US 10,207,794 B1Granted

Aerial vehicle center of gravity adjustment

AssigneeAmazon Technologies, Inc.

InventorsBrian C. Beckman, Brandon William Porter, Gur Kimchi, Daniel Buchmueller, Jeffrey P. Bezos, Frederik Schaffalitzky, Amir Navot

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Abstract

This disclosure describes a system and method for determining the center of gravity of a payload engaged by an automated aerial vehicle and adjusting components of the automated aerial vehicle and/or the engagement location with the payload so that the center of gravity of the payload is within a defined position with respect to the center of gravity of the automated aerial vehicle. Adjusting the center of gravity to be within a defined position improves the efficiency, maneuverability and safety of the automated aerial vehicle. In some implementations, the stability of the payload may also be determined to ensure that the center of gravity does not change or shift during transport due to movement of an item of the payload.

Claims20

Dependent claims

An aerial vehicle, comprising:

a frame;
a power module coupled to the frame;
a payload engagement element coupled to the frame for engaging and disengaging a payload;
and
a memory coupled to a processor and storing program instructions that when executed by the processor causes the processor to at least:
determine a first center of gravity, a first moment of inertia, or a first mass distribution of a combined payload and the aerial vehicle;
establish a first set of flight controls specifying operating parameters for the aerial vehicle while the payload is engaged by the payload engagement element of the aerial vehicle, wherein:
the first set of flight controls are based at least in part on the first center of gravity, the first moment of inertia, or the first mass distribution;
and
the first set of flight controls limit at least one of a maneuverability of the aerial vehicle or a speed of the aerial vehicle compared to a default set of flight controls in which at least one of the maneuverability of the aerial vehicle or the speed of the aerial vehicle is not limited;
cause the aerial vehicle to operate according to the first set of flight controls while the payload is engaged by the aerial vehicle;
determine that the payload has been disengaged by the payload engagement element of the aerial vehicle;
and
in response to a determination that the payload has been disengaged, cause the aerial vehicle to operate according to the default set of flight controls, the default set of flight controls based at least in part on a default center of gravity, a default moment of inertia, or a default mass distribution of the aerial vehicle.

11 more elements

A system to transport a payload, comprising:

an aerial vehicle having a frame and a payload engagement element coupled to the frame and configured to engage the payload;
and
a memory coupled to a processor and storing program instructions that when executed by the processor cause the processor to at least:
receive a first set of flight controls, wherein the first set of flight controls limit at least one of a maneuverability of the aerial vehicle or a speed of the aerial vehicle compared to a default set of flight controls in which at least one of the maneuverability of the aerial vehicle or the speed of the aerial vehicle is not limited;
cause the aerial vehicle to aerially navigate with the payload according to the first set of flight controls;
determine that the payload has been disengaged by the aerial vehicle;
and
cause the aerial vehicle to aerially navigate without the payload according to the default set of flight controls.

5 more elements

Dependencies are inferred from the claim text.

Facts

Application: 15/377,639Filed 13 Dec 2016 · continuation
Priority: 11 Aug 2014
Granted: 19 Feb 2019
Term ends: Not estimatedThe source records don’t support an estimate.

Classification14 codes

B64C 17/00
Aircraft stabilisation not otherwise provided for
B64U 40/20
On-board mechanical arrangements for adjusting control surfaces or rotors; On-board mechanical arrangements for in-flight adjustment of the base…:…
G01M 1/127
Of aircraft: during the flight
G05D 3/00
Control of position or direction