Aerial vehicle propulsion modules

• US 9,975,644 B1
• Filed: 12/21/2015
• Issued: 05/22/2018
• Est. Priority Date: 12/21/2015
• Status: Active Grant

• Current Assignee: Amazon Technologies, Inc. (Amazon.com, Inc.)
• Original Assignee: Amazon Technologies, Inc. (Amazon.com, Inc.)
• Inventors: Kimchi, Gur, Shiosaki, Dominic Timothy, Welsh, Ricky Dean
• Primary Examiner(s): Patel, Shardul D
• Application Number:
  US14/976,845
• Time in Patent Office: 883 Days
• Field of Search: 701 2, 701 3, 701 8, 244 54, 244 62
• CPC Class Codes: B64U 10/13 Flying platforms
• CPC Class Codes: B64U 10/14 with four distinct rotor axes, e.g. quadcopters
• CPC Class Codes: B64U 30/20 Rotors; Rotor supports
• CPC Class Codes: B64U 50/13 using external fans or propellers
• CPC Class Codes: B64U 50/19 using electrically powered motors

Abstract

An aerial vehicle may be equipped with propulsion modules that include motors, sensors, transceivers, controllers, power sources or other components therein. The propulsion modules may be releasably mounted to the aerial vehicle in a manner that allows a propulsion module to be removed and replaced when one or more of the components within the propulsion module requires maintenance or repairs, thereby enabling the aerial vehicle to return to service promptly. The propulsion modules may communicate via wired or wireless means with one another, or with a central computer system onboard the aerial vehicle. The propulsion modules may be interchangeably installed on each of the aerial vehicles in a class, or on aerial vehicles in different classes. Furthermore, aerial vehicles may be equipped with varying numbers of propulsion modules, as needed, subject to one or more operational requirements or constraints.

Claims

1. An unmanned aerial vehicle (UAV) comprising:

a frame having a plurality of mounting extensions, wherein each of the plurality of mounting extensions has a proximal end and a distal end, wherein each of the proximal ends of the mounting extensions is fixedly joined to the frame, and wherein each of the distal ends of the mounting extensions comprises a connection plate;

a control system provided in association with the frame, wherein the control system comprises at least one computer processor and at least one data store; and

a plurality of propulsion modules, wherein each of the propulsion modules further comprises;

a housing, wherein an external surface of the housing forms a releasable connection with the connection plate at the distal end of one of the plurality of mounting extensions, wherein each of the releasable connections is aerodynamically consistent between the external surfaces of the housings and the connection plates;

a direct current (DC) brushless motor disposed within the housing, wherein the DC brushless motor comprises a shaft extending through the housing to an exterior of the housing;

a propeller rotatably mounted to a distal end of the shaft; and

a motor controller disposed within the housing, wherein the motor controller is in communication with the control system.

2. The UAV of claim 1, wherein each of the propulsion modules further comprises a releasable DC power source releasably disposed within the housing, and

wherein each of the releasable DC power sources is coupled to at least one of the DC brushless motor or the motor controller within the corresponding housing.

3. The UAV of claim 1, wherein each of the motor controllers is in communication with the control system according to a wireless communications protocol.

4. The UAV of claim 1, wherein each of the propulsion modules comprises at least one sensor,

wherein the control system is further configured to at least:

transmit an instruction to operate each of the motors at a first rotational speed to each of the motor controllers;

transmit a request for information regarding an operating status of each of the propulsion modules to each of the motor controllers;

receive, in response to the request, first information regarding the operating status of each of the propulsion modules from each of the motor controllers, wherein at least some of the first information is determined using the at least one sensor of at least one of the propulsion modules;

determine, based at least in part on the at least some of the first information, that the at least one of the propulsion modules is to be replaced with a replacement module; and

transmit second information regarding the operating status of the at least one of the propulsion modules to at least one computer server over a network,

wherein the second information comprises the at least some of the first information.

5. An aerial vehicle comprising:

a frame having at least a first mounting extension, wherein a proximal end of the first mounting extension is rigidly joined to the frame, and wherein a distal end of the first mounting extension comprises a first mating interface; and

a first propulsion module joined to the first mounting extension by a releasable physical connection, wherein the first propulsion module further comprises;

a housing having an external surface and an internal cavity, wherein at least a portion of the external surface is a second mating interface releasably coupled to the first mating interface to form the releasable physical connection;

a motor disposed within the internal cavity, wherein the motor comprises a shaft extending through an opening in the housing and having a distal end exterior to the housing;

a propeller rotatably mounted to the distal end of the shaft exterior to the housing; and

a controller disposed within the internal cavity.

6. The aerial vehicle of claim 5, further comprising an operational control system having at least one computer processor,

wherein the controller is in communication with the operational control system.

7. The aerial vehicle of claim 6, wherein the first mating interface comprises a first communication contact and the second mating interface comprises a second communications contact,

wherein the first communications contact and the second communications contact are coupled at the releasable physical connection to form a releasable communications connection, and

wherein the controller is in communication with the operational control system via the releasable communications connection.

8. The aerial vehicle of claim 7, wherein the releasable communications connection comprises at least one of an optical fiber cable or an Ethernet cable.

9. The aerial vehicle of claim 6, wherein the controller is in communication with the operational control system according to one or more wireless communication protocols.

10. The aerial vehicle of claim 5, further comprising an electrical power source mounted in association with the frame,

wherein at least one of the motor or the controller is configured to receive electrical power via the releasable physical connection from the electrical power source.

11. The aerial vehicle of claim 10, wherein the first mating interface comprises at least a first power contact and the second mating interface comprises at least a second power contact,

wherein the first power contact and the second power contact are coupled at the releasable physical connection to form a releasable power connection, and

wherein the at least one of the motor, the controller or the transceiver is configured to receive electrical power from the electrical power source via the releasable power connection.

12. The aerial vehicle of claim 5, wherein the first propulsion module further comprises an electrical power source disposed within the internal cavity,

wherein at least one of the motor, the controller or the transceiver is configured to receive electrical power from the electrical power source.

13. The aerial vehicle of claim 5, wherein the first mounting extension comprises a mounting plate formed from at least one of carbon fiber, aluminum, titanium or a composite material,

and

wherein the mounting plate is releasably joined to the external surface of the housing at a flat, rounded, tapered, beveled or faceted junction.

14. The aerial vehicle of claim 5,

wherein the aerial vehicle is one of a class of aerial vehicles, and

wherein the first mating interface of the first mounting extension is common to the class of aerial vehicles.

15. The aerial vehicle of claim 5,

wherein the first propulsion module is one of a class of propulsion modules, and

wherein the second mating interface is common to the class of propulsion modules.

16. A method for operating an aerial vehicle comprising a frame, a mounting extension having a proximal end fixedly joined to the frame, and an onboard control system disposed within the frame,

wherein the method comprises:

releasably installing a first propulsion module on a distal end of the mounting extension of the aerial vehicle, wherein the first propulsion module comprises;

a first housing;

a first motor disposed within the first housing, wherein the first motor comprises a first shaft extending through an opening in the first housing;

a first propeller rotatably mounted to a distal end of the shaft external to the first housing;

a first motor controller disposed within the first housing, wherein the first motor controller is configured to control an operation of the first motor;

a first transceiver disposed within the first housing, wherein the first transceiver is in communication with the onboard control system and at least one of the first motor controller or the first motor; and

at least one first sensor;

transmitting, by the onboard control system, a first instruction to the first transceiver, wherein the first instruction instructs the first motor controller to initiate the operation of the first motor at a first power level;

transmitting, by the onboard control system, a second instruction to the first transceiver, wherein the second instruction instructs the first motor controller to terminate the operation of the first motor;

determining that the operation of the first motor is terminated;

in response to determining that the operation of the first motor is terminated,

removing the first propulsion module from the distal end of the mounting extension of the aerial vehicle; and

releasably installing a second propulsion module on the distal end of the mounting extension of the aerial vehicle, wherein the second propulsion module comprises;

a second housing;

a second motor disposed within the second housing, wherein the second motor comprises a second shaft extending through an opening in the second housing;

a second propeller rotatably mounted to a distal end of the shaft external to the second housing;

a second motor controller disposed within the second housing, wherein the second motor controller is configured to control an operation of the second motor;

a second transceiver disposed within the second housing, wherein the second transceiver is in communication with the onboard control system and at least one of the second motor controller or the second motor; and

at least one second sensor;

determining that the second propulsion module is releasably installed on the distal end of the mounting extension;

in response to determining that the second propulsion module is releasably installed on the distal end of the mounting extension,

transmitting, by the onboard control system, a second instruction to the second transceiver, wherein the second instruction instructs the second motor controller to initiate the operation of the second motor at a second power level.

17. The method of claim 16, further comprising:

during the operation of the first propulsion module,

receiving, by the control system from the first transceiver, first information regarding at least one of an operating characteristic of the first propulsion module or an environmental condition of the aerial vehicle, wherein at least some of the first information is obtained by the at least one first sensor; and

determining, based at least in part on the first information, that the first propulsion module requires replacement,

wherein the second instruction is transmitted by the onboard control system to the first transceiver in response to determining that the first propulsion module requires replacement.

18. The method of claim 16,

wherein releasably installing the first propulsion module on the mounting extension of the aerial vehicle further comprises:

establishing a first connection between a first communications contact coupled to the first motor controller and a second communications contact coupled to the onboard control system, and

wherein removing the first propulsion module from the mounting extension of the aerial vehicle further comprises;

opening the first connection between the first communications contact and the second communications contact; and

wherein releasably installing the second propulsion module on the mounting extension of the aerial vehicle further comprises;

establishing a second connection between a third communications contact coupled to the second motor controller and the second communications contact.

19. The method of claim 16, wherein the aerial vehicle further comprises an onboard power source,

wherein releasably installing the first propulsion module on the mounting extension of the aerial vehicle further comprises:

establishing a first connection between a first power contact coupled to the first motor and a second power contact coupled to the onboard power source,

wherein removing the first propulsion module from the mounting extension of the aerial vehicle further comprises;

opening the first connection between the first power contact and the second power contact; and

wherein releasably installing the second propulsion module on the mounting extension of the aerial vehicle further comprises;

establishing a second connection between a third power contact coupled to the second motor and the second power contact.

20. The method of claim 16, wherein the first propulsion module further comprises a first power source disposed within the first housing,

wherein the first power source is electrically coupled to the first motor,

wherein the second propulsion module comprises a second power source disposed within the second housing, and

wherein the second power source is electrically coupled to the second motor.