Autonomous home security devices

Patent metadata

Field	Value
Publication number	US-11260970-B2
Application number	US-202017029688-A
Country	US
Kind code	B2
Filing date	Sep 23, 2020
Priority date	Sep 26, 2019
Publication date	Mar 1, 2022
Grant date	Mar 1, 2022

Abstract

An aerial vehicle is programmed or configured to respond to reports of events or conditions within spaces of a facility. The aerial vehicle travels to a location of a reported event or condition and captures data using onboard sensors. The aerial vehicle independently determines whether the reported event or condition is occurring, or is otherwise properly addressed by resources that are available at the location, using images or other data captured by the onboard sensors. Alternatively, the aerial vehicle transmits a request for additional resources to be provided at the location, where necessary. A map of the location generated based on images or other data captured by the onboard sensors may be utilized for any purpose, such as to make one or more recommendations of products that are appropriate for use at the facility.

First claim

What is claimed is:

1. An aerial vehicle comprising:
a fuselage having a first height and a first rounded square cross-section,
wherein the fuselage comprises four sides having the first height and a first width that are joined at four rounded corners to define the first rounded square cross-section, and
wherein the first height is greater than the first width;

a frame having a second height and a second rounded square cross-section,
wherein the frame comprises four sides having the second height and a second width that are joined at four rounded corners to define the second rounded square cross-section,
wherein the second height is less than the first height, and wherein the second width is greater than the first width, and
wherein a centroid of the first rounded square cross-section is aligned along a first axis with a centroid of the second rounded square cross-section;

a plurality of struts, wherein each of the struts has a proximal end joined to an external surface of one of the four rounded corners of the fuselage and a distal end joined to an internal surface of one of the four rounded corners of the frame;
a plurality of propulsion motors, wherein each of the propulsion motors is a direct current motor having a housing coupled to one of the plurality of struts, and wherein each of the propulsion motors is configured to rotate a propeller at one or more rotational speeds;
a first time-of-flight sensor mounted at an upper end of the fuselage, wherein the first time-of-flight sensor is configured to transmit first light along a second axis normal to and radially outward from the first axis and to receive one or more reflections of the first light, and wherein the first time-of-flight sensor is configured to rotate the second axis about the first axis;
a second time-of-flight sensor mounted to an upper edge of the frame, wherein the second time-of-flight sensor is configured to transmit second light above the frame and to receive one or more reflections of the second light;
a third time-of-flight sensor mounted to a lower edge of the frame, wherein the third ti me-of-flight sensor is configured to transmit third light below the frame and to receive one or more reflections of the third light;
a visual camera provided within a chamber defined by the fuselage, wherein the visual camera comprises a lens defining a field of view extending normal to one of the sides of the fuselage;
at least one memory component provided within the chamber;
at least one transceiver provided within the chamber; and
at least one computer processor provided within the chamber,
wherein the at least one computer processor is in communication with each of the plurality of propulsion motors, the first time-of-flight sensor, the second time-of-flight sensor, the third time-of-flight sensor, the visual camera, the at least one memory component and the at least one transceiver.

2. The aerial vehicle of claim 1 , wherein each of the struts comprises an inlet hole on an upper surface,
wherein the fuselage comprises a plurality of outlet holes provided on a bottom surface,
wherein the fuselage, the chamber and the struts define a plurality of flow paths, and
wherein each of the flow paths extends between one of the inlet holes and one of the outlet holes through the chamber.

3. The aerial vehicle of claim 1 , wherein a bottom surface of the fuselage comprises a first electrical contact and a second electrical contact connected to an onboard direct current power source,
wherein the first electrical contact and the second electrical contact are provided in an arrangement corresponding to an arrangement of a third electrical contact and a fourth electrical contact on a bottom surface of an opening provided within a charging dock,
wherein the opening comprises four sides having a third height and a third width that are joined at four rounded corners to define a third rounded square cross-section,
wherein the third rounded square cross-section is sized to accommodate the first rounded square cross-section,
wherein the first height is greater than the third height, and
wherein a distance between the bottom surface of the fuselage and the lens of the visual camera is less than the third height.

4. The aerial vehicle of claim 3 , wherein the charging dock is provided in a first space of a facility, and
wherein the memory component is programmed with at least a physical map of the facility and with one or more sets of instructions that, when executed by the at least one computer processor, cause the aerial vehicle to execute a method comprising:
receiving, by the transceiver, an indication of a predetermined condition in a second space of the facility at a first time, wherein the fuselage is within the opening of the charging dock at the first time;
causing, by at least one of the propulsion motors, the aerial vehicle to ascend from the charging dock;
generating, by the at least one processor, a route from the first space to the second space, wherein the route comprises a plurality of paths;
causing the aerial vehicle to travel on the route to the second space;
capturing, by the visual camera, a visual image at a second time, wherein the second time follows the first time, and wherein the aerial vehicle is within the second space at the second time; and
determining, based at least in part on the visual image, that the predetermined condition existed within the second space at the second time based at least in part on the visual image.

5. A method comprising:
receiving, by an aerial vehicle at a first location within a first space of a facility, an indication that one of an event or a condition exists within a second space of the facility at a first time, wherein the aerial vehicle comprises:
a fuselage having a first cross-section;
a frame having a second cross-section, wherein a centroid of the first cross-section is aligned along a first axis with a centroid of the second cross-section,
a first time-of-flight sensor configured to transmit first light along a second axis normal to the first axis and to receive reflections of at least some of the first light;
a second time-of-flight sensor configured to transmit second light along a third axis parallel to the first axis and to receive reflections of at least some of the second light;
a third time-of-flight sensor configured to transmit third light along a fourth axis parallel to the first axis and to receive reflections of at least some of the third light; and
a visual camera comprising a lens defining a field of view extending normal to the fuselage;

determining, by the aerial vehicle, at least one of a course, a speed or an altitude for travel from the first location to a second location within the second space based at least in part on information regarding a map of at least the first space and the second space stored in at least one memory component of the aerial vehicle;
operating at least one of a plurality of propulsion motors of the aerial vehicle to cause the aerial vehicle to travel from the first location to the second location at the at least one of the course, the speed or the altitude;
capturing at least a first image by the visual camera of the aerial vehicle at a second time, wherein the aerial vehicle is within a vicinity of the second location at the second time; and
determining, by the aerial vehicle based at least in part on the first image, whether the event or the condition exists within the second space at the second time.

6. The method of claim 5 ,
wherein the fuselage comprises a first plurality of sides having a first height and a first width that define the first cross-section,
wherein the first height is greater than the first width,
wherein the frame comprises a second plurality of sides having a

Assignees

• Amazon Tech Inc

Inventors

• Metzner Jordan Anthony
• Paterson Michael Edward James
• Wild Benjamin
• Siminoff James Wyatt

Classifications

• B64U2201/10

  autonomous, i.e. by navigating independently from ground or air stations, e.g. by using inertial navigation systems [INS] · CPC title

• B64U50/19

  using electrically powered motors · CPC title

• B64U2201/20

  Remote controls · CPC title

• B64U2101/00

  UAVs specially adapted for particular uses or applications · CPC title

• B64U30/294

  Rotors arranged in the UAV body · CPC title