Sensors embedded within aerial vehicle control surfaces

Patent metadata

Field	Value
Publication number	US-9840339-B1
Application number	US-201615138867-A
Country	US
Kind code	B1
Filing date	Apr 26, 2016
Priority date	Apr 26, 2016
Publication date	Dec 12, 2017
Grant date	Dec 12, 2017

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.

First claim

What is claimed is:

1. An unmanned aerial vehicle comprising:
at least a first motor aligned to provide thrust to the unmanned aerial vehicle;
at least a second motor aligned to provide lift to the unmanned aerial vehicle;
a first wing having a first movable control surface, wherein the first wing is aligned to provide lift to the unmanned aerial vehicle during operation of at least the first motor, and wherein a first digital camera having a first lens is embedded within the first movable control surface; and
a control unit having at least one computer processor configured to at least:
cause a first operation of the unmanned aerial vehicle in a first flight mode, wherein causing the first operation of the unmanned aerial vehicle in the first flight mode comprises:
operating at least the first motor; and
maintaining altitude control of the unmanned aerial vehicle using at least the first movable control surface;

cause a second operation of the unmanned aerial vehicle in a second flight mode, wherein causing the second operation of the unmanned aerial vehicle in the second flight mode comprises:
operating at least the second motor;
stopping the first motor; and
maintaining altitude control of the unmanned aerial vehicle using at least the second motor;

reposition the first movable control surface to align the first lens of the first digital camera toward a region of interest, wherein the first movable control surface is repositioned while the unmanned aerial vehicle operates in the second flight mode; and
capture imaging data regarding the region of interest using the first digital camera.

2. The unmanned aerial vehicle of claim 1 , further comprising at least one position sensor,
wherein the control unit is further configured to at least:
determine that the unmanned aerial vehicle is located within a vicinity of a first ground position by the at least one position sensor,
wherein the second operation of the unmanned aerial vehicle in the second flight mode is caused in response to determining that the unmanned aerial vehicle is located within the vicinity of the first ground position.

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

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

5. The unmanned aerial vehicle of claim 1 , further comprising at least one safety light,
wherein the control unit is further configured to at least:
illuminate the at least one safety light at or before a first time; and
capture the imaging data regarding the region of interest using the first digital camera at the first time.

6. A method comprising:
operating an aerial vehicle in a first flight mode, wherein the aerial vehicle comprises a control surface having a directional sensor embedded therein;
moving the control surface from a first position to a second position, wherein the directional sensor is aligned along a first axis of interest in the second position; and
capturing data along the first axis of interest using the directional sensor.

7. The method of claim 6 , wherein the first flight mode is one of a substantially vertical flight mode or a substantially hovering flight mode, and wherein the method further comprises:
prior to operating the aerial vehicle in the first flight mode, operating the aerial vehicle in a second flight mode, wherein the second flight mode is a forward flight mode, and wherein at least one of a course, an altitude, a yaw, a pitch or a roll of the aerial vehicle is maintained by operation of the control surface in the second flight mode.

8. The method of claim 7 , wherein the aerial vehicle further comprises a first motor and a second motor,
wherein operating the aerial vehicle in the first flight mode comprises operating at least the first motor mechanically coupled to a first rotor to supply a lifting force to the aerial vehicle, and
wherein operating the aerial vehicle in the second flight mode comprises operating at least the second motor mechanically coupled to a second rotor to supply a thrusting force to the aerial vehicle.

9. The method of claim 7 , wherein the aerial vehicle further comprises a position sensor, and
wherein the method further comprises:
determining, with the aerial vehicle operating in the second flight mode, that the aerial vehicle is within a vicinity of a ground position by the position sensor; and
operating the aerial vehicle in the first flight mode in response to determining that the aerial vehicle is within the vicinity of the ground position.

10. The method of claim 6 , wherein the directional sensor comprises an imaging device having a field of view, and
wherein capturing the data along the first axis of interest using the directional sensor further comprises:
capturing imaging data by the imaging device within the field of view, wherein the field of view is aligned along the first axis of interest with the control surface in the second position.

11. The method of claim 10 , further comprising:
searching the imaging data for at least one fiducial marker associated with a destination.

12. The method of claim 10 , further comprising:
identifying at least one object within the field of view of the imaging device, wherein the at least one object does not include any portion of the aerial vehicle; and
moving the control surface from the second position to a third position to maintain the at least one object within the field of view of the imaging device, wherein the field of view is aligned along a second axis of interest with the control surface in the third position.

13. The method of claim 6 , wherein the control surface is 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 by a hinged connection, and
wherein moving the control surface from the first position to the second position comprises:
pivoting the control surface about the hinged connection from the first position to the second position.

14. The method of claim 6 ,
wherein the control surface comprises at least one of a wing, a rudder, an aileron, an elevator, a flap, a brake, a slat or a propeller blade, and
wherein the sensor is embedded into at least one of a leading edge, a trailing edge, a face or a tip of the control surface.

15. The method of claim 6 ,
wherein the 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.

16. The method of claim 6 , wherein the aerial vehicle further comprises at least one addressable illuminator, and
wherein capturing the data along the first axis of interest using the directional sensor further comprises:
radiating light in at least one of a first color, a first frequency or a first wavelength along the first axis of interest by the at least one addressable illuminator.

17. The method of claim 16 , wherein the at least one addressable illuminator is one of a safety light or a running light configured to radiate the light in the at least one of the first color, the first frequency or the first wavelength.

18. A method comprising:
operating an aerial vehicle in a first flight mode, wherein the aerial vehicle comprises at least one imaging device embedded into a movable control surface pivotably joined to a frame of t

Assignees

• Amazon Tech Inc

Inventors

• O'Brien Barry James
• Watson Joshua John
• Wilcox Scott Michael

Classifications

• B64U50/19

  using electrically powered motors · CPC title

• B64U2201/00

  UAVs characterised by their flight controls · CPC title

• B64U2101/30

  for imaging, photography or videography · CPC title

• B64C3/38

  Adjustment of complete wings or parts thereof · CPC title

• B64D47/08 Primary

  Arrangements of cameras · CPC title