Granted Patent B2

US 12,214,913 · App. 18/601,114 · Granted Feb 4, 2025

Inventors: Joseph Anthony Enke (Campbell, CA); Benjamin Tankersley (San Mateo, CA); Jean-Bernard Berteaux (Villars-sur-Glâne, CH); Axel Murguet (Zurich, CH); Garance Bruneau (Zurich, CH)

Assignee: Skydio, Inc.

B64U50/19G05D1/46G05D1/854B64U10/14B64U2201/20

Abstract

Claims (56)

1. An aerial vehicle comprising:

one or more motors;

one or more sensors configured to detect data;

a compensator module comprising:

a conditions adjustment module that adjusts torque of the one or more motors of the aerial vehicle based on the data that comprise environmental conditions;

an iterative mixing module that scales the adjustment of the torque of the one or more motors to control the one or more motors based on the environmental conditions; and

a converter module that converts the adjustment of the torque of the one or more motors based upon the adjustment of the iterative mixing module; and

a control system configured to:

generate torque values based on the data;

generate revised torque values by validating sub-torque values representing a minimum amount of torque to maintain the aerial vehicle at a hover status; and

determine a motor speed for the one or more motors based on the revised torque values.

2. The aerial vehicle of claim 1 , further comprising:

a flight subsystem; and

a telemetric subsystem module in communication with the flight subsystem to provide the data to the flight subsystem.

3. The aerial vehicle of claim 2 , wherein the flight subsystem is configured to calculate an input and provide the input to a motor controller module so that the one or more motors are controlled to change a position of the aerial vehicle.

4. The aerial vehicle of claim 2 , wherein the control system includes the flight subsystem, and wherein the flight subsystem is configured to receive controller data from a remote controller.

5. The aerial vehicle of claim 1 , further comprising:

a compensator module configured to provide feedback information that comprises environmental conditions.

6. The aerial vehicle of claim 5 , wherein a speed of the one or more motors are changed based upon the environmental conditions.

7. A method comprising:

detecting, with one or more sensors, data;

generating torque values, with a control system, of one or more motors, based on the data;

revising the torque values, with the control system, by validating sub-torque values representing a minimum amount of torque to maintain an aerial vehicle at a hover status;

determining a motor speed of the one or more motors based on the revised torque values;

adjusting the torque of the one or more motors, with a conditions adjustment module, based on environmental conditions;

adjusting the torque of the one or more motors, with an iterative mixing module, to scale and control the one or more motors based on the environmental conditions; and

adjusting the torque of the one or more motors, with a converter module, by converting the torque based upon the adjustment of the iterative mixing module.

8. The method of claim 7 , further comprising:

providing the data from a telemetric subsystem module to a flight subsystem.

9. The method of claim 8 , further comprising:

calculating, with the flight subsystem, an input; and

providing the input to a motor controller module so that the one or more motors are controlled to change a position of the aerial vehicle.

10. The method of claim 8 , wherein the control system includes the flight subsystem, and wherein the flight subsystem is configured to receive controller data from a remote controller.

11. The method of claim 7 , further comprising:

providing feedback, from a compensator module, that comprises environmental conditions.

12. The method of claim 11 , further comprising:

changing the motor speed of the one or more motors based upon the environmental conditions.

13. A non-transitory computer-readable storage medium including executable instructions that, when executed by a processor, facilitate performance of operations comprising operations to:

detect, with one or more sensors, data;

generate torque values, of one or more motors, based on the data;

revise the torque values, with a control system, by validating sub-torque values representing a minimum amount of torque to maintain an aerial vehicle at a hover status;

determine a motor speed of the one or more motors based on the revised torque values;

adjust the torque of the one or more motors, with a conditions adjustment module, based on environmental conditions;

adjust the torque of the one or more motors, with an iterative mixing module, to scale and control the one or more motors based on the environmental conditions; and

adjust the torque of the one or more motors, with a converter module, by converting the torque based upon the adjustment of the iterative mixing module.

14. The non-transitory computer-readable storage medium of claim 13 , further comprising operations to:

provide the data from a telemetric subsystem module to a flight subsystem.

15. The non-transitory computer-readable storage medium of claim 14 , further comprising operations to:

calculate, with the flight subsystem, an input; and

provide the input to a motor controller module so that the one or more motors are controlled to change a position of the aerial vehicle.

16. The non-transitory computer-readable storage medium of claim 14 , further comprising operations to:

receive controller data from a remote controller.

17. The non-transitory computer-readable storage medium of claim 13 , further comprising operations to:

provide feedback, from a compensator module, that comprises environmental conditions.

18. The non-transitory computer-readable storage medium of claim 17 , further comprising operations to:

change the motor speed of the one or more motors based upon the environmental conditions.

Assignments (2)

Continuity (5)

References Cited (16)