Sensors embedded within aerial vehicle control surfaces

• US 10,279,927 B1
• Filed: 12/04/2017
• Issued: 05/07/2019
• Est. Priority Date: 04/26/2016
• Status: Active Grant

• Current Assignee: Amazon Technologies, Inc. (Amazon.com, Inc.)
• Original Assignee: Amazon Technologies, Inc. (Amazon.com, Inc.)
• Inventors: O'Brien, Barry James, Watson, Joshua John, Wilcox, Scott Michael
• Primary Examiner(s): Butler, Rodney A
• Application Number:
  US15/830,279
• Time in Patent Office: 519 Days
• CPC Class Codes: B64C 3/38 Adjustment of complete wings or parts thereof
• CPC Class Codes: B64C 39/02 characterised by special use
• CPC Class Codes: B64C 39/024 of the remote controlled vehicle type, i.e. RPV
• CPC Class Codes: B64C 9/00 Adjustable control surfaces or members, e.g. rudders trimming stabilising surfaces B64C5/10
• CPC Class Codes: B64D 47/02 Arrangements or adaptations of signal or lighting devices
• CPC Class Codes: B64D 47/08 Arrangements of cameras
• CPC Class Codes: B64U 10/13 Flying platforms
• CPC Class Codes: B64U 2101/30 for imaging, photography or videography
• 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
• CPC Class Codes: G05D 1/0094 involving pointing a payload, e.g. camera, weapon, sensor, towards a fixed or moving target
• CPC Class Codes: G05D 1/042 specially adapted for aircraft
• CPC Class Codes: G05D 1/0676 specially adapted for landing

Abstract

Aerial vehicles may include one or more directional sensors embedded into wings, rudders, ailerons, flaps or other control surfaces. When the aerial vehicles are operating in modes that do not require the use of such surfaces, a surface having a directional sensor embedded therein may be repositioned or reoriented to align the directional sensor toward an area or axis of interest, and information may be gathered from the area or axis of interest using the directional sensor. One or more safety lights, running lights or other illuminators may cast light of a desired color, frequency or wavelength toward the area or axis of interest. The directional sensors may include cameras, radar or laser sensors, or any other reorientable sensors.

Claims

1. An aerial vehicle comprising:

at least one motor aligned to provide at least one of lift or thrust to the aerial vehicle;

a movable control surface comprising a digital camera, wherein a lens of the digital camera is embedded within the movable control surface; and

a control system comprising at least one computer processor, wherein each of the at least one motor and the movable control surface is in communication with the control system, and wherein the control system is configured to at least;

cause a first operation of the aerial vehicle in a first flight mode, wherein causing the first operation of the aerial vehicle in the first flight mode comprises;

operating at least the first motor; and

maintaining altitude control of the aerial vehicle using at least the movable control surface;

cause a second operation of the aerial vehicle in a second flight mode, wherein causing the second operation of the aerial vehicle in the second flight mode comprises;

maintaining altitude control of the aerial vehicle using at least the at least one motor;

reposition the movable control surface to align the lens of the digital camera toward a region of interest, wherein the movable control surface is repositioned while the aerial vehicle operates in the second flight mode; and

capture imaging data regarding the region of interest using the digital camera.

2. The aerial vehicle of claim 1, further comprising at least one position sensor in communication with the control system, and

wherein the control system is further configured to at least:

determine that the aerial vehicle is located within a vicinity of a predetermined ground position based at least in part on position data determined using the at least one position sensor,

wherein the second operation of the aerial vehicle in the second flight mode is caused in response to determining that the aerial vehicle is located within the vicinity of the predetermined ground position.

3. The aerial vehicle of claim 1, wherein the movable control surface is one of an aileron, a flap or an elevator.

4. The aerial vehicle of claim 1, wherein the lens is disposed on at least one of a leading edge, a trailing edge, a top face or a bottom face of the movable control surface.

5. An aerial vehicle comprising:

a propulsion motor coupled to a propeller;

a control surface comprising a directional sensor embedded therein; and

a control system comprising at least one computer processor in communication with at least the propulsion motor, the control surface and the directional sensor,

wherein the control system is configured to at least;

cause the aerial vehicle to operate in at least a first flight mode, wherein the first flight mode is at least one of a substantially vertical flight mode or a substantially hovering flight mode;

cause the control surface to move from a first position to a second position with the aerial vehicle operating in the first flight mode, wherein the directional sensor is aligned along a first axis with the control surface in the first position, and wherein the directional sensor is aligned along a second axis with the control surface in the second position; and

cause the directional sensor to capture data with the control surface in the second position with the aerial vehicle operating in the first flight mode.

6. The aerial vehicle of claim 5, wherein the control system is further configured to at least:

prior to causing the aerial vehicle to operate in at least the first flight mode,

cause the aerial vehicle to operate in a second flight mode, wherein the second flight mode is at least a substantially forward flight mode; and

maintain at least one of a course, an altitude, a yaw, a pitch or a roll of the aerial vehicle by operation of the control surface with the aerial vehicle operating in the second flight mode.

7. The aerial vehicle of claim 6, further comprising a position sensor,

wherein the control system is further configured to at least:

determine, with the aerial vehicle operating in the second flight mode, that the aerial vehicle is within a vicinity of a predetermined ground position by the position sensor; and

cause the aerial vehicle to transition from the second flight mode to the first flight mode in response to determining that the aerial vehicle is within the vicinity of the predetermined ground position.

8. The aerial vehicle of claim 5, wherein the directional sensor comprises an imaging device having a field of view, and

wherein the control system is further configured to at least:

capture at least a first set of imaging data by the imaging device within the field of view, wherein the field of view is aligned along the second axis with the control surface in the second position.

9. The aerial vehicle of claim 8, wherein the control system is further configured to at least:

cause the control surface to move from the second position to a third position with the aerial vehicle operating in the first flight mode;

capture at least a second set of imaging data by the imaging device within the field of view with the control surface in the third position, wherein the field of view is aligned along a third axis with the control surface in the third position;

perform an analysis of at least one of the first set of imaging data or the second set of imaging data according to at least one recognition technique; and

recognize at least one fiducial marking depicted within the at least one of the first set of imaging data or the second set of imaging data based at least in part on the analysis.

10. The aerial vehicle of claim 8, wherein the control system is further configured to at least:

perform an analysis of at least the first set of imaging data according to at least one recognition technique;

detect at least one object within the field of view of the imaging device based at least in part on the analysis; and

cause the control surface to move from the second position to a third position with the aerial vehicle operating in the first flight mode,

wherein the directional sensor is aligned along a third axis with the control surface in the third position, and

wherein the object remains within the field of view of the imaging device with the control surface in the third position.

11. The aerial vehicle of claim 8, wherein the aerial vehicle is configured to descend during the first flight mode, and

wherein the control system is further configured to at least:

perform an analysis of at least the first set of imaging data according to at least one recognition technique;

detect at least one object within the field of view of the imaging device based at least in part on the analysis; and

cause the aerial vehicle to transition from the first flight mode to a second flight mode in response to detecting the at least one object within the field of view of the imaging device,

wherein the aerial vehicle is configured to hover during the second flight mode.

12. The aerial vehicle of claim 5, wherein the control surface is pivotably joined to at least one of a fuselage of the aerial vehicle, a frame of the aerial vehicle, or a stabilizer of the aerial vehicle.

13. The aerial vehicle of claim 12, wherein the control system is further configured to at least:

cause the control surface to pivot from the first position to the second position about an axis.

14. The aerial vehicle of claim 5, wherein the control surface is at least one of a wing, a rudder, an aileron, an elevator, a flap, a brake, a slat or a propeller blade.

15. The aerial vehicle of claim 5, wherein the directional sensor is embedded into at least one of a leading edge, a trailing edge, a face or a tip of the control surface.

16. The aerial vehicle of claim 5, wherein the directional sensor comprises at least one of a radar sensor, a laser sensor, a range camera, a depth sensor, an infrared sensor, an ultrasound imaging device or an X-ray imaging device.

17. The aerial vehicle of claim 5, wherein the control surface further comprises at least one addressable illuminator embedded therein, and

wherein the control system is further configured to at least:

cause the at least one addressable illuminator to radiate light in at least one of a first color, a first frequency or a first wavelength along the first axis.

18. A method comprising:

operating an aerial vehicle in a first flight mode, wherein the aerial vehicle comprises;

at least one propulsion motor;

a movable control surface having an imaging device embedded therein; and

a position sensor, and

wherein the aerial vehicle operates the movable control surface to maintain altitude control in the first flight mode;

causing the aerial vehicle to travel to a destination while operating in the first flight mode;

determining, by the position sensor, that the aerial vehicle has arrived at the destination;

in response to determining that the aerial vehicle has arrived at the destination,

operating the aerial vehicle in a second flight mode, wherein the aerial vehicle does not operate the movable control surface to maintain altitude control in the second flight mode;

repositioning the movable control surface from a first position to a second position, wherein a field of view of the imaging device is oriented toward an area of interest at the destination with the movable control surface in the second position; and

capturing imaging data from the area of interest by the imaging device with the movable control surface in the second position.

19. The method of claim 18, further comprising:

causing the aerial vehicle to land at the destination in the second flight mode.

20. The method of claim 19, wherein causing the aerial vehicle to land at the destination in the second flight mode comprises:

recognizing at least one ground-based marking at the area of interest within the imaging data;

causing the aerial vehicle to descend toward the area of interest;

repositioning the movable control surface from the second position to a third position, wherein the field of view of the imaging device includes the at least one ground-based marking with the movable control surface in the third position; and

capturing imaging data from the area of interest by the imaging device with the movable control surface in the third position.