Intentionally imbalancing propellers for performance and noise-shaping
First Claim
1. A method for operating an aerial vehicle, wherein the method comprises:
- identifying information regarding at least one attribute of a mission for the aerial vehicle having a first motor and a second motor;
rotatably coupling a first propeller to a first shaft of the first motor, wherein the first propeller is statically balanced and dynamically balanced;
predicting a noise to be emitted during a rotation of a second propeller above a critical speed of the second propeller, wherein the second propeller is statically balanced and dynamically balanced;
determining that at least one of a frequency spectrum of the noise or a sound pressure level of the noise is not consistent with the at least one attribute of the mission;
executing a modification to the second propeller, wherein the modified second propeller is at least one of statically imbalanced or dynamically imbalanced after executing the modification;
rotating the modified second propeller above a critical speed of the modified second propeller;
determining that a noise emitted during the rotation of the modified second propeller above the critical speed is consistent with the at least one attribute of the mission;
rotatably coupling the modified second propeller to a second shaft of the second motor; and
causing the aerial vehicle to perform the mission,wherein the at least one attribute includes at least one of;
a location of an origin for the mission;
a location of a destination for the mission;
a location of an intervening waypoint between the origin and the destination;
at least one course to be traveled during the performance of the mission;
at least one air speed of the aerial vehicle required during the performance of the mission;
ora mass of a payload to be carried by the aerial vehicle during the mission.
1 Assignment
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Accused Products
Abstract
Aerial vehicles may be operated with discrete sets of propellers, which may be selected for a specific purpose or on a specific basis. The discrete sets of propellers may be operated separately or in tandem with one another, and at varying power levels. For example, a set of propellers may be selected to optimize the thrust, lift, maneuverability or efficiency of an aerial vehicle based on a position or other operational characteristic of the aerial vehicle, or an environmental condition encountered by the aerial vehicle. At least one of the propellers may be statically or dynamically imbalanced, such that the propeller emits a predetermined sound during operation. A balanced propeller may be specifically modified to cause the aerial vehicle to emit the predetermined sound by changing one or more parameters of the balanced propeller and causing the balanced propeller to be statically or dynamically imbalanced.
27 Citations
20 Claims
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1. A method for operating an aerial vehicle, wherein the method comprises:
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identifying information regarding at least one attribute of a mission for the aerial vehicle having a first motor and a second motor; rotatably coupling a first propeller to a first shaft of the first motor, wherein the first propeller is statically balanced and dynamically balanced; predicting a noise to be emitted during a rotation of a second propeller above a critical speed of the second propeller, wherein the second propeller is statically balanced and dynamically balanced; determining that at least one of a frequency spectrum of the noise or a sound pressure level of the noise is not consistent with the at least one attribute of the mission; executing a modification to the second propeller, wherein the modified second propeller is at least one of statically imbalanced or dynamically imbalanced after executing the modification; rotating the modified second propeller above a critical speed of the modified second propeller; determining that a noise emitted during the rotation of the modified second propeller above the critical speed is consistent with the at least one attribute of the mission; rotatably coupling the modified second propeller to a second shaft of the second motor; and causing the aerial vehicle to perform the mission, wherein the at least one attribute includes at least one of; a location of an origin for the mission; a location of a destination for the mission; a location of an intervening waypoint between the origin and the destination; at least one course to be traveled during the performance of the mission; at least one air speed of the aerial vehicle required during the performance of the mission;
ora mass of a payload to be carried by the aerial vehicle during the mission. - View Dependent Claims (2, 3, 4)
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5. A method comprising:
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prior to an operation of an aerial vehicle, predicting an attribute of the aerial vehicle during the operation, wherein the aerial vehicle comprises a first motor and a second motor; coupling a first propeller to a first shaft of the first motor, wherein the first propeller is statically balanced and dynamically balanced; determining a modification to a second propeller based at least in part on the predicted attribute; modifying the second propeller in accordance with the determined modification, wherein the second propeller is statically balanced and dynamically balanced prior to modifying the second propeller in accordance with the determined modification, and wherein the second propeller is at least one of statically imbalanced or dynamically imbalanced after modifying the second propeller in accordance with the determined modification; coupling the modified second propeller to a second shaft of the second motor; and initiating the operation of the aerial vehicle, wherein the operation of the aerial vehicle comprises; rotating the first propeller above a critical speed at a first time; and rotating the modified second propeller above a critical speed at a second time. - View Dependent Claims (6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16)
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17. A method comprising:
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rotating a propeller above a critical speed, wherein the propeller comprises at least two blades mounted about a hub; capturing information regarding an observed noise emitted by the propeller while rotating above the critical speed, wherein the information regarding the observed noise comprises at least one of a frequency spectrum of the observed noise or a sound pressure level of the observed noise; identifying information regarding a desired noise, wherein the information regarding the desired noise comprises at least one of a frequency spectrum of the desired noise or a sound pressure level of the desired noise; determining that the observed noise is not consistent with the desired noise based at least in part on the information regarding the observed noise and the information regarding the desired noise; in response to determining that the observed noise is not consistent with the desired noise, identifying at least one difference between the observed noise and the desired noise; determining an adjustment to one of the blades of the propeller based at least in part on the at least one difference; modifying the one of the blades of the propeller in accordance with the adjustment; rotatably coupling the modified propeller to a motor of an aerial vehicle; and causing the aerial vehicle to travel at a desired altitude, along a desired course, at a desired air speed or to a desired location, wherein causing the aerial vehicle to travel at the desired altitude, along the desired course, at the desired air speed or to the desired location comprises; rotating the modified propeller above the critical speed. - View Dependent Claims (18, 19, 20)
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Specification