Propeller safety for automated aerial vehicles

Patent metadata

Field	Value
Publication number	US-11926428-B2
Application number	US-202017000879-A
Country	US
Kind code	B2
Filing date	Aug 24, 2020
Priority date	Aug 11, 2014
Publication date	Mar 12, 2024
Grant date	Mar 12, 2024

Abstract

The disclosure describes an automated aerial vehicle (AAV) and system for automatically detecting a contact or an imminent contact between a propeller of the AAV and an object (e.g., human, pet, or other animal). When a contact or an imminent contact is detected, a safety profile may be executed to reduce or avoid any potential harm to the object and/or the AAV. For example, if a contact with a propeller of the AAV by an object is detected, the rotation of the propeller may be stopped to avoid harming the object. Likewise, an object detection component may be used to detect an object that is nearing a propeller, stop the rotation of the propeller, and/or navigate the AAV away from the detected object.

First claim

What is claimed is:

1. An automated aerial vehicle, comprising:
a frame;
a motor coupled to the frame;
a propeller coupled to and rotated by the motor; and
a controller configured to at least:
select a safety profile from a plurality of safety profiles associated with the propeller, each safety profile being associated with a respective safety perimeter of the propeller that is different from respective safety perimeters associated with others of the plurality of safety profiles;
detect an object within a selected respective safety perimeter associated with the selected safety profile of the propeller; and
stop the propeller in response to detecting the object within the selected respective safety perimeter of the propeller.

2. The automated aerial vehicle of claim 1 , wherein the controller is configured to detect the object within the selected respective safety perimeter of the propeller by detecting a contact between the propeller and the object.

3. The automated aerial vehicle of claim 2 , wherein the controller is configured to detect the contact based at least in part on a force applied by the object to the propeller or to a pressure sensitive material included on the propeller.

4. The automated aerial vehicle of claim 1 , wherein the controller is configured to stop the propeller by at least one of:
disengaging the propeller from the motor connected with the propeller,
disengaging a shaft that rotates the propeller from the motor connected with the propeller,
releasing a clamp that secures the propeller to the motor,
transitioning a weight to a perimeter of the propeller, or
reorienting a blade of the propeller.

5. The automated aerial vehicle of claim 1 , wherein the controller is further configured to at least:
determine a position of the automated aerial vehicle, wherein the position is based at least in part on an altitude of the automated aerial vehicle or an area surrounding the automated aerial vehicle;
wherein the controller is configured to select the safety profile from the plurality of safety profiles based at least in part on the determined position.

6. A computer-implemented method for stopping a rotation of a propeller of an automated aerial vehicle, comprising:
under control of one or more computing systems configured with executable instructions,
selecting a safety profile from a plurality of safety profiles associated with the propeller, each safety profile being associated with a respective safety perimeter of the propeller that is different from respective safety perimeters associated with others of the plurality of safety profiles;
detecting an object entering a selected respective safety perimeter associated with the selected safety profile of the propeller of the automated aerial vehicle; and
executing the selected safety profile in response to detecting the object entering the selected respective safety perimeter, wherein executing the selected safety profile includes stopping the rotation of the propeller.

7. The computer-implemented method of claim 6 , further comprising:
under control of one or more computing systems configured with executable instructions,
determining a position of the automated aerial vehicle, wherein the position is based at least in part on an altitude of the automated aerial vehicle or an area surrounding the automated aerial vehicle;
wherein the safety profile is selected from the plurality of safety profiles based at least in part on the determined position.

8. The computer-implemented method of claim 6 , wherein the selected safety profile is based at least in part on a configuration of the automated aerial vehicle.

9. The computer-implemented method of claim 6 , wherein the object is detected based at least in part on at least one of:
a force applied by the object to the propeller or to a pressure sensitive material included on the propeller,
a change in an expected position of the propeller,
a change in propeller vibration, or
a change in an audible characteristic of the propeller.

10. The computer-implemented method of claim 6 , wherein the rotation of the propeller is stopped by at least one of:
removing a current from a motor connected with the propeller,
reversing a polarity of the current to the motor connected with the propeller,
deploying a stop bar into a rotor of the motor connected with the propeller,
disengaging the propeller from the motor connected with the propeller,
disengaging a shaft that rotates the propeller from the motor connected with the propeller,
releasing a clamp that secures the propeller to the motor,
transitioning a weight to a perimeter of the propeller, or
reorienting a blade of the propeller.

11. The computer-implemented method of claim 6 , wherein the automated aerial vehicle includes a plurality of propellers, and wherein executing the selected safety profile further includes at least one of:
stopping a second rotation of a second propeller adjacent to the propeller,
stopping all propellers of the plurality of propellers of the automated aerial vehicle,
landing the automated aerial vehicle,
notifying an automated aerial vehicle control system that the selected safety profile has been executed,
aborting a mission, or
navigating to a defined location.

12. The computer-implemented method of claim 6 , further comprising:
under control of one or more computing systems configured with executable instructions,
detecting the object prior to the object entering the selected respective safety perimeter associated with the selected safety profile of the propeller of the automated aerial vehicle; and
executing an avoidance maneuver to move the automated aerial vehicle away from the object.

13. The computer-implemented method of claim 12 , wherein the object is detected prior to the object entering the selected respective safety perimeter by at least one of:
an ultrasonic ranging module,
a laser rangefinder,
a radar distance measurement module,
a stadiametric based rangefinder,
a parallax based rangefinder,
a coincidence based rangefinder,
a Lidar based rangefinder,
a Sonar based rangefinder,
a time-of-flight based rangefinder,
a thermal imaging module,
an infrared module, or
a camera.

14. An aerial vehicle, comprising:
a motor having a rotating shaft;
a propeller coupled to the rotating shaft;
a safety profile component configured to select a safety profile from a plurality of safety profiles associated with the propeller, each safety profile being associated with a respective safety perimeter of the propeller that is different from respective safety perimeters associated with others of the plurality of safety profiles;
an object detection component configured to detect a presence of an object within a selected respective safety perimeter associated with the selected safety profile of the propeller; and
a stopping member for stopping the propeller in response to detecting the presence of the object within the selected respective safety perimeter of the propeller.

15. The aerial vehicle of claim 14 , further comprising:
a navigation component configured to determine a position of the aerial vehicle, wherein the position is based at least in part on an altitude of the aerial vehicle or an area surrounding the aerial vehicle;
wherein the safety profile component is configured to select the safety profile from the plurality of safety profiles based at least in part on the determined position.

16. The aerial vehicle of claim 14 , wherein the object detection component comprises a pressure sensitive material included

Assignees

• Amazon Tech Inc

Inventors

• Buchmueller Daniel
• Beckman Brian C
• Navot Amir
• Porter Brandon William
• Kimchi Gur
• Bezos Jeffrey P
• Schaffalitzky Frederik

Classifications

• B64U10/00 Primary

  Type of UAV · CPC title

• G08G5/80

  Anti-collision systems · CPC title

• B64U50/19

  using electrically powered motors · CPC title

• B64U30/20

  Rotors; Rotor supports · CPC title

• B64D31/06 Primary

  actuated automatically · CPC title