Ground effect based surface sensing in automated aerial vehicles

• US 9,767,701 B2
• Filed: 06/26/2014
• Issued: 09/19/2017
• Est. Priority Date: 06/26/2014
• Status: Active Grant

• Current Assignee: Amazon Technologies, Inc. (Amazon.com, Inc.)
• Original Assignee: Amazon Technologies, Inc. (Amazon.com, Inc.)
• Inventors: Navot, Amir, Beckman, Brian C., Buchmueller, Daniel, Kimchi, Gur, Hensel, Fabian, Green, Scott A., Porter, Brandon William, Rault, Severan Sylvain Jean-Michel
• Primary Examiner(s): ANTONUCCI, ANNE MARIE
• Application Number:
  US14/315,952
• Publication Number:
  US 20160196755A1
• Time in Patent Office: 1,181 Days
• Field of Search: 701 4
• CPC Class Codes: B64C 39/024 of the remote controlled vehicle type, i.e. RPV
• CPC Class Codes: B64D 45/04 Landing aids; Safety measures to prevent collision with earth's surface
• 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 30/20 Rotors; Rotor supports
• CPC Class Codes: G01S 2007/4975 of sensor obstruction by, e.g. dirt- or ice-coating, e.g. by reflection measurement on front-screen
• CPC Class Codes: G05D 1/0088 characterized by the autonomous decision making process, e.g. artificial intelligence, predefined behaviours using knowledge based models G06N5/00
• CPC Class Codes: G05D 1/0676 specially adapted for landing
• CPC Class Codes: G05D 1/0858 specially adapted for vertical take-off of aircraft
• CPC Class Codes: G07C 5/0808 Diagnosing performance data testing of vehicles G01M17/00; testing of electrical installation on vehicles G01R31/005
• CPC Class Codes: G08G 5/0086 for monitoring terrain radar or analogous systems specially adapted for terrain avoidance G01S13/935

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.

Claims

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 that is rotated by a respective propeller motor also influences the parameter and the parameter is related to an amount of power that is supplied to the respective propeller motor for flying the automated aerial vehicle; and

determining a proximity of at least a portion of the automated aerial vehicle to aground based on a change in the parameter as caused by a ground effect.

2. The computer-implemented method of claim 1, wherein a primary distance sensor system of the automated aerial vehicle is also used for determining a proximity to the ground, and the determination based on the change in the parameter is used as a backup to the primary distance sensor system.

3. The computer-implemented method of claim 2, wherein the primary distance sensor system is determined to not be functioning properly based on a failure to indicate the determined proximity to the ground.

4. The computer-implemented method of claim 1, wherein based on the determined proximity to the ground the plurality of motors are controlled to prevent the automated aerial vehicle from colliding with the ground.

5. The computer-implemented method of claim 1, wherein the proximity to the ground is determined during a landing process for the automated aerial vehicle and is used to determine that an uneven ground condition exists at a first potential landing location;

and

the computer-implemented method further comprises;

controlling the plurality of propeller motors to fly the automated aerial vehicle to a second potential landing location.

6. The computer-implemented method of claim 1, wherein the ground effect reduces the amount of power required for the respective propeller motor for flying the automated aerial vehicle while it is proximate to the surface.

7. The computer-implemented method of claim 6, wherein an autopilot system of the automated aerial vehicle is utilized to control the amount of power supplied and automatically reduces the power when the automated aerial vehicle is proximate to the surface.

8. A system for determining a distance from an automated aerial vehicle to a surface, the system comprising:

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 the parameter is related to an amount of power that is supplied to at least one motor of the automated aerial vehicle for flying the automated aerial vehicle; 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.

9. The system as recited in claim 8, wherein the issue related to the output of the sensor system includes at least one of the sensor system malfunctioning, or an external condition inhibiting an ability of the sensor system to accurately indicate the distance to the surface, wherein the external condition is at least one of an atmospheric condition or a weather condition that inhibits an ability of the sensor system to accurately determine the distance to the surface.

10. The system as recited in claim 8, wherein based on the issue related to the sensor system, the automated aerial vehicle is at least one of flown at a higher altitude so as to increase a safety margin for avoiding a collision with the surface, or landed before it completes a flight path so that the issue can be addressed.

11. The system as recited in claim 8, wherein the sensor system operates based on at least one of imaging, sonar, radar, lidar, infrared or laser technology.

12. The system as recited in claim 8, wherein the second distance is determined by referencing data that is stored in the memory for correlating levels of the parameter to distances from the surface.

13. A computer-implemented method for determining a proximity to a surface, comprising:

under control of one or more computing systems configured with executable instructions,

controlling at least one motor to fly an automated aerial vehicle along a flight path;

monitoring at least one operating parameter of the automated aerial vehicle, wherein the at least one operating parameter is related to an amount of power that is supplied to the at least one motor of the automated aerial vehicle for flying the 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.

14. The computer-implemented method of claim 13, wherein the determined proximity to the surface is compared with an expected proximity to the surface during at least one of a landing process, a takeoff process or a flying process where the flight path is close to the surface.

15. The computer-implemented method of claim 13, wherein a second proximity of at least a second portion of the automated aerial vehicle to the surface is also determined.

16. The computer-implemented method of claim 15, wherein the surface corresponds to a first potential landing location and the automated aerial vehicle is flown to a second potential landing location based at least in part on the determined proximities indicating that the surface of the first potential landing location is uneven.

17. The computer-implemented method of claim 13, wherein the ground effect reduces the amount of power required for the at least one motor for flying the automated aerial vehicle while it is proximate to the surface.

18. The computer-implemented method of claim 17, wherein an autopilot system of the automated aerial vehicle is utilized to control the amount of power supplied and automatically reduces the power when the automated aerial vehicle is proximate to the surface.

19. The computer-implemented method of claim 13, wherein at least one of machine learning or modeling is utilized for determining the proximity of the first portion of the automated aerial vehicle to the surface.

20. The computer-implemented method of claim 13, further comprising:

determining a plurality of additional proximities of a plurality of additional respective portions of the automated aerial vehicle to the surface; and

utilizing one or more of the determined plurality of additional proximities in combination with the determined proximity of the first portion of the automated aerial vehicle to the surface to at least one of;

determine a profile of the surface based on the determined proximities;

determine a proximity of the automated aerial vehicle to the surface based at least in part on a mathematical averaging of the determined proximities;

or

determine that at least one of the determined proximities corresponds to an outlier data point that should be disregarded based at least in part on a comparison between the determined proximities.