Ballast control mechanisms for aerial vehicles

• US 9,908,619 B1
• Filed: 09/25/2014
• Issued: 03/06/2018
• Est. Priority Date: 09/25/2014
• Status: Active Grant

• Current Assignee: Amazon Technologies, Inc. (Amazon.com, Inc.)
• Original Assignee: Amazon Technologies, Inc. (Amazon.com, Inc.)
• Inventors: Beckman, Brian C., Kimchi, Gur, Navot, Amir, Buchmueller, Daniel
• Primary Examiner(s): Dinh, Tien Q
• Assistant Examiner(s): Fabula, Michael A.
• Application Number:
  US14/497,136
• Time in Patent Office: 1,258 Days
• CPC Class Codes: B64C 17/02 by gravity or inertia-actuated apparatus
• CPC Class Codes: B64C 39/024 of the remote controlled vehicle type, i.e. RPV
• CPC Class Codes: B64U 10/13 Flying platforms
• CPC Class Codes: B64U 2101/00 UAVs specially adapted for particular uses or applications
• CPC Class Codes: B64U 2101/64 for parcel delivery or retrieval
• 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 40/20 for in-flight adjustment of the base configuration

Abstract

An automated aerial vehicle (“AAV”) and systems, devices, and techniques pertaining to moveable ballast that is movable onboard the AAV during operation and/or flight. The AAV may include a frame or support structure that includes the movable ballast. A ballast controller may be used to cause movement of the ballast based on one or more factors, such as a type of flight, a type of operation of the AAV, a speed of the AAV, a triggering event, and/or other factors. The ballast may be moved using mechanical, electrical, electromagnetic, pneumatic, hydraulic and/or other devices/techniques described herein. In some embodiments, the ballast may be moved or located in or toward a centralized position in the AAV to enable more agile control of the AAV. The ballast may be moved outward from the centralized location of the AAV to enable more stable control of the AAV.

Claims

1. An automated aerial vehicle (AAV) comprising:

a frame comprising one or more structures that substantially span a width and a length of the AAV;

a plurality of propeller motors coupled to the frame, each propeller motor to rotate at least one propeller to cause lift and propulsion of the AAV;

a ballast motor to rotate a wheel;

a ballast included within at least one structure of the one or more structures, the ballast being configured to traverse between a first position located proximate to a center of mass of the AAV and second position located away from the center of mass, a traverse of the ballast caused in response to activation of the ballast motor that rotates the wheel, the wheel engaging the ballast to cause the traverse of the ballast, wherein the ballast located in the first position causes a first polar moment of inertia resulting in more agile control of the AAV while the ballast located in the second position causes a second polar moment of inertia resulting in more stable control of the AAV;

a power source to provide power to the propeller motors and ballast motor; and

a control system in communication with at least the propeller motors, the ballast motor, and the power source, the control system to control at least operation of the propellers and the traverse of the ballast.

2. The AAV as recited in claim 1, wherein the wheel is a spindle that is coupled to a first end of a cable, a second end of the cable coupled to the ballast, the spindle, when rotated in a first rotational direction by the ballast motor, causing the ballast to traverse toward the first position proximate to the center of mass of the AAV.

3. The AAV as recited in claim 1, wherein the wheel is a pinion that engages teeth of a rack that is coupled to the ballast, the pinion, when rotated in a first rotational direction by the ballast motor, causing the ballast to traverse toward the first position proximate to the center of mass of the AAV.

4. The AAV as recited in claim 1, wherein the at least one structure includes a first arm and a second arm coupled substantially perpendicularly to the first arm, and wherein the ballast includes a first ballast that traverses along the first arm and a second ballast that traverses along the second arm, the traverse of the first ballast and the traverse of the second ballast being caused by rotation of the wheel.

5. A frame of an aerial vehicle, the frame comprising:

a plurality of propeller motors coupled to the frame, each propeller motor to rotate at least one propeller to cause lift of the aerial vehicle;

a support structure that includes;

ballast configured for movement relative to the support structure, and

a guide to enable movement of the ballast relative to the support structure; and

a ballast controller to cause the ballast to traverse between a first position relative to the support structure and a second position relative to the support structure during flight of the aerial vehicle.

6. The frame as recited in claim 5, further comprising a ballast motor coupled to a spindle, wherein the support structure further includes a cable that couples the ballast to the spindle, and wherein rotation of the spindle causes the ballast to traverse along the guide.

7. The frame as recited in claim 5, further comprising a ballast motor coupled to a pinion, wherein the support structure further includes a rack coupled to the ballast, and wherein rotation of the pinion causes movement of the rack that causes the ballast to traverse along the guide.

8. The frame as recited in claim 5, further comprising:

a power source;

plurality of electromagnets powered by the power source, each electromagnet including a switch controlled by the ballast controller to power a respective electromagnet, and

wherein the ballast is ferromagnetic, and wherein the traverse is caused in response to opening and closing of switches associated with the plurality of electromagnets.

9. The frame as recited in claim 8, wherein the ballast is oblong, wherein the guide includes teeth, and wherein at least one of the plurality of electromagnets is configured to cause the ballast to rotate to engage the teeth to secure the ballast in a position within the support structure.

10. The frame as recited in claim 5, wherein the guide is an interior of a pressure vessel that contains the ballast, the pressure vessel having an input, the input having a pressure, and wherein the traverse is caused in response to a change in the pressure at the input of the pressure vessel.

11. The frame as recited in claim 5, wherein the support structure includes a first arm and a second arm coupled substantially perpendicularly to the first arm, and wherein the ballast includes a first ballast that traverses along the first arm and a second ballast that traverses along the second arm.

12. The frame as recited in claim 11, wherein the first ballast and the second ballast are moveably coupled to one another such that the first ballast traverses toward a center of mass of the aerial vehicle while the second ballast also traverses toward the center of mass of the aerial vehicle.

13. The frame as recited in claim 11, wherein the first ballast and the second ballast are moveably coupled to one another such that the first ballast traverses toward a center of mass of the aerial vehicle while the second ballast traverses away from the center of mass of the aerial vehicle.

14. The frame as recited in claim 5, wherein the support structure further includes a biasing device having a first end coupled to the ballast and a second end coupled to the support structure, the biasing device to impose a force on the ballast to cause the ballast to be positioned at the first position relative to the support structure absent an opposite, greater force imposed on the ballast that causes the ballast to be positioned at the second position relative to the support structure.

15. An aerial vehicle comprising:

a plurality of propeller motors coupled to a frame, each propeller motor to rotate at least one propeller to cause lift of the aerial vehicle;

the frame comprising one or more structures that at least partially span a width and a length of the aerial vehicle;

ballast included in at least one structure of the one or more structures, the ballast being configured to traverse between a first position located proximate to a center of mass of the aerial vehicle and second position located away from the center of mass, wherein the traverse of the ballast adjusts a polar moment of inertia of the aerial vehicle; and

a ballast controller to control operation of the traverse of the ballast between the first position and the second position during flight of the aerial vehicle.

16. The aerial vehicle as recited in claim 15, further comprising a ballast motor, and wherein the traverse is caused in response to activation of the ballast motor that rotates a wheel, the wheel engaging the ballast to cause the traverse of the ballast.

17. The aerial vehicle as recited in claim 15, further comprising:

a plurality of electromagnets coupled to a power source, each electromagnet including a switch controlled by the ballast controller to provide power to a respective electromagnet, and

wherein the ballast is ferromagnetic, and wherein the traverse is caused in response to opening and closing of switches associated with the plurality of electromagnets.

18. The aerial vehicle as recited in claim 15, wherein the ballast is confined in a pressure vessel the pressure vessel having an input, the input having a pressure and wherein the traverse is caused in response to a change in the pressure at the input of the pressure vessel.

19. The aerial vehicle as recited in claim 15, wherein the at least one structure includes one or more locking mechanisms to at least temporarily secure the ballast in the first position, the second position or an intermediate position between the first position and the second position.

20. The aerial vehicle as recited in claim 15, wherein the at least one structure is a tube having a cavity that guides movement of the ballast as the ballast traverses between the first position and the second position.