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US 12,552,563 B2Granted
Motor control optimizations for unmanned aerial vehicles
AssigneeSkydio, Inc.
InventorJoseph A. Enke
Life of this patent
Estimating the term…
Abstract
A method comprising: communicating signals and transmitting the signals. Communicating the signals from an operation system to a motor controller of an unmanned aerial vehicle (UAV). Transmitting the signals from the motor controller to motors of the UAV. Applying a smoothing filter to the signals transmitted from the motor controller to the motors of the UAV to generate filtered signals. Controlling the motors with the filtered signals so that the motors operate to control movement of the UAV.
Claims20
A method, comprising:
- communicating signals from an operating system to a motor controller of an unmanned aerial vehicle (UAV), wherein the motor controller is intermediary to the operating system so that the motor controller is configured to control operation of motors and a stabilizer drive system of the motors based on data received from the operating system;
- transmitting the signals from a regulator system of the motor controller to the motors and the stabilizer drive system of the UAV, wherein the signals include an amount of voltage or an amount of current that controls the motors;
- selecting an operational condition of the UAV based upon an amount of noise reduction of the signals;
- applying a smoothing filter to the operational condition selected so that the signals transmitted from the motor controller to the motors and the stabilizer drive system of the UAV generate filtered signals and the amount of noise after the smoothing filter is less than an amount of noise before the smoothing filter;
- applying conditions to the amount of voltage or the amount of current with the smoothing filter;
- determining a change in the amount of noise by applying the conditions;
- controlling the motors and the stabilizer drive system with the filtered signals and the amount of voltage or the amount of the current conditioned so that the motors operate to control and stabilize movement of the UAV;
- determining an amount of latency or jitter of the signal of the UAV;
- adjusting an amount of the latency or the jitter by changing a rate of transmission of the signal within the UAV;
- and
- adjusting the latency by restricting communications between the operation system and the motor controller to only allow transmission of high priority data.
8 more elements
An unmanned aerial vehicle (UAV), comprising:
- motors;
- a stabilizer drive system in communication with the motors;
- an operation system comprising a regulator system that generates a signal with an amount of current and an amount of voltage;
- and
- a motor controller that is intermediary to the operation system, the motor controller being configured to:
- control operations of the motors and the stabilizer drive system based on data received from the operation system;
- receive the signal from the regulator system,
- select an operational condition of the UAV based upon an amount of noise reduction of the signals,
- apply a smoothing filter to the operational condition selected and by the smoothing filter removing noise from the operational condition selected, the smoothing filter removes noise from the amount of current and the amount of voltage of the signal from the regulator system so that the amount of noise in a smoothed signal after the smoothing filter is less than the amount of noise before the smoothing filter,
- apply conditions, with the smoothing filter, to the amount of current or the amount of voltage of the smoothed signal to change the amount of current or the amount of voltage and generate a filtered signal,
- determine a change in the amount of noise by applying the conditions;
- determine an amount of latency or jitter of a signal of the UAV;
- and
- adjust an amount of the latency or the jitter by changing a rate of transmission of the signal within the UAV by restricting communications between the operation system and the motor controller to only allow transmission of high priority data;
- wherein the motors and the stabilizer drive system receive the filtered signal and the amount of voltage or the amount of the current conditioned from the motor controller and operates according to the filtered signal and the amount of voltage or the amount of the current.
12 more elements
A non-transitory computer-readable storage medium, comprising processor-executable routines that, when executed by a processor, facilitate a performance of operations at an unmanned aerial vehicle (UAV), the operations comprising operations to:
- communicate signals including an amount of current and an amount of voltage from an operation system to a motor controller of the UAV, wherein the motor controller is intermediary to the operation system;
- control operations of motors and a stabilizer drive system in communication with the motors based on data received from the operation system;
- determine an amount of noise in the signals communicated from the operation system to the motor controller;
- select an operational condition of the UAV based upon an amount of noise reduction of the signals from the amount of noise determined in the signals;
- apply a smoothing filter to the operational condition to reduce the amount of noise in the signals to generate filtered signals;
- apply conditions to the filtered signals to vary the amount of the voltage or the amount of the current;
- determine a change in the noise by applying the conditions;
- transmit the filtered signals from the motor controller to motors and the stabilizer drive system of the UAV;
- determine an amount of latency or an amount of jitter of the signals of the UAV transmitted;
- adjust the amount of latency or the amount jitter by changing a rate of transmission of the signal within the UAV by restricting communications between the operation system and the motor controller to only allow transmission of high priority data;
- and
- control the motors and the stabilizer drive system with the filtered signals and the amount of the voltage or the amount of the current conditioned by the smoothing filter so that the motors operate to control movement of the UAV.
9 more elements
Dependencies are inferred from the claim text.