotor supports
• CPC Class Codes: B64U 50/19 using electrically powered motors

Abstract

This disclosure is directed to varying a speed of one or more motors in an unmanned aerial vehicle (UAV) to reduce unwanted sound (i.e., noise) of the UAV. A UAV may include motors coupled with propellers to provide lift and propulsion to the UAV in various stages of flight, such as while ascending, descending, hovering, or transiting. The motors and propellers may generate noise, which may include a number of noise components such as tonal noise (e.g., a whining noise such as a whistle of a kettle at full boil) and broadband noise (e.g., a complex mixture of sounds of different frequencies, such as the sound of ocean surf). By varying the controls to the motors, such as by varying the speed or revolutions per minute (RPM) of a motor during operation by providing random or pseudo-random RPM variations, the UAV may generate a noise signature with reduced tonal noise.

Claims

1. An unmanned aerial vehicle (UAV) configured to deliver a package, the UAV comprising:

a frame;

a plurality of motors including at least a first motor and a second motor, each motor coupled to the frame and configured to rotate at least one propeller to cause lift and propulsion for the UAV;

a power source to selectively provide power to the plurality of motors;

a control system in communication with at least the plurality of motors and the power source, the control system to generate flight control signals used to control at least operation of the plurality of motors, the control system to perform operations comprising;

determining a flight control of the UAV, the flight control of the UAV including at least a heading and a velocity of the UAV;

determining a first motor speed of the first motor of the UAV, wherein the first motor speed is based in part on the flight control of the UAV; and

determining a second motor speed of at least the second motor of the UAV, wherein the second motor speed is based in part on the flight control of the UAV; and

a randomizer controller configured to modify at least one flight control signal, the randomizer controller to perform operations comprising;

determining that the UAV is operating in a noise-sensitive location;

determining a first randomization threshold, the first randomization threshold including an upper threshold value and a lower threshold value for the first motor speed based on the flight control of the UAV;

generating a first random value within the first randomization threshold;

calculating a first randomization motor speed by applying the first random value to the first motor speed; and

sending the first randomization motor speed to the control system, the first randomization motor speed, when implemented by the control system with the second motor speed, to reduce a tonal quality of a noise signature of the UAV.

2. The UAV of claim 1, wherein the control system is further configured to perform operations comprising, in response to the first randomization motor speed and the second motor speed being implemented by the control system, determining that a position of the UAV is within a position threshold of an intended flight path.

3. The UAV of claim 1, wherein the randomizer controller is further configured to perform operations comprising:

determining that the first motor speed and the second motor speed are approximately a same motor speed or are within a threshold speed variance;

determining a second random value within a second randomization threshold, the second randomization threshold including an upper threshold value and a lower threshold value for the second motor speed based on the flight control of the UAV;

applying the second random value to the second motor speed to generate a second randomization motor speed; and

sending the second randomization motor speed to the control system, the second randomization motor speed, when implemented by the control system with the first randomization motor speed, to further reduce the tonal quality of the noise signature of the UAV.

4. The UAV of claim 1, wherein the calculating the first randomization motor speed includes applying a motor speed pattern designed to reduce the tonal quality of the noise signature of the UAV.

5. The UAV of claim 1, wherein the control system is further configured to perform operations comprising:

determining that the UAV is outside of a position threshold for an intended flight path; and

driving the plurality of motors of the UAV to within the position threshold.

6. A processor-implemented method comprising:

determining a flight control of an unmanned aerial vehicle (UAV), the flight control of the UAV including at least a heading and a velocity of the UAV;

setting a first motor speed of a first motor of the UAV, wherein the first motor speed is based in part on the flight control of the UAV;

generating a first random value within a randomization threshold, the randomization threshold being an allowable deviation from the flight control of the UAV;

determining a randomized motor speed based at least in part by applying the first random value to the first motor speed; and

driving the first motor of the UAV at the randomized motor speed to reduce a tonal quality of a noise signature of the UAV.

7. The processor-implemented method of claim 6, wherein applying the first random value to the first motor speed includes increasing or decreasing the first motor speed by the first random value.

8. The processor-implemented method of claim 6, further comprising:

determining that the first motor speed and at least a second motor speed of at least a second motor of the UAV are approximately a same motor speed or are within a threshold speed variance; and

changing at least the second motor speed to an adjusted second motor speed based in part on the determining that the first motor speed and at least the second motor speed are approximately the same motor speed or are within the threshold speed variance.

9. The processor-implemented method of claim 6, further comprising:

decreasing the first motor speed by the first random value;

generating a second random value within the randomization threshold; and

increasing at least a second motor speed for at least a second motor of the UAV by the second random value.

10. The processor-implemented method of claim 6, further comprising shifting a weight or a ballast in the UAV based at least in part on a difference between the first motor speed and the randomized motor speed.

11. The processor-implemented method of claim 6, further comprising determining that a remaining power resource of the UAV is above a remaining power resource threshold.

12. The processor-implemented method of claim 6, wherein the driving the first motor at the randomized motor speed occurs during a first time period, and further comprising:

determining an updated motor speed based on a new flight control; and

driving the first motor of the UAV at the updated motor speed during a second time period.

13. The processor-implemented method of claim 12, wherein the second time period is a random amount of time after the first time period.

14. The processor-implemented method of claim 6, further comprising determining a payload characteristic of the UAV, wherein the randomization threshold is based in part on the payload characteristic of the UAV.

15. The processor-implemented method of claim 6, further comprising determining that the UAV is operating in a noise-sensitive location prior to the driving the first motor of the UAV at the randomized motor speed.

16. An unmanned aerial vehicle (UAV) comprising:

one or more processors;

memory coupled to the one or more processors, the memory including one or more modules that are executable by the one or more processors to perform operations comprising;

determining a flight control of the UAV, the flight control of the UAV including at least a heading and a velocity of the UAV;

setting a first motor speed of a first motor of the UAV, wherein the first motor speed is based in part on the flight control of the UAV;

generating a first random value within a randomization threshold, the randomization threshold based in part on the flight control of the UAV;

determining a randomized motor speed by applying the first random value to the first motor speed the determining the randomized motor speed including applying a motor speed pattern designed to reduce a tonal quality of a noise signature of the UAV; and

causing the first motor of the UAV to operate at the randomized motor speed.

17. The UAV of claim 16, wherein applying the first random value to the first motor speed includes increasing or decreasing the first motor speed by the first random value.

18. The UAV of claim 16, wherein driving the first motor at the randomized motor speed is performed for a predetermined time period;

and

wherein the operations further comprise;

determining an updated motor speed based on a new flight control; and

applying the updated motor speed to the first motor of the UAV after the predetermined time period.

19. The UAV of claim 16, wherein the operations further comprise determining that the UAV is operating in a noise-sensitive location.