Aerial vehicle with failure recovery
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.
1. An aerial vehicle apparatus, comprising:
a first maneuverability propulsion mechanism and a sixth maneuverability propulsion mechanism partially oriented toward one another to form a first pair;
a second maneuverability propulsion mechanism and a third maneuverability propulsion mechanism partially oriented toward one another to form a second pair;
a fourth maneuverability propulsion mechanism and a fifth maneuverability propulsion mechanism partially oriented toward one another to form a third pair; and
a propulsion mechanism controller configured to at least:
send first 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 second 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.
2. The aerial vehicle apparatus of claim 1 , wherein:
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 are substantially aligned in a same X-Y plane.
3. The aerial vehicle apparatus of claim 1 , wherein:
a first force produced by the first maneuverability propulsion mechanism and a sixth force produced by the sixth maneuverability propulsion mechanism form a first resultant force;
a second force produced by the second maneuverability propulsion mechanism and a third force produced by the third maneuverability propulsion mechanism form a second resultant force; and
a fourth force produced by the fourth maneuverability propulsion mechanism and a fifth force produced by the fifth maneuverability propulsion mechanism form a third resultant force.
4. The aerial vehicle apparatus of claim 3 , wherein a sum of the first resultant force, the second resultant force, and the third resultant force produce a net force having a magnitude, no Y component, and an X component such that the aerial vehicle apparatus surges in an X direction without pitching forward about a Y axis.
5. The aerial vehicle apparatus of claim 1 , wherein:
at least a portion of a first force produced by the first maneuverability propulsion mechanism cancels out at least a portion of a sixth force produced by the sixth maneuverability propulsion mechanism;
at least a portion of a second force produced by the second maneuverability propulsion mechanism cancels out at least a portion of a third force produced by the third maneuverability propulsion mechanism;
at least a portion of a fourth force produced by the fourth maneuverability propulsion mechanism cancels out at least a portion of a fifth force produced by the fifth maneuverability propulsion mechanism; and
further comprising:
a payload engagement component configured to engage a payload.
6. The aerial vehicle apparatus of claim 5 , wherein a net force produced by a sum of the first force, the second force, the third force, the fourth force, the fifth force, and the sixth force has no X component, no Y component, and a moment that causes the aerial vehicle apparatus to pitch about a Y axis, roll about an X axis, or yaw about a Z axis.
7. The aerial vehicle apparatus of claim 1 , wherein:
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 are within a plane and extend radially around a central portion of the aerial vehicle apparatus.
8. The aerial vehicle apparatus of claim 1 , further comprising:
a first arm extending from a central portion of the aerial vehicle apparatus;
a second arm extending from the central portion of the aerial vehicle apparatus;
a third arm extending from the central portion of the aerial vehicle apparatus;
a fourth arm extending from the central portion of the aerial vehicle apparatus;
a fifth arm extending from the central portion of the aerial vehicle apparatus; and
a sixth arm extending from the central portion of the aerial vehicle apparatus.
9. The aerial vehicle apparatus of claim 8 , wherein:
the first maneuverability propulsion mechanism is coupled to an end of the first arm;
the second maneuverability propulsion mechanism is coupled to an end of the second arm;
the third maneuverability propulsion mechanism is coupled to an end of the third arm;
the fourth maneuverability propulsion mechanism is coupled to an end of the fourth arm;
the fifth maneuverability propulsion mechanism is coupled to an end of the fifth arm; and
the sixth maneuverability propulsion mechanism is coupled to an end of the sixth arm.
10. The aerial vehicle apparatus of claim 1 , wherein 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 are arranged such that the aerial vehicle apparatus can aerially navigate independent in any of a surge direction, a heave direction, a sway direction, a pitch direction, a yaw direction, or a roll direction.
11. An aerial vehicle apparatus, comprising:
a first maneuverability propulsion mechanism and a sixth maneuverability propulsion mechanism partially oriented toward one another to form a first pair;
a second maneuverability propulsion mechanism and a third maneuverability propulsion mechanism partially oriented toward one another to form a second pair;
a fourth maneuverability propulsion mechanism and a fifth maneuverability propulsion mechanism partially oriented toward one another to form a third pair; and
a controller configured to at least:
detect a failure of the sixth maneuverability propulsion mechanism; and
in response to detecting the failure, cause 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.
12. The aerial vehicle apparatus of claim 11 , further comprising:
a first arm extending from a central portion of the aerial vehicle apparatus;
a second arm extending from the central portion of the aerial vehicle apparatus;
a third arm extending from the central portion of the aerial vehicle apparatus;
a fourth arm extending from the central portion of the aerial vehicle apparatus;
a fifth arm extending from the central portion of the aerial vehicle apparatus; and
a sixth arm extending from the central portion of the aerial vehicle apparatus.
13. The aerial vehicle apparatus of claim 12 , wherein:
the first maneuverability propulsion mechanism is coupled to an end of the first arm;
the second maneuverability propulsion mechanism is coupled to an end of the second arm;
the third maneuverability propulsion mechanism is coupled to an end of the third arm;
the fourth maneuverability propulsion mechanism is coupled to an end of the fourth arm;
the fifth maneuverability propulsion mechanism is coupled to an end of the fifth arm; and
the sixth maneuverability propulsion mechanism is coupled to an end of the sixth arm.
14. The aerial vehicle apparatus of claim 11 , wherein 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 are arranged such that the aerial vehicle apparatus can aerially navigate independent in any of a surge direction, a heave direction, a sway direction, a pitch direction, a yaw direction, or a roll direction.
15. The aerial vehicle apparatus of claim 11 , wherein a net force produced by a sum of a first force produced by the first maneuverability propulsion mechanism, a second force produced by the second maneuverability propulsion mechanism, a third force produced by the third maneuverability propulsion mechanism, a fourth force produced by the fourth maneuverability propulsion mechanism, a fifth force produced by the fifth maneuverability propulsion mechanism, and a sixth force produced by the sixth maneuverability propulsion mechanism has no X component, no Y component, and a moment that causes the aerial vehicle apparatus to pitch about a Y axis, roll about an X axis, or yaw about a Z axis.
16. A method, comprising:
sending first commands to each of a first maneuverability propulsion mechanism of an aerial vehicle, a second maneuverability propulsion mechanism of the aerial vehicle, a third maneuverability propulsion mechanism of the aerial vehicle, a fourth maneuverability propulsion mechanism of the aerial vehicle, a fifth maneuverability propulsion mechanism of the aerial vehicle, and a sixth maneuverability propulsion mechanism of the aerial vehicle to generate respective forces such that the aerial vehicle can aerially navigate in any of six degrees of freedom;
detecting a failure of the sixth maneuverability propulsion mechanism; and
in response to detecting the failure, sending second 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 can aerially navigate in any of four degrees of freedom;
wherein the first maneuverability propulsion mechanism and the sixth maneuverability propulsion mechanism are partially oriented toward one another to form a first pair;
wherein the second maneuverability propulsion mechanism and the third maneuverability propulsion mechanism are partially oriented toward one another to form a second pair; and
wherein the fourth maneuverability propulsion mechanism and the fifth maneuverability propulsion mechanism are partially oriented toward one another to form a third pair.
17. The method of claim 16 , wherein:
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 are substantially aligned in a same X-Y plane.
18. The method of claim 16 , wherein:
a first force produced by the first maneuverability propulsion mechanism and a sixth force produced by the sixth maneuverability propulsion mechanism form a first resultant force;
a second force produced by the second maneuverability propulsion mechanism and a third force produced by the third maneuverability propulsion mechanism form a second resultant force; and
a fourth force produced by the fourth maneuverability propulsion mechanism and a fifth force produced by the fifth maneuverability propulsion mechanism form a third resultant force.
19. The method of claim 16 , wherein:
at least a portion of a first force produced by the first maneuverability propulsion mechanism cancels out at least a portion of a sixth force produced by the sixth maneuverability propulsion mechanism.
20. The method of claim 16 , wherein:
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 are within a plane and extend radially around a central portion of the aerial vehicle.