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US 10,377,483 B2Granted
Six degree of freedom aerial vehicle with offset propulsion mechanisms
AssigneeAmazon Technologies, Inc.
InventorsRobert Roy Champagne, Jr., Gur Kimchi, Louis LeRoi LeGrand, III, Nicholas Hampel Roberts, Ricky Dean Welsh
Life of this patent
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Abstract
This disclosure describes an aerial vehicle, such as an unmanned aerial vehicle (“UAV”), which includes a plurality of maneuverability propulsion mechanisms that enable the aerial vehicle to move in any of the six degrees of freedom (surge, sway, heave, pitch, yaw, and roll). The aerial vehicle may also include a lifting propulsion mechanism that operates to generate a force sufficient to maintain the aerial vehicle at an altitude.
Claims20
An aerial vehicle apparatus, comprising:
- a first maneuverability propulsion mechanism oriented in a first direction with respect to a vertical orientation;
- a second maneuverability propulsion mechanism oriented in a second direction with respect to the vertical orientation, wherein the first orientation is opposite the second orientation;
- a third maneuverability propulsion mechanism oriented in the first direction;
- a fourth maneuverability propulsion mechanism oriented in the second direction;
- a fifth maneuverability propulsion mechanism oriented in the first direction;
- a sixth maneuverability propulsion mechanism oriented in the second direction;
- a propulsion mechanism controller configured to at least:
- send commands to each of the first maneuverability propulsion mechanism, the second maneuverability propulsion mechanism, the third maneuverability propulsion mechanism, the fourth maneuverability propulsion mechanism, the fifth maneuverability propulsion mechanism, and the sixth maneuverability propulsion mechanism to generate respective forces such that the aerial vehicle apparatus can aerially navigate in any of six degrees of freedom;
- detect a failure of the sixth maneuverability propulsion mechanism;
- and
- in response to detecting the failure send commands to each of the first maneuverability propulsion mechanism, the second maneuverability propulsion mechanism, the fourth maneuverability propulsion mechanism, and the fifth maneuverability propulsion mechanism to generate respective forces such that the aerial vehicle apparatus can aerially navigate in any of four degrees of freedom.
8 more elements
A method to navigate an aerial vehicle, the method comprising:
- receiving a maneuver command that includes a surge command;
- determining a first magnitude for a first force to be produced by a first propulsion mechanism and for a sixth force to be produced by a sixth propulsion mechanism such that, when the first force and the sixth force are combined, a resultant force having a second magnitude, an X component and no Y component is produced;
- determining a second magnitude for a second force to be produced by a second propulsion mechanism and for a fifth force to be produced by a fifth propulsion mechanism;
- sending a command to each of the first propulsion mechanism and the sixth propulsion mechanism to generate the first force and the sixth force, each of the first force and the sixth force having the first magnitude;
- sending a command to the second propulsion mechanism and the fifth propulsion mechanism to produce the second force and the fifth force, each of the second force and the fifth force having the second magnitude;
- and
- executing by each of the first propulsion mechanism, the third propulsion mechanism, the fifth propulsion mechanism, and the sixth propulsion mechanism the respective commands such that the aerial vehicle surges in an X direction without pitching about the Y axis.
4 more elements
An aerial vehicle apparatus, comprising:
- a first propulsion mechanism;
- a second propulsion mechanism;
- a third propulsion mechanism;
- a fourth propulsion mechanism;
- a fifth propulsion mechanism;
- a sixth propulsion mechanism;
- and
- wherein:
- the first propulsion mechanism and the sixth propulsion mechanism are oriented to form a first pair of propulsion mechanisms in which at least a portion of a first force produced by the first propulsion mechanism cancels out at least a portion of a sixth force produced by the sixth propulsion mechanism;
- the second propulsion mechanism and the third propulsion mechanism are oriented to form a second pair of propulsion mechanisms in which at least a portion of a second force produced by the second propulsion mechanism cancels out at least a portion of a third force produced by the third propulsion mechanism;
- the fourth propulsion mechanism and the fifth propulsion mechanism are oriented to form a third pair of propulsion mechanisms in which at least a portion of a fourth force produced by the fourth propulsion mechanism cancels out at least a portion of a fifth force produced by the fifth propulsion mechanism;
- and
- a payload engagement component configured to engage a payload that includes an item ordered through an electronic commerce website for delivery to a destination by the aerial vehicle apparatus.
10 more elements
Dependencies are inferred from the claim text.