# US 10,246,183 B1 · Propeller impact detection and force reduction > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 10,246,183 B1 - Document ID: US10246183B1 - Status: Granted - Kind: B1 - Application number: 15/877,047 - Filed: 2018-01-22 - Granted: 2019-04-02 - Earliest claimed: 2017-12-07 - Assignees: Kitty Hawk Corporation - Applicants: Kitty Hawk Corporation - Inventors: Christopher Scott Saunders - Web page: https://patentgrep.com/patent/US10246183B1 ## CPC - B64C 27/006: {Safety devices} - B64D 17/80: in association with aircraft, e.g. for braking thereof - B64D 31/10: for preventing asymmetric thrust - B64D 45/00: Aircraft indicators or protectors not otherwise provided for - B64D 2045/0085: {Devices for aircraft health monitoring, e.g. monitoring flutter or vibration} - B64U 2201/00: UAVs characterised by their flight controls - B64C: AEROPLANES; HELICOPTERS - B64D: EQUIPMENT FOR FITTING IN OR TO AIRCRAFT; FLIGHT SUITS; PARACHUTES; ARRANGEMENT OR MOUNTING OF POWER PLANTS OR PROPULSION TRANSMISSIONS IN AIRCRAFT - B64U: UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR ## Abstract A commanded control signal is compared against an adaptive control signal in order to detect a rotor strike by a rotor included in an aircraft, wherein the adaptive control signal is associated with controlling the rotor and the adaptive control signal varies based at least in part on the commanded control signal and state information associated with the rotor. In response to detecting the rotor strike, a control signal to the rotor is adjusted in order to reduce a striking force associated with the rotor. ## Claims ### Claim 1 A system, comprising: a processor; and a memory coupled with the processor, wherein the memory is configured to provide the processor with instructions which when executed cause the processor to: detect a rotor strike including by comparing a commanded control signal against an adaptive control signal, wherein the rotor strike is caused by a rotor included in an aircraft striking an object and the adaptive control signal is associated with controlling the rotor and the adaptive control signal varies based at least in part on the commanded control signal and state information associated with the rotor; and in response to detecting the rotor strike, adjust a control signal to the rotor to change rotation of the rotor to reduce a striking force applied to the object being struck by the rotor and prevent damage to at least one of the object being struck and the rotor during at least one of: take-off, landing, and flying at a steady altitude. ### Claim 2 (depends on 1) The system recited in claim 1, wherein the instructions for comparing the commanded control signal against the adaptive control signal in order to detect the rotor strike include instructions for: determining a reference signal based at least in part on the commanded control signal; determining a degree to which the adaptive control signal, which includes a sinusoidal signal, deviates from the reference signal; comparing the degree against a detection threshold; and in response to the degree exceeding the detection threshold, declaring that the rotor strike has been detected. ### Claim 3 (depends on 1) The system recited in claim 1, wherein the instructions for comparing the commanded control signal against the adaptive control signal in order to detect the rotor strike include instructions for: determining a reference signal based at least in part on the commanded control signal, wherein the reference signal includes a measurement threshold; determining a degree to which the adaptive control signal, which includes a sinusoidal signal, deviates from the reference signal; comparing the degree against a detection threshold; and in response to the degree exceeding the detection threshold, declaring that the rotor strike has been detected. ### Claim 4 (depends on 1) The system recited in claim 1, wherein the instructions for comparing the commanded control signal against the adaptive control signal in order to detect the rotor strike include instructions for: determining a reference signal based at least in part on the commanded control signal, wherein the reference signal includes a sinusoidal reference signal; determining a degree to which the adaptive control signal, which includes a sinusoidal signal, deviates from the reference signal; comparing the degree against a detection threshold; and in response to the degree exceeding the detection threshold, declaring that the rotor strike has been detected. ### Claim 5 (depends on 1) The system recited in claim 1, wherein the instructions for adjusting the control signal to the rotor in order to reduce the striking force include instructions for: in response to detecting the rotor strike, using an electrical connector to electrically disconnect the adaptive control signal from a rotor input signal; and in response to electrically disconnecting the adaptive control signal from the rotor input signal, using a pull resistor to set the rotor input signal to a known value associated with reducing the striking force associated with the rotor. ### Claim 6 (depends on 1) The system recited in claim 1, wherein the instructions for adjusting the control signal to the rotor in order to reduce the striking force include instructions for: in response to detecting the rotor strike, opening a power switch in a switched converter, wherein the power switch is connected to a power supply at one end and the adaptive control signal at the other end such that opening the power switch electrically disconnects the adaptive control signal from the power supply; and in response to detecting the rotor strike, closing a ground switch in the switched converter, wherein the ground switch is connected to ground at one end and the adaptive control signal at the other end such that closing the power switch electrically connects the adaptive control signal to ground. ### Claim 7 (depends on 1) The system recited in claim 1, wherein the instructions for adjusting the control signal to the rotor in order to reduce the striking force include instructions for: in response to detecting the rotor strike, opening a power switch in a switched converter, wherein the power switch is connected to a power supply at one end and the adaptive control signal at the other end such that opening the power switch electrically disconnects the adaptive control signal from the power supply; and in response to detecting the rotor strike, opening a ground switch in the switched converter, wherein the ground switch is connected to ground at one end and the adaptive control signal at the other end such that opening the power switch electrically disconnects the adaptive control signal from ground. ### Claim 8 (depends on 1) The system recited in claim 1, wherein the instructions for adjusting the control signal to the rotor in order to reduce the striking force include instructions for: in response to detecting the rotor strike, obtaining an altitude associated with the aircraft; comparing the altitude against an altitude threshold; in response to the altitude exceeding the altitude threshold, at least temporarily adjusting the control signal to the rotor in order to reduce the striking force associated with the rotor; and in response to the altitude not exceeding the altitude threshold, adjusting the control signal to the rotor in order to reduce the striking force associated with the rotor, at least until one or more of the following occurs: a reset or a part replacement. ### Claim 9 (depends on 1) The system recited in claim 1, wherein the instructions for adjusting the control signal to the rotor in order to reduce the striking force include instructions for: in response to detecting the rotor strike, obtaining an altitude associated with the aircraft; comparing the altitude against an altitude threshold; in response to the altitude exceeding the altitude threshold, at least temporarily adjusting the control signal to the rotor in order to reduce the striking force associated with the rotor, wherein the rotor is permitted to restart in response to a pilot restart instruction without a reset prior to the pilot restart instruction or a part replacement prior to the pilot restart instruction; and in response to the altitude not exceeding the altitude threshold, adjusting the control signal to the rotor in order to reduce the striking force associated with the rotor, at least until one or more of the following occurs: a reset or a part replacement. ### Claim 10 (depends on 1) The system recited in claim 1, wherein: the aircraft includes a parachute system; and the instructions for adjusting the control signal to the rotor in order to reduce the striking force include instructions for: in response to detecting the rotor strike, obtaining an altitude associated with the aircraft; comparing the altitude against a higher altitude threshold and a lower altitude threshold; in response to the altitude not exceeding the lower altitude threshold, adjusting the control signal to the rotor in order to reduce the striking force associated with the rotor; and in response to the altitude exceeding the higher altitude threshold, adjusting the control signal to the rotor in order to reduce the striking force associated with the rotor, wherein in response to the altitude exceeding the lower altitude threshold and not exceeding the higher altitude threshold, the striking force associated with the rotor is not reduced. ### Claim 11 A method of rotor strike detection and striking force reduction, the method comprising: detecting, using a processor, a rotor strike including by comparing a commanded control signal against an adaptive control signal, wherein the rotor strike is caused by a rotor included in an aircraft striking an object and the adaptive control signal is associated with controlling the rotor and the adaptive control signal varies based at least in part on the commanded control signal and state information associated with the rotor; and in response to detecting the rotor strike, adjusting, using the processor, a control signal to the rotor to change rotation of the rotor to reduce a striking force applied to the object being struck by the rotor and prevent damage to at least one of the object being struck and the rotor during at least one of: take-off, landing, and flying at a steady altitude. ### Claim 12 (depends on 11) The method recited in claim 11, wherein comparing the commanded control signal against the adaptive control signal in order to detect the rotor strike includes: determining a reference signal based at least in part on the commanded control signal; determining a degree to which the adaptive control signal, which includes a sinusoidal signal, deviates from the reference signal; comparing the degree against a detection threshold; and in response to the degree exceeding the detection threshold, declaring that the rotor strike has been detected. ### Claim 13 (depends on 11) The method recited in claim 11, wherein comparing the commanded control signal against the adaptive control signal in order to detect the rotor strike includes: determining a reference signal based at least in part on the commanded control signal, wherein the reference signal includes a measurement threshold; determining a degree to which the adaptive control signal, which includes a sinusoidal signal, deviates from the reference signal; comparing the degree against a detection threshold; and in response to the degree exceeding the detection threshold, declaring that the rotor strike has been detected. ### Claim 14 (depends on 11) The method recited in claim 11, wherein comparing the commanded control signal against the adaptive control signal in order to detect the rotor strike includes: determining a reference signal based at least in part on the commanded control signal, wherein the reference signal includes a sinusoidal reference signal; determining a degree to which the adaptive control signal, which includes a sinusoidal signal, deviates from the reference signal; comparing the degree against a detection threshold; and in response to the degree exceeding the detection threshold, declaring that the rotor strike has been detected. ### Claim 15 (depends on 11) The method recited in claim 11, wherein adjusting the control signal to the rotor in order to reduce the striking force includes: in response to detecting the rotor strike, using an electrical connector to electrically disconnect the adaptive control signal from a rotor input signal; and in response to electrically disconnecting the adaptive control signal from the rotor input signal, using a pull resistor to set the rotor input signal to a known value associated with reducing the striking force associated with the rotor. ### Claim 16 (depends on 11) The method recited in claim 11, wherein adjusting the control signal to the rotor in order to reduce the striking force includes: in response to detecting the rotor strike, opening a power switch in a switched converter, wherein the power switch is connected to a power supply at one end and the adaptive control signal at the other end such that opening the power switch electrically disconnects the adaptive control signal from the power supply; and in response to detecting the rotor strike, closing a ground switch in the switched converter, wherein the ground switch is connected to ground at one end and the adaptive control signal at the other end such that closing the power switch electrically connects the adaptive control signal to ground. ### Claim 17 (depends on 11) The method recited in claim 11, wherein adjusting the control signal to the rotor in order to reduce the striking force includes: in response to detecting the rotor strike, opening a power switch in a switched converter, wherein the power switch is connected to a power supply at one end and the adaptive control signal at the other end such that opening the power switch electrically disconnects the adaptive control signal from the power supply; and in response to detecting the rotor strike, opening a ground switch in the switched converter, wherein the ground switch is connected to ground at one end and the adaptive control signal at the other end such that opening the power switch electrically disconnects the adaptive control signal from ground. ### Claim 18 (depends on 11) The method recited in claim 11, wherein adjusting the control signal to the rotor in order to reduce the striking force includes: in response to detecting the rotor strike, obtaining an altitude associated with the aircraft; comparing the altitude against an altitude threshold; in response to the altitude exceeding the altitude threshold, at least temporarily adjusting the control signal to the rotor in order to reduce the striking force associated with the rotor; and in response to the altitude not exceeding the altitude threshold, adjusting the control signal to the rotor in order to reduce the striking force associated with the rotor, at least until one or more of the following occurs: a reset or a part replacement. ### Claim 19 (depends on 11) The method recited in claim 11, wherein adjusting the control signal to the rotor in order to reduce the striking force includes: in response to detecting the rotor strike, obtaining an altitude associated with the aircraft; comparing the altitude against an altitude threshold; in response to the altitude exceeding the altitude threshold, at least temporarily adjusting the control signal to the rotor in order to reduce the striking force associated with the rotor, wherein the rotor is permitted to restart in response to a pilot restart instruction without a reset prior to the pilot restart instruction or a part replacement prior to the pilot restart instruction; and in response to the altitude not exceeding the altitude threshold, adjusting the control signal to the rotor in order to reduce the striking force associated with the rotor, at least until one or more of the following occurs: a reset or a part replacement. ### Claim 20 (depends on 11) The method recited in claim 11, wherein: the aircraft includes a parachute system; and adjusting the control signal to the rotor in order to reduce the striking force includes: in response to detecting the rotor strike, obtaining an altitude associated with the aircraft; comparing the altitude against a higher altitude threshold and a lower altitude threshold; in response to the altitude not exceeding the lower altitude threshold, adjusting the control signal to the rotor in order to reduce the striking force associated with the rotor; and in response to the altitude exceeding the higher altitude threshold, adjusting the control signal to the rotor in order to reduce the striking force associated with the rotor, wherein in response to the altitude exceeding the lower altitude threshold and not exceeding the higher altitude threshold, the striking force associated with the rotor is not reduced. ### Claim 21 A computer program product, the computer program product being embodied in a non-transitory computer readable storage medium and comprising computer instructions for: detecting, using a processor, a rotor strike including by comparing a commanded control signal against an adaptive control signal, wherein the rotor strike is caused by a rotor included in an aircraft striking an object and the adaptive control signal is associated with controlling the rotor and the adaptive control signal varies based at least in part on the commanded control signal and state information associated with the rotor; and in response to detecting the rotor strike, adjusting, using the processor, a control signal to the rotor to change rotation of the rotor to reduce a striking force applied to the object being struck by the rotor and prevent damage to at least one of the object being struck and the rotor during at least one of: take-off, landing, and flying at a steady altitude.