JP2019525864A - Drone noise reduction by simultaneous propeller modulation - Google Patents

Abstract

Unmanned aerial vehicles (UAVs) are used to deliver payloads, but technology can be provided that generates the desired sound by UAVs during delivery. For example, during delivery or in flight, different sized propellers attached to the UAV can be instructed to modulate to various rotational speeds, thereby producing the desired sound. [Selection] Figure 1

Description

  More and more users purchase items (eg, goods and / or services) using network-based resources such as an electronic market. Network-based resources can provide a user experience that is incomparable to traditional physical stores. For example, network-based resources may provide an assortment of a larger number of more diverse items. In addition, for some items, there may be a large number of sellers with various discount prices. Thus, customers can not only take advantage of the abundant item selection but also obtain items at the most affordable discount prices.

  In many cases, a user (eg, a customer) can operate a computing device to access network-based resources and request information about an item. A network-based resource can provide that information and information about available delivery methods. As a result, the user can purchase an item provided by the network base resource and specify a delivery location. Items can be delivered to delivery locations accordingly. Network-based resources can provide an option to deliver items to a delivery location by unmanned aerial vehicles (UAV), thereby increasing traffic and noise levels near the delivery location.

  Various embodiments according to the present disclosure will be described with reference to the drawings.

FIG. 4 illustrates an example environment that reduces and / or modifies the sound generated by a UAV during item delivery, according to an embodiment. 4 illustrates an example of an unmanned aerial vehicle configured to deliver items according to an embodiment. FIG. 4 illustrates an example technique for reducing and / or modifying the sound generated while delivering an item, according to an embodiment. FIG. 4 illustrates aspects of a system suitable for dynamic sound reduction / modification during item delivery, according to an embodiment. FIG. 4 illustrates an example flow for reducing and / or changing sound while delivering an item, according to an embodiment. FIG. 4 illustrates an example flow for reducing and / or changing sound while delivering an item, according to an embodiment. FIG. 4 illustrates an example environment for generating an intended sound by a UAV during delivery of an item, according to an embodiment. FIG. 4 illustrates an example of a technique for generating an intended sound by a UAV during item delivery according to an embodiment. FIG. 6 illustrates an example flow for generating an intended sound while delivering an item, according to an embodiment. FIG. FIG. 6 illustrates an example flow for generating an intended sound while delivering an item, according to an embodiment. FIG. FIG. 4 illustrates an example computing architecture that reduces, modifies, or generates UAV sound while delivering an item, according to an embodiment. Fig. 6 illustrates an example environment for reducing and / or changing sound during item delivery.

  In the following description, various embodiments will be described. For purposes of explanation, specific configurations are set forth in detail in order to provide a thorough understanding of the embodiments. However, it will be apparent to those skilled in the art that the embodiments may be practiced without the details. In other instances, well-known features may be omitted or simplified in order not to obscure the described embodiments.

  Embodiments of the present disclosure are directed to reducing and / or modifying sound generated by unmanned aerial vehicles (UAVs) during delivery of payloads, such as those that include items ordered from network-based resources, among others. To do. Specifically, UAV utilizes a set of one or more different size propellers during delivery of the payload to reduce the decibel level of the sound generated by the UAV and make it more pleasant for nearby users. May be configured to generate. For example, a first propeller set of a first size may be utilized during the moving portion of the flight while the UAV is in flight on a route for delivering an item to a particular location, while the first A second propeller set of a second size different from the size can be utilized during the delivery or landing portion of the flight.

  Embodiments of the present disclosure are also directed to, among other things, generating the intended sound (which can result in altered or reduced sound) by the UAV delivering the payload. In particular, the UAV may be configured to utilize one or more sets of different sized propellers that modulate to various rotational speeds to produce the desired sound that may be more pleasant sound for nearby users. For example, while a UAV is in the process of delivering a route to deliver an item to a specific location, each set of different size propellers attached to the UAV receives instructions from the management module and modulates them to a specific rotational speed, thereby It affects the acoustic resonance of other sets of propellers of different sizes and produces the desired sound.

  In some embodiments, in addition to configuring the UAV to utilize propellers of different sizes, other variations and / or processing on the propeller itself may be performed to produce the sound generated by the UAV during flight. It can be reduced and / or changed. For example, a propeller blade can include propeller blade machining along one or more portions of the propeller blade (eg, blade machining along the leading edge of the propeller blade). Each propeller blade set, which is a different size from another UAV propeller blade set, may be made of a separate material or may have other surface treatments such as indentations, holes, etc. In some embodiments, a set of propeller blades can be tilted at a constant angle with respect to the UAV to provide various types of control and movement during UAV propulsion. Some propeller blades may include processing to reduce noise. This machining can be enabled by a propeller blade machining adjustment controller that retracts and / or expands one or more of the propeller blade machining. Other propeller blades with different processing, composition, or angles are included in this disclosure.

  The propeller blade can include propeller blade machining along one or more portions of the propeller blade. For example, the propeller blade may only include propeller blade machining along the leading edge of the propeller blade. In other embodiments, the propeller blade machining may be along the leading edge, in the top region of the propeller blade, in the bottom region of the propeller blade, and on the trailing edge of the propeller blade. It may be at the tip of the propeller blade, or any combination thereof.

  Propeller blade processing may be of various sizes and / or shapes and can be extended from or matched to the propeller blade in various ways. For example, some propeller blade processing can be extended from the propeller blade in a direction that includes a vertical component and / or a horizontal component with respect to the surface area of the propeller blade. Alternatively, or in addition, a portion of the propeller blade processing may be extended into the propeller blade. In some embodiments, some or all of the propeller blade processing can be moved or enabled while the propeller is rotating. For example, the propeller may include a propeller blade machining adjustment controller that retracts and / or expands one or more of the propeller blade machining. When moving one or more propeller blades, the sound produced by the rotating propeller changes. Propeller blade machining that can move (eg, retract, expand, shift, or rotate) may be referred to herein as active propeller blade machining.

  In some implementations, one or more sensors that measure sound produced by or around the aircraft may be located on the aircraft. Based on the measured sound, one or more positions of the propeller blade machining of the propeller blade mounted on the aircraft can be changed to generate an anti-sound, which is generated by the aircraft Change the sound produced by the aircraft when harmonizing with the sound. For example, an aircraft processor may maintain information regarding each sound generated for each individual propeller blade machining position. Based on the measured sound and the desired rotation speed of the propeller, when the propeller rotates, the propeller blade machining position that results in the production of anti-sound is selected, and when the propeller rotates at the desired rotation speed, This anti-sound cancels, reduces and / or otherwise modifies the measurement sound.

  In another example, some propeller blade processing is not designed to produce a specific anti-sound, but rather attenuates and reduces the sound produced by the propeller blade as it rotates. And / or in other ways. For example, the propeller blade can include an outer edge (a type of propeller blade machining) that can be retracted or expanded from the trailing edge of the propeller blade. As the outer edge expands, the outer edge changes the airflow and attenuates, reduces, and / or otherwise changes the sound produced by the propeller blades as the propeller passes through the sky.

  In an embodiment, one or more sensors are attached or placed on the UAV to measure the sound generated by or around the UAV during item delivery and flight. Can do. In an embodiment, the measurement sound can be utilized to generate a sound profile that identifies specific decibel levels and other metrics associated with the sound generated by or around the UAV. . For example, a sound profile can be generated for each set of propellers of different sizes that specify decibel levels, loudness, sharpness, roughness, fluctuation strength, and tone protrusion. Each metric included in the sound profile includes one or more thresholds corresponding to the flight portion for item delivery to determine whether the sound generated by the UAV should be reduced or changed. Can be compared. For example, one threshold that allows loud noise may be used during travel mode, while another threshold that specifies low noise is used during different flight segments such as delivery or takeoff. obtain.

  In some embodiments, a computer system that communicates with a UAV, or a computer system of a UAV, can utilize information provided by one or more sensors to generate a sound profile. In some embodiments, the sound profile may be utilized to provide instructions to the UAV and related components, from the first sized first propeller set to the second sized second propeller. Resulting in modulation to a set of propellers, or some combination of the two sets, to reduce or modify noise. For example, a set of one or more different size propellers is not the additive effect of using one or more sets of the same size propeller, but promotes the UAV by providing a frequency that cancels noise, and by the UAV It may be instructed to reduce the generated noise. In various embodiments, a sound profile can be utilized to provide instructions to the UAV and related components, each of which can be used for propellers of different sizes, machined propellers, or other bladed propellers. Utilize each set of propellers simultaneously to provide set modulation and thereby produce the desired sound. As used herein, modulating, or modulating, includes a complete transition (start / stop) from a first propeller of a first size to a second propeller of a second size. It includes changing or changing the RPM of the blade. In some embodiments, the one or more sensors may be configured to send and receive signals that specify the acoustic propagation characteristics of the surrounding environment of the UAV during delivery. For example, the one or more sensors may be configured to send and receive signals within a certain distance around the UAV during delivery (ie, somewhere between 5 and 20 meters from the UAV). In some embodiments, acoustic propagation characteristics can be utilized to update and / or generate one or more sound profiles. The sound profile and / or sound propagation characteristics can be utilized by the management module to modulate different sized propeller blades to various rotational speeds to produce the desired sound.

  In an embodiment, information identifying the current location of the UAV may be used to determine a particular sound profile for use in indicating a set of propeller sizes to be used by the UAV during flight. For example, a flight plan can be generated that instructs the UAV to deliver the payload to the destination. At various points in the flight plan during flight, the sound profile previously generated in the flight plan and the current location of the UAV are utilized as data points to reduce and / or change the noise generated by the UAV. The modulation of each set of propellers of different sizes can be directed. In some embodiments, information identifying component failures, such as motor failures, and / or performance metrics associated with various components of the UAV, including motors and propellers, may be obtained or received.

  Based on information identifying component failure or performance metrics, instructions are generated by the UAV to modulate from the first propeller set to the second propeller set to prevent unexpected slowdown of the UAV during delivery. Can be delivered and / or utilized. In some embodiments, the user who originally ordered the item for delivery and a nearby neighbor can provide or be required to provide input regarding the relative noise level of the UAV being delivered. It may be. Utilizing input provided by the user, the sound profile can be updated dynamically to provide updated instructions to reduce and / or modify the sound generated by the UAV. New configurations of different size propellers and / or multiple sets of different size propellers can be modulated. The pre-generated sound profile can be updated using user input for the next delivery to the same delivery location or destination. In some embodiments, propeller blades and associated components (ie, motors, fixtures, etc.) of different sizes or variously processed are configured in a particular arrangement with respect to the UAV frame and each other. Also good. Since the acoustic resonance of each component and the rotation speed of the propeller blade affect the sound generated by the UAV, the desired sound can be generated using the component configuration.

  In some implementations, the measurement sound may be recorded with and / or independently of other operational data and / or environmental data. Such information or data may include, but is not limited to, external information or data such as information or data not directly related to the unmanned aircraft, or specific information or data such as information or data related to the unmanned aircraft itself, for example. . For example, external information or data includes environmental conditions (eg, temperature, barometric pressure, humidity, wind speed, and wind direction), time zone or day of the week when the unmanned aircraft is operating, month or year, cloud cover evaluation criteria, sunshine, Surface conditions or surface properties within a given environment (for example, whether the surface is wet, dry, covered with sand or snow, or has other properties), phase of the moon , Ocean tides, the direction of the Earth's magnetic field, the degree of air pollution, the number of particulates, or other factors within a given environment. Specific information or data includes dynamic characteristics such as operating characteristics (eg altitude, route, speed, ascending or descending speed, turning speed or acceleration; or structure or frame dimensions, number of propellers or motors, etc. Physical attributes such as motor operating speed), tracked location of unmanned aircraft (eg, latitude and / or longitude), or status of delivered packages. According to the present disclosure, the amount, type and variety of information or data that can be captured and collected in relation to the physical or operating environment in which an unmanned aerial vehicle operates and correlates with information or data related to measured sound is theoretically Is unlimited. In some embodiments, the display or information may clarify that the UAV has successfully delivered the item to the delivery location. Less lift, power, and / or propulsion is required to fly the UAV back to its starting position (related facilities), so that the sound generated by the UAV can be further modified and / or reduced This data point can also be used to modulate between different size propeller sets.

  In some embodiments, the range or sound band generated by the environment or payload can be utilized as a data point in generating one or more sound profiles to generate modulation instructions. For example, during flight, if the sensor attached to the UAV indicates that the surrounding environment is producing sound that falls within a certain band of the sound spectrum, this sound is taken in and the sound that already exists in the environment is played. As such, modulation instructions can be generated and / or modified. According to the present disclosure, the amount, type and variety of information or data that can be captured and collected in relation to the physical or operating environment in which an unmanned aerial vehicle operates and correlates with information or data related to measured sound is theoretically Is unlimited. In some embodiments, the display or information may clarify that the UAV has successfully delivered the item to the delivery location. Less lift, power, and / or propulsion is required to fly the UAV back to its starting position (related facilities), so that the sound generated by the UAV can be further modified and / or reduced This data point can also be used to modulate between different size propeller sets. In some embodiments, data relating to the payload, such as weight, size, packaging material, weight distribution, and acoustic characteristics associated with the item and item packaging, identify the sound profile used by the management module and provide modulation instructions. It can be used as a data point when generating.

  Using external information or external data and / or specific information or specific data captured by the unmanned aerial vehicle in flight, the operation or position of the unmanned aircraft, or conditions around such position, are generated by the unmanned aircraft. The machine learning system can be trained to associate with the sound. A trained machine learning system or a sound profile developed using such a trained machine learning system is then used when the unmanned aerial vehicle operates at a predetermined position or at a predetermined speed or position. Predict the sound that can be emitted when operating on a set of conditions, or when operating according to other characteristics (such as using a set of propellers of a particular size that differ from another set of propellers of different sizes) Can be used to When such a sound is predicted, the sizing, processing, composition, and / or position of the propeller blade that will result in a sound with a modified and / or reduced UAV is determined. In some examples, different configurations of propellers of different sizes can be determined to produce anti-sound. As used herein, anti-sound is approximately opposite, but not exclusively, to predicted or measured sound, and / or is approximately out of phase but exclusively out of phase It refers to a sound having an amplitude and frequency that is not (eg, having a polarity reversed with respect to the polarity of the expected sound). A specially configured propeller set of different sizes is utilized so that the propeller can generate anti-sound during aerial operation of the unmanned aerial vehicle. When anti-sound is generated by a propeller blade, such anti-sound effectively modifies some or all of the expected sound effects at those locations. In this regard, the systems and methods described herein can be utilized to effectively control, reduce, and / or otherwise modify the sound generated by an unmanned aerial vehicle during flight.

  For example, consider an example of a network-based resource such as a website related to an electronic market. Users can access the website and order cotton napkins and porcelain plates. The UAV can be deployed accordingly to deliver orders from the facility to the location associated with the user. During the flight of the UAV, instructions are generated and given to the UAV that direct the modulation of each set of different sized propellers attached to the UAV so as to change or reduce the sound produced by the UAV at various delivery parts. obtain. The UAV may contain luggage including cotton napkins and porcelain plates. Upon arrival at that location, the UAV may unload the cable that connects the napkin and porcelain plate package to the UAV. In parallel or subsequently, the UAV modulates a set of one or more different size propellers to maintain normal flight, deliver packages, and reduce and / or modify the sound produced by the UAV Can do. When the load is landed at the same location, the cable can be disconnected. The UAV can then remodulate to a different set of propellers to change and / or generate the desired sound during the flight to return to the facility.

  To further illustrate, consider another example of a network-based resource, such as a website related to an electronic market. Users can access the website and order cotton napkins and porcelain plates. The UAV can be deployed accordingly to deliver orders from the facility to the location associated with the user. Modulation from a first sized first propeller set to a second sized second propeller set so as to change or reduce the sound produced by the UAV at various delivery portions during flight of the UAV Can be generated and provided to the UAV. The UAV may contain luggage including cotton napkins and porcelain plates. Upon arrival at that location, the UAV may unload the cable that connects the napkin and porcelain plate package to the UAV. In parallel or subsequently, the UAV modulates between sets of one or more different size propellers to maintain normal flight, deliver packages and reduce and / or modify the sound generated by the UAV can do. When the load is landed at the same location, the cable can be disconnected. The UAV can then be re-modulated to another set (s) of different size propellers to return to the facility.

  In the above description, a cable is used to deliver a package to a delivery location, but the embodiments herein are not limited as such. Alternatively, the UAV may deliver the package to the delivery location by landing on the surface of the earth, or deliver the package by dropping the package from a height above the delivery location and complete the delivery to the package. You may make it utilize the connected parachute mechanism.

  For simplicity of explanation, this embodiment may be described herein in the context of a UAV delivering a package containing items ordered from a network-based resource, the delivery being cabled. May include using and unloading luggage. However, the present embodiment is not limited as such. Instead, this embodiment can be applied to one or more UAVs as well, each or a collection of them delivering one / or multiple payloads. In general, for delivery, use one or more ropes, such as one or more cables of the same or different type, to unload one or more payloads, and one or more ropes to deliver one or more payloads Releasing may be included. Releasing the rope from the UAV may include disconnecting the rope from the UAV or without disconnecting the rope.

  Referring to FIG. 1, an example environment is shown that reduces and / or modifies the sound generated by a UAV during item delivery, according to an embodiment. Specifically, UAV 110 may be deployed at location 112 associated with user 114 for delivering package 116. In this example environment, location 112 is shown as the residence of user 114. However, the embodiments described herein are not limited as such and are equally applicable to other types of locations and / or other associations with users. In FIG. 1, UAV 110 is currently configured to utilize a first set of propellers 118 that generate a first sound during movement. The UAV 110 may generate a first sound that is predicted based on a sound profile determined when the first propeller set 118 is used while using the first propeller set 118. It should be noted that FIG. 1 shows a UAV 110 that utilizes a first propeller set 118 and does not use the other sets of propellers that are attached to the UAV 110. In some embodiments, the UAV 110 can utilize multiple sets of different size propellers in various configurations (propeller processing, composition, rotational speed, etc.) to modify or reduce the sound produced by the UAV 110. .

  In one example, user 114 may operate a computing device to access network-based resources to order items. Based on this order, items can be packed at the facility and loaded onto the UAV 110. The UAV 110 can be remotely controlled or operated autonomously to air load the package 116 from the facility to the location 112, deliver the package 116, and return it to the facility or other location. Such operation of UAV 110 may represent an example of a flight mission in which UAV 110 may be deployed for performance.

  Upon arrival at location 112 (eg, exactly at or near location 112), UAV 110 may determine delivery surface 120 and deliver package 116. In FIG. 1, a delivery surface 120 is shown as the ground surface of the backyard of the user's residence. However, the embodiments described herein are not limited as such and are equally applicable to other types of surfaces and / or other associations with locations 112. In an embodiment, upon arrival at location 112, one or more sensors attached to UAV 110 may obtain or receive UAV 110 or its surrounding external and unique data to generate a sound profile. This sound profile identifies the intended sound generated by the UAV 110 given a given configuration of different size propeller sets. External and unique data regarding UAV 110 and the surrounding environment include the presence of user 114, details regarding location 112 (echoing structures, ie holes, empty pools, etc.), other items in environment 122, and UAV 110 itself. Information may be included. In one example technique, data relating to location 112 including items in environment 112 and other suitable information such as spatial coordinates may be obtained before leaving the facility, on the way to location 112, or upon arrival at location 112. Can be provided to the UAV 110 (eg, sent to the UAV 110 and stored thereafter). This data can be generated based on the UAV 110 sensor. For example, the UAV 110 is equipped with a number of sensors, such as image sensors, motion sensors, radio wave sensors, and / or other sensors, and one or more processing units, generated by the UAV 110, or around the UAV 110. Can detect and process environmental data related to location and sound. Of course, a combination of both exemplary techniques may be used.

  In an embodiment, when the UAV 110 approaches the delivery surface 120, it sends or generates an instruction that allows the UAV 110 to modulate from a first sized first propeller set 118 to a second sized second propeller set 124. be able to. Modulation from the first sized first propeller set 118 to the second sized second propeller set 124 may reduce and / or modify the sound produced by the UAV 110 during delivery of the package 116. . In an embodiment, the UAV may receive an input 126 that the package 116 has been delivered via the attached cable 128. The data point that this delivery was successful can be used to further update or generate a new sound profile for UAV 110. The UAV 110 further directs modulation between propeller sets (118, 124) of different sizes to drive the UAV 110 back to the originating facility. In some embodiments, the sound profile may be updated based on the latest weight of the UAV 110, which is the sound generated by the UAV when certain different sized propeller sets are utilized. To change.

  In embodiments where a pre-generated sound profile is utilized, the UAV 110 provides or utilizes its relative position with respect to the delivery location 112 so that the desired sound is generated. Therefore, the configuration of a propeller set of a specific size can be selected. For example, after delivery, the sound profile and corresponding instructions direct the UAV 110 to lift the UAV 110 to an appropriate height before returning to the originating facility, and the first size first propeller set 118 and the second size. Both the second propeller set 124 can be utilized. As described herein, embodiments of the present disclosure generate anti-sound or further reduce the sound generated by the UAV during various delivery portions from the origin location to the delivery location 112. And / or use of both propeller sets (118 and 124) to modify. Specific environmental data or sound generated by the UAV 110 at the delivery location 112 is captured and stored for later use to generate and utilize various sound profiles for the specific delivery location and UAV 110 propeller configuration. In some cases, machine learning algorithms can be trained.

  An example of a UAV component, such as UAV 110, configured to deliver a package to a location and reduce and / or modify the sound generated by UAV 110 is further illustrated in FIG. This UAV may use a cable such as the cable 128 as one end of the delivery method. Cables can be added (eg, installed, mounted, attached, coupled, connected) to the UAV as part of deploying the UAV for delivery missions. This UAV can use a different configuration, a set of propellers of different sizes, to deliver items to a delivery location.

  FIG. 2 illustrates an example of an unmanned aerial vehicle configured to deliver items according to an embodiment. In FIG. 2, an example of a UAV 200 configured to deliver items is shown. The UAV 200 may be designed according to commercial aviation standards and may include multiple redundancy to ensure reliability. In particular, UAV 200 may include multiple systems or subsystems operating under control or at least partially controlled by management component 202. The management component 202 may be configured to manage and / or control various operations of other UAV 200 components mechanically and / or electronically. For example, the management component 202 can include various sensing mechanisms, actuation mechanisms, and monitoring mechanisms to manage and control various operations. For example, the management component 202 controls and manages the various operations of the UAV 200 autonomously or semi-autonomously, and in some examples, an on-board computing system that functions as a host of a management module that allows remote control by a pilot. 204 may be included or interfaced therewith. Various operations include a propulsion system 218 that facilitates flight, a payload containment mechanism 212 that facilitates receipt of a payload (eg, a load), and / or a payload release mechanism 214 that facilitates release and delivery of the payload. It can also include managing other UAV 200 components. The portion of the management component 202 that includes mechanical and / or electronic control mechanisms is housed under the top cover 250 or distributed within the scope of other components such as the payload housing mechanism 212 and the payload release mechanism 214. May be. In a further example, components remote from UAV 200 may be deployed, which can communicate with management component 202 to direct some or all of the operation of management component 202. These remote components are sometimes referred to as management components. In one example, the management component 202 includes a power supply and power assembly (eg, rechargeable battery, liquid fuel, and other power supply) (not shown), one or more communication links and communication antennas (eg, modem, radio, etc.). Network, cellular, satellite, and other links that transmit and / or receive information (not shown), one or more navigation devices and navigation antennas (eg, Global Positioning System (GPS), inertial navigation system) (INS), rangefinder, radar (RADAR), and other systems useful for navigating the UAV 200 to detect objects (not shown), as well as radio automatic identification (RFID) functions (not shown) May be included.

  The UAV 200 can also include an on-board computing system 204. In one example, computing system 204 may be integrated with management component 202. In another example, the computing system 204 may be separate from the management component 202, but may be interfaced with it. The computing system 204 can be configured to provide electronic control of various operations of the UAV 200, including those provided by the management module. In one example, the computing system 204 may process data detected by one or more other components of the UAV, such as the management component 200, to generate delivery related data. In a further example, computing system 204 can electronically control components of payload containment mechanism 212 and / or payload release mechanism 214. In another example, the computing system 204 can also electronically control UAV 200 components such as multiple propulsion devices, some of which (230 (A) -230 (F)) are listed in FIG. The Management component 202 and computing system 204 are generated by UAV 200 as described herein, changing propeller usage, modulation, and rotational speed of propulsion devices 230 (A) -230 (F). It may be configured to reduce and / or change noise. In embodiments, the propellers of propulsion devices 230 (A) -230 (F) may be of various different sizes (eg, various lengths, widths, or other that provide a difference between propeller sizes). Appropriate dimensional combinations, etc.) or various propeller blade processing may be included. As shown in FIG. 2, the computing system 204 can be housed inside the top cover 250 and can include multiple components, such as a computer 206, a storage device 208, and an interface 210. Computer 206 may function as a host of a management module configured to provide management operations for flight and / or other parts of the mission of UAV 200. For example, the data management module directs the generation of data related to the sound generated by or around the UAV 200, the determination of an appropriate sound profile, and the modulation of propeller sets of different sizes. Determining the appropriate delivery plane, determining the distance to drop the payload, determining the speed to drop the payload, directing the propulsion system to place the UAV 200 in place according to this data, payload containment mechanism 212 Activating the release of luggage from, activating the release of cables, and / or enabling other functions of the mission, and during various parts of the mission to deliver payload Different and different propeller sets can continue to be modulated. The storage device 208 may correspond to one or more storage media such as volatile or non-volatile semiconductor, magnetic, or optical storage media. In one example, the storage device 208 is associated with any operational data of the UAV 200, external sound data or specific sound data acquired by a sensor attached to the UAV 200 with respect to sounds generated by or around the UAV 200, delivery aspects. Generated data or receipt data and / or receipt data associated with the delivery location may be stored. The data may include the distance at which the payload can be lowered and the descent speed. In addition, the storage device 208 may store a set of rules associated with dropping the payload and releasing the payload. This set of rules determines where, when and / or how to deliver the payload so that the possibility of damaging the payload (or its contents) and / or interference with the UAV 200 can be reduced. You can specify parameters to do. A set of rules can also specify parameters (loudness, intensity of variation, etc.) to determine the appropriate sound level for the metrics included in the sound profile. Computer 206 (eg, a management module) monitors and / or determines some or all of the parameters, thereby generating a delivery distance and / or speed, reducing and reducing the sound generated by UAV 200. An appropriate set of specific propellers of specific sizes with corresponding rotational speeds can be determined for use in changing. In some embodiments, the computer 206 (eg, a management module) can generate instructions that deploy specific propeller processing that reduces and / or modifies the sound generated during the flight of the UAV 200. Modulation of individual propeller sets and / or propeller processing expansion / retraction can be controlled electronically or mechanically. Interface 210 may correspond to an interface that exchanges data as part of managing and / or controlling some of the operations of UAV 210. In one example, interface 210 may be configured to facilitate data exchange with management component 202, other UAV 200 components, and / or other components remote from UAV 200. Accordingly, interface 210 may include a wired and / or wireless, serial and / or parallel high speed interface to allow high speed uploading and downloading of data to and from computing system 204.

  As shown in FIG. 2, the UAV 200 can also include a payload accommodation mechanism 212. Payload receiving mechanism 212 may be configured to receive or hold a payload. In some examples, the payload receiving mechanism 212 may receive or hold the payload using a friction force mechanism, a vacuum suction mechanism, an opposing arm mechanism, a magnet mechanism, a receiving mechanism, and / or other holding mechanism. it can. As shown in FIG. 2, the payload receiving mechanism 212 may include a compartment configured to receive a payload. In another example, the payload receiving mechanism 212 may include two opposing arms configured to apply a frictional force to the payload. Management component 202 may be configured to control at least a portion of payload containment mechanism 212. For example, the management component 202 can electronically and / or mechanically actuate the payload receiving mechanism 212 to receive and / or release the payload. In one example, the payload can be received by opening the compartment, pushing the payload, moving one or both of the opposing arms, and / or stopping the application of frictional force, vacuum suction, and / or magnetic force. It can be released from the mechanism 212.

  The UAV 200 can also include a payload release mechanism 214. In one example, the payload release mechanism 214 may be integrated with the payload accommodation mechanism 212. In another example, the payload release mechanism may be separate from the payload accommodation mechanism 212. In both examples, the payload release mechanism 214 may be configured to use a cable to lower the payload released from the payload containment mechanism 214 and release the cable when the payload is lowered a distance.

  Accordingly, the payload release mechanism 214 can include a lowering mechanism and a release mechanism. For example, the lowering mechanism may include an electronic controller or a mechanical controller configured to lower the cable and / or the cable at a controlled speed. For example, the control device can include a winch, a spool, a ratchet, and / or a clamp. The cable can connect the payload to the UAV 200. For example, one end of the cable can be connected to, attached to, or integrated with the payload. The other end of the cable may be coupled to one or more components of a payload release mechanism 214, a payload containment mechanism 212, a UAV 200 frame, and / or other UAV 200 component (s). For example, the cable may be wrapped around a winch or spool, or may be stowed or wound inside the compartment (when used as part of the payload receiving mechanism 212). The cable may have a configuration selected based on the UAV 200 mission, payload mass, and / or anticipated environment (eg, potential failure) associated with the delivery location.

  In one example, the release mechanism may be integrated with the lowering mechanism. In another example, the release mechanism may be separate from the lowering mechanism. In both examples, the release mechanism may be configured to release the cable when the payload is lowered a certain distance. Releasing the cable includes disconnecting the cable from the UAV 200 (eg, from the payload release mechanism 214) without disconnecting the cable, weakening the cable, and / or disconnecting or weakening the cable. obtain.

  To disconnect the cable, the release mechanism includes a sharp surface, such as a blade, which can be cut, for example, when the cable is hung there. To weaken the cable, the release mechanism may include a sharp head, edge, and / or tip, such as a punch, or a friction surface that causes damage to the integrity of the cable structure. Other release mechanisms can also be used to disconnect or weaken the cable. In one example, a mechanism configured to apply a thermoelectric effect to the cable may be included. For example, a contact surface, such as a contact surface using a conductor, may be configured to release heat when a voltage is applied. The contact surface may be in contact with the cable or may be integrated within various portions of the cable. When a voltage is applied, the contact surface can disconnect or weaken the cable by applying heat to the cable. To separate the cable from the UAV 200, the cable is not securely coupled to the UAV 200 in the first place, so that the cable can be disconnected from the UAV 200 when the cable is unwound. For example, the cable may be wound around the winch or spool without attaching the end of the cable to the winch or spool, or any other UAV 200 component. In another example, a cable may be coupled to a component of the UAV 200 via a weak link, causing the link to break and release the cable from the UAV 200 when tension is generated based on the payload mass.

  The release mechanism can be controlled electronically or mechanically. This control is performed, for example, based on the distance that the payload can be lowered and / or based on the amount of cable tension, an increase in the amount, a decrease in the amount, or a sudden or rapid change in the amount. obtain. Various configurations can be used to measure distance, amount of tension, and changes in that amount. For example, the distance can be determined from the number of revolutions if a winch or spool is used, or based on a distance sensor or cable length sensor. The amount of tension and the change in that amount can be determined based on spring-based or electronic-based sensors.

  In addition, the release mechanism can be electronically activated based on signals generated in response to detecting the distance traveled and / or the amount or change in tension. In another example, the release mechanism can be actuated based on a mechanical configuration. For example, when the cable can be lowered, the ratchet can load a spring that can be coupled to a release mechanism. When the load exceeds the threshold, the spring can be released, thereby actuating the release mechanism. In another example, cable tension can be used to house the release mechanism away from the cable. As soon as the tension changes (eg, indicating that the cable is loose and the payload may be placed on the ground), the release mechanism can be actuated to disconnect or weaken the cable.

  Further, UAV 200 may include a propulsion system 218. In some examples, propulsion system 218 can include rotating blades, or vice versa, propulsion system 218 can be a propeller-based system. As shown in FIG. 2, the propulsion system 218 can include a plurality of propulsion devices, some of which 230 (A) -230 (F) are shown in this figure. Each propeller device may include one propeller, motor, wiring, balance system, control mechanism, and other equipment to allow flight. In some examples, propulsion system 218 may operate at least partially under control of management component 202. In some examples, propulsion system 218 may be configured to coordinate itself without receiving instructions from management component 202. Thus, the propulsion system 218 can operate semi-autonomously or autonomously. In some embodiments, the propulsion system 218 dynamically modulates between different sets of propellers of different sizes in conjunction with instructions from the management module to reduce and / or modify the sound generated by the UAV 200. Can do.

  The UAV 200 can also include a landing structure 222. Landing structure 222 may be rigid enough to support UAV 200 and the payload. Landing structure 222 may include a plurality of elongated legs that may allow UAV 200 to land on and take off from a variety of different surfaces. Multiple systems, subsystems, and structures of UAV 200 may be connected via frame 226. Frame 226 may be made of a rigid material and may be capable of accepting various systems, subsystems, and structures via various connections. For example, the landing structure 222 can be disposed below the frame 226 and, in some examples, can be formed from the same material and / or the same piece of material as the frame 226. The propulsion systems 218 may be arranged radially near the outer periphery of the frame 226, or may be otherwise distributed around the frame 226. In some examples, the frame 226 may have one or more fixed wings attached or attached.

  Thus, a UAV similar to UAV 200 may be deployed in a mission to deliver payload, for example, by modulating between different sized propeller sets and / or using different sized propeller sets simultaneously. A UAV can complete or perform part of a mission autonomously or semi-autonomously. For example, delivery location coordinates can be provided to the UAV. The UAV can accommodate the payload in a payload accommodation mechanism and fly to a delivery location. In addition, UAVs can utilize portions of one or more propeller sets of different sizes to drive UAVs and generate the desired sound or sound level during delivery. Upon arrival at that location, the UAV detects or acquires data from one or more sensors to change and / or reduce the noise generated by the UAV from a first propeller set of a first size. Configuration / modulation to a second set of propellers of different sizes may be modified (exclusively or simultaneously). If appropriate, the UAV can release the payload from the payload accommodation mechanism. The UAV can again adjust and modify propeller sets of different sizes and ascend and take a return to the origin location or origin facility from which the UAV was deployed.

  FIG. 3 illustrates an example technique for reducing and / or modifying the sound generated during item delivery, according to an embodiment. FIG. 3 shows the UAV 310 (see left figure) as it approaches the delivery location 312 using the first configuration of the first size propeller set 314. As shown in FIG. 3, the first configuration of the first size propeller set 314 includes utilizing a propeller set 314 that is larger than the other propeller sets (316) when approaching the delivery location 312. As described herein, different propeller sets (314 and 316) can be of different sizes, further helping to reduce or modify the sound generated by the UAV 310 during delivery of item 318. Can have various finishes or finishes.

  FIG. 3 illustrates that the UAV 310 utilizes the first configuration of the first size propeller 314 to lower the item 318 to the delivery location 312 via the cable 320. In an embodiment, the UAV 310 generates a desired sound using a first configuration according to a method based on a sound profile generated using unique data and external data from or around the UAV 310. Can do. For example, the data may have a metric that makes use of the first configuration of the propeller when approaching the delivery location 312 does not exceed the threshold associated with the location 312 included in the acceptable sound or sound profile. It can be shown that the generated sound can be generated. Upon delivery of item 318 by UAV 310 (see the diagram on the right), another sound profile can be generated or the original sound profile is updated with input confirming delivery of item 318 to delivery location 312. can do. Generate instructions to use both propeller sets (314 and 316) at the same time to generate a different sound using the updated / different sound profile than when using only the first configuration of propeller 314. be able to. The instructions tell you how to use both sets of propellers (314 and 316) to generate a comfortable and acceptable sound for nearby users during take-off or climb to a certain height before returning to the starting position. Can show.

  Any of the different size propeller sets or combinations thereof may facilitate changing or reducing the sound produced by the UAV during item delivery. FIG. 4 illustrates aspects of a system suitable for dynamic sound reduction / modification during item delivery, according to an embodiment.

  FIG. 4 shows one or more UAVs 402 and 404 engaged in flight between an origin (406 and 410) and a destination (408 and 412) during item delivery. For example, UAV 404 is shown in the middle between 406 and 408 and UAV 402 is shown in the middle between 410 and 412. UAVs 402 and 404 are configured to use one or more sensors to capture external or specific information or data 416 about UAVs 402 and 404 and the environment in which UAVs 402 and 404 are operating, including location Information, data regarding altitude, route, speed, ascending or descending speed, turning speed, acceleration, wind speed, humidity level and temperature, sound, etc., but not limited thereto. UAVs 402 and 404 are also configured to capture sound 416 and vibration 416 generated by the UAV during each flight.

  For example, as shown in the information or data 416 of FIG. 4, UAV 404 is 082 ° in an atmosphere of 78 percent humidity and 74 degrees Fahrenheit at 127 feet altitude in 4 mph winds from south-southwest. The route is moving at a speed of 38 miles per hour (mph), and the measured sound around the UAV 404 is 80 decibels (“dB”) at 900 Hz. Although the diagram in FIG. 4 only shows sound measurements for a single location on the UAV, the information or data 416 represents the sound measured adjacent to or near each propeller of each UAV. It will be understood that it can be included. For example, if aircraft 404 includes eight propellers, aircraft 404 may also include eight sensors that measure sound data 416. The operational information also indicates one or more propeller blade machining positions, rotational speeds, and / or power consumption required to generate the lift required to navigate the aircraft in the air. May be. This information may also indicate the size of each propeller blade and the relative position of the motor utilizing the propeller blade of this size with respect to the UAV 404.

  In accordance with the present disclosure, UAVs 402 and 404 provide both external and specific information or data 416 (eg, information or data regarding environmental conditions, operating characteristics or tracking location of UAVs 402 and 404) to the data processing system. Information or data 416 about the sound that is configured and recorded during the movement of UAVs 402 and 404 may also be configured to be provided to the data processing system. Information or data 416 may be provided to the data processing system in real time or near real time while the UAVs 402 and 404 are moving or when they arrive at their respective destinations. In some embodiments, for example, external and specific information or data 416 such as observed environmental signal e (t) is provided to the machine learning system as a set of training inputs, Information or data 416, such as measured sound data, about the sound recorded by the sensors is provided to the machine learning system as a set of training outputs for each of the aircraft sound control systems. As described above, sound data is configured for each propeller size used during flight.

  The machine learning system takes measurements obtained using each of the sensors belonging to one or more, such as UAVs 402 and 404, to create a sound model for the size and position of each propeller on UAVs 402 and 404 in flight. May be fully trained using a substantial corpus made of the observed environmental signal e (t) that correlates with the observed sound. After the machine learning system has been trained and a sound profile has been created, the machine learning system includes a set of external or unique information or data that can be expected in an environment where the UAV is or is expected to operate. (E.g., environmental conditions, operating characteristics, or position) can be provided, and the machine learning system provides a predicted sound for each propeller size configuration of the UAV. In some implementations, the machine learning system can reside and / or operate on one or more computing devices or computing machines installed in one or more UAVs 402 and 404. The machine learning system can receive information or data about the corpus of observed sound signals and sound measured by other UAV sensors (not shown) for training purposes, and once trained The machine learning system receives as input, for example, real-time or near real-time, external or specific information or data that is actually observed by the UAV, and outputs corresponding to the predicted sound based on that information or data Can be generated.

  In other implementations, the machine learning system may reside and / or operate on one or more centrally located computing devices or computing machines. The machine learning system can receive information or data regarding the corpus of sounds measured by the respective sensors of UAVs 402 and 404. When the machine learning system is trained, the machine learning system sends a UAV computing device or computing machine belonging to the owning aircraft to the UAV based on external or unique information or data actually observed by the respective UAV. It can be used to write a sound profile that predicts individual propeller-sized sounds in operation. In yet another embodiment, the machine learning system may be programmed to receive external or specific information or data from the running UAV as input, eg, via wireless means. Based on the received information or data, the machine learning system can then generate an output corresponding to the predicted sound at a particular propeller size on the UAV and return such predicted sound to the UAV. For example, UAVs and machine learning systems can exchange batches of information collected over a period of time. For example, UAV measures external and / or specific information or data for 5 seconds (or any other time) and manages the measured information or data with a machine learning system or machine learning system implemented It may be sent to the module. When the machine learning system receives the information or data, it generates outputs corresponding to the predicted sound at the individual propeller size, processing, composition, finish, and rotational speed on the UAV based on the received information or data. Is sent to the UAV. The UAV then uses the received output to identify propeller blades of different sizes that cause the UAV to generate a corresponding sound or anti-sound and produce the indicated lift when the propeller rotates. A set of can be determined. Alternatively or in addition, the received output can be used by the UAV to determine which particular set of propeller blades of different sizes attenuate the sound or otherwise modify the sound (eg, change the frequency spectrum) Change). Similarly, in addition to changing or adjusting between different sets of propeller blades of different sizes, the shape of the propeller blades can also be adjusted. This process may continue while the UAV is in flight or in operation.

  For example, if variables such as origin, destination, speed and / or UAV 404 planned altitude (eg, UAV flight plan) are known and variables such as environmental conditions and operating characteristics are known or can be estimated, Such variables may be provided as input to a trained machine learning system. Subsequently, as the UAV 404 moves from the origin 406 to the destination 408 in accordance with such operational characteristics within such environmental conditions, sounds that can be predicted for each propeller size of the UAV 404 are received as output from the trained machine learning system. obtain. From such output, different propeller configuration configurations of different sizes are determined that alter the generated sound, eg, generate anti-sound and / or attenuate the generated sound of UAV 404, or Modulating from a first size first propeller set to a second size second propeller set, the rotational speed may be determined. This adjustment can be determined and performed in real time or near real time when the UAV 404 is on its way from the origin 406 to the destination 408.

  Referring to FIGS. 5 and 6, FIGS. 5 and 6 illustrate example flows 500 and 600 for reducing and / or changing sound during item delivery according to an embodiment. In an exemplary operation, some of the operations or functions may be embodied within a management component (eg, management component 202 of FIG. 2), thereby being fully or partially automated. However, other or other electronic and / or mechanical component combinations may additionally or alternatively be used. Also, although operations are shown in a particular order, it should be understood that a particular order is not required and that one or more operations can be omitted, skipped, and / or reordered.

  The example flow 500 of FIG. 5 may begin at operation 502 where an order for an item can be received. For example, orders can be received on network-based resources associated with the electronic market. The electronic market can provide items. The order can be received from a user's computing device accessing network-based resources. In operation 504, instructions for delivering the item to the flight plan or destination may be generated for the UAV. Received orders can be processed to generate missions and / or flight plans. The mission / flight plan can specify the delivery location and / or delivery plane associated with the user and, if applicable, data associated with the expected environment at the delivery location and / or delivery plane. A mission may be provided to the UAV to trigger its deployment. For example, mission related data may be sent to the management component of the UAV.

  In act 506, one or more sound profiles are generated based in part on one or more sets of propellers of different sizes that are either attached to or placed on the UAV. In some embodiments, the one or more sound profiles identify the intended sound generated from the UAV based on utilizing a particular configuration of propellers of different sizes. In an embodiment, the one or more sound profiles identify the intended sound that is generated from the UAV based on different processing, angles, or other finishes of propellers of different sizes. The UAV can autonomously or semi-autonomously perform missions or parts thereof, including, for example, flight to a delivery location, delivery of a package containing items, and return to home. In autonomous execution, the management component of the UAV manages and controls the partial execution of the mission, including modulating between propellers of different sizes to reduce and / or modify the sound produced by the UAV. Can do. In semi-autonomous execution, the management component can coordinate another management component or do so under the direction of another management component. This separate component may be a ground component that communicates remotely with the management component of the UAV.

  In operation 508, the UAV is a first propeller set of a first size to reduce and / or modify the sound generated by the UAV during at least a portion of the flight plan (delivery route to the delivery location). May be instructed to modulate to a second propeller set of a second size. In embodiments, whether to determine the relative position or the stage of the flight plan when determining the modulation between propellers of different sizes attached to the UAV to reduce and / or modify the sound produced by the UAV Can be used as data points. This determination may be based on UAV current location data (eg, GPS coordinates) and comparing this location data with that of the delivery location.

  Arriving at the delivery location may include arriving at or near the exact delivery location. Upon arrival at the delivery location, the UAV detects various environmental data and, if applicable, determines or updates the sound profile, thereby generating any specific sound to produce the desired sound according to the sound profile. Update whether to use a propeller set. UAVs can deliver items and modulate to yet another set of propellers of different sizes for return to the facility or origin location. In some embodiments, different size propeller sets can be utilized in one or more configurations to reduce and / or modify the sound generated by the UAV at various locations in the UAV during delivery. (For example, another intended sound being delivered at a delivery location as opposed to an intended sound being moved at one altitude). Based on unique data as well as anticipated or detected environmental conditions around the delivery location, the UAV performs various maneuverable flights and utilizes one or more configurations of propellers of different sizes to deliver Delivery of items to a location can be completed.

  The example flow 600 of FIG. 6 may begin at operation 602 where an order for an item can be received. For example, orders can be received on network-based resources associated with the electronic market. In operation 604, instructions for delivering the item to the flight plan or destination may be generated for the UAV. Received orders can be processed to generate missions and / or flight plans. The mission / flight plan can specify the delivery location and / or delivery plane associated with the user and, if applicable, data associated with the expected environment at the delivery location and / or delivery plane. In operation 606, the first sound generated around the UAV may be received from a first sensor associated with the UAV based on the UAV utilizing a first sized first propeller set. In embodiments, the UAV can be equipped or configured to utilize multiple propeller sets of different sizes.

  In operation 608, a sound profile may be dynamically generated for the UAV based in part on the first sound. The sound profile can identify the intended sound corresponding to utilizing a particular propeller set of a particular size during flight. In an embodiment, other data, such as environmental data, may be used in conjunction with data from the first sensor to generate a UAV sound profile. In some embodiments, the metric included in the generated sound profile is compared to a threshold to determine whether any one or more specific metrics exceed the threshold associated with the stage of the flight plan. can do. For example, during movement (ie, between an origin location and a delivery location), one or more threshold values may be specified to allow a high metric value included in the sound profile. In contrast, during landing, the threshold may be specified as restrictive, thereby reducing and / or changing the sound produced by the UAV. In operation 610, the UAV modulates from a first size first propeller set to a second size second propeller set based on the sound profile during item delivery and the relative position of the UAV. You can be instructed or receive instructions. As described herein, the generated sound profile may indicate that the current configuration of the UAV or utilization of the first size propeller is a generated sound that is to be reduced or modified. Thus, the instructions can modulate the UAV to utilize other sets of propellers of different sizes in order to reduce or change the generated noise. Selection of specific propeller sets of different sizes is based on a dynamically generated sound profile that identifies the desired sound when using a specific propeller set of a different size than the currently used propeller set Can be determined.

  FIG. 7 illustrates an example environment for generating the intended sound by a UAV during the delivery of an item, according to an embodiment. The environment 700 of FIG. 7 provides information identifying a particular sound and / or sound spectrum 706 that the user desires the UAV 708 to generate during delivery of the item to a location associated with the user 702. A user 702 utilizing a computing device 704 (such as a mobile phone) is shown. In an embodiment, information provided by user 702 may be communicated to one or more service provider computers 710 via available network 712. One or more service provider computers 710 may be configured to implement the services and functions described herein and may include a management module that communicates with UAV 708 via network 712. One or more service provider computers 710, among other things, generate flight paths and modulation instructions that are provided to the UAV 708 via the network 712 to ensure normal delivery and sound to the location associated with the user 702 by the UAV 708. Can be configured to facilitate production.

  In embodiments, the UAV 708 may be configured with one or more propellers or portions thereof of different sizes or different blade machining 714. As described herein, UAV 708 may simultaneously modulate 718 propeller 714 to receive or obtain instructions 716 and generate the desired sound. The intended sound generated by the UAV 708 may correspond to the identified sound or sound spectrum 706. In some embodiments, the UAV 708 can deliver 720 the payload 722 to a landing marker or landing zone 724 associated with the delivery location of the user 702. In an embodiment, the modulation instruction 716 may be updated or changed based on the acoustic characteristics of the payload 722. For example, the sound generated by the UAV 708 can be changed based on the size, weight, packaging, and weight distribution of the payload 722. Thus, when UAV 708 delivers 720 payload 722, propellers 714 of different sizes may update and provide modulation instructions 716 to UAV 708 to modulate and generate the desired sound corresponding to the sound or sound spectrum 706. it can. In some embodiments, the user 702 can provide additional input for the UAV 708 to generate during takeoff or post-delivery 720, or specify adjustments to another sound or sound 706, A modulation instruction 716 is generated resulting in the UAV 708 being provided. In various embodiments, the UAV 708 is configured to dynamically update or change the modulation 718, thereby updating or changing the sound generated by the UAV 708 during flight.

  FIG. 8 illustrates an example technique for generating an intended sound by a UAV during the delivery of an item, according to an embodiment. In FIG. 8, one or more landscape or environmental features 802 (ie, trees, hills, mountains, buildings, Or other suitable building or natural features). In an embodiment, UAV 804 may include a management module 808 and one or more sensors that transmit and receive signals 810 for determining and / or identifying acoustic propagation characteristics of the ambient environment (800). As shown in FIG. 8, the UAV 804 simultaneously utilizes a set of one or more different sized or differently processed propellers 812 to generate or modify the intended sound produced by the UAV 804 during flight. can do. In some embodiments, the management module 808 can determine the acoustic propagation characteristics of the ambient environment 800 using information acquired by sensors and signals 810.

  According to at least one embodiment, the management module 808 updates the modulation 814 of the propeller 812 of a different size or processing to generate a specific sound based on the acoustic propagation characteristics specified from the transmitted and received signal 810. Can do. In an embodiment, the updated modulation 814 may update the sound generated by the UAV 804 to stop generating a sound or sound band in the sound spectrum already provided by the ambient environment 800. . In various embodiments, the updated modulation instructions 814 may result in a sound generated by the UAV 804 that mimics or is within the octave range of the sound generated by the ambient environment 800. Acoustic propagation can be utilized to update the modulation 814 and sound generated by the UAV 804 to reflect the absorbing or proliferative nature of the surrounding environment 800 with respect to the sound generated by the UAV 804. (Update modulation, remove or imitate sound).

  Referring to FIGS. 9 and 10, FIGS. 9 and 10 illustrate example flows 900 and 1000 for modifying or generating the intended sound by the UAV during item delivery, according to an embodiment. In an exemplary operation, some of the operations or functions may be embodied within a management component (eg, management component 202 of FIG. 2), thereby being fully or partially automated. However, other or other electronic and / or mechanical component combinations may additionally or alternatively be used. Also, although operations are shown in a particular order, it should be understood that a particular order is not required and that one or more operations can be omitted, skipped, and / or reordered.

  The example flow 900 of FIG. 9 may begin at operation 902 where an order for an item can be received. For example, a user may interact with a computing device and an associated browser (Internet web browser, electronic market application user interface, etc.) to order items delivered by the UAV. In operation 904, a UAV flight plan for delivering items to a location associated with the user may be generated and provided to the UAV. In some embodiments, a distributed computing mechanism may be utilized so that each UAV's management module can receive orders and generate flight plan instructions. The UAV can utilize flight plan instructions to fly a specific route and deliver an item associated with the order.

  In operation 906, a sound profile may be generated based on one or more different sets of propeller sets attached to the UAV. The sound profile can specify the intended sound generated by the UAV when simultaneously using one or more sets of propellers of different sizes. Flow 900 may end at operation 908 by instructing the UAV to fly to the location associated with the package delivery using the flight plan and sound profile. In an embodiment, the instructions identify the modulation of each propeller set of a particular size at the same time during at least a portion of the flight plan to produce the desired sound. For example, some propellers may be modulated to one given rotational speed, while other parts of different size or processing may be modulated to another given rotational speed, and the UAV is Will produce the sound. As described herein, the instructions are based on data obtained from one or more sensors associated with the user and / or UAV (ie, intrinsic data, external data, and / or environmental acoustic propagation characteristics). Can be updated automatically. In some embodiments, the UAV includes a first sized first propeller set for providing propulsion to the UAV during flight and a second sized second for providing thrust and maneuverability. And a propeller set of the same. The instructions include the function of each set of propellers of different sizes or blade processing, so that the overall sound generated by the UAV follows the acquired or received sound provided by the user (s) It can be generated using a configuration.

  Referring to FIG. 10, operation 1000 may include receiving an order for an item at 1002. In operation 1004, an instruction may be provided to the UAV to deliver the package to the location associated with the order. In an embodiment, a flight plan including various stages (ie, takeoff, in delivery, hovering, landing, etc.) may be generated and provided to the UAV for semi-autonomous flight and / or autonomous flight. In operation 1006, a command may be provided to a first sensor attached to the UAV to send a signal to the surrounding environment of the UAV during flight. The first sensor may be configured to transmit a signal and receive when the signal crosses the object and returns to the sensor. In operation 1008, acoustic propagation to the surrounding environment in flight may be identified based on the signal received by the first sensor in response to the transmission of the signal from the first sensor. In an embodiment, operation 1000 ends at 1010 by instructing the UAV to fly to that location, and simultaneously modulates one or more different sets of propeller sets attached to the UAV to identify the surrounding environment. A desired sound can be generated based on the transmitted sound. For example, if the ambient environment contains strong propagation characteristics (ie echoes), the modulation instructions can be adjusted so that the UAV still produces the desired sound.

  Referring to FIG. 11, a computing environment for performing some of the above functions is shown in terms of reducing or modifying the sound generated by a UAV during item delivery. The architecture can include a UAV 1100, a server 1104, and a network 1106. In general, the architecture can be implemented as part of an electronic market offering goods. For example, server 1104 may communicate with UAV 1100 to facilitate delivery of items ordered from an electronic market. This communication can take place via the network 1106. Network 1106 includes any one or combination of many different types of networks, such as wireless networks, cable networks, cellular networks, radio broadcast networks, the Internet, and other private and / or public networks. be able to.

  Turning now to the details of the server 1104, the server 1104 may include one or more service provider computers, such as servers and other suitable computing devices, configured to provide various data services to users. . Server 1104 may be configured to treat a website (or combination of websites) accessible to a customer as a host. The website may be accessible via a web browser and may allow customers to order items.

  In an embodiment, the server 1104 may be executed by one or more virtual machines implemented within a hosted computing environment. A hosted computing environment can include one or more rapidly provisioned and released network-based resources. Such network-based resources can include computing devices, networking devices, and / or storage devices. A hosted computing environment is sometimes referred to as a cloud computing environment. In some examples, the server 1104 may include one or more servers, possibly as individual servers that are located in a cluster or not associated with each other.

  In one exemplary configuration, the server 1104 may include at least one memory 1132 and one or more processing devices (or processor (s)) 1134. The processor (s) 1134 may be suitably implemented with hardware, computer-executable instructions, software, firmware, or a combination thereof. The computer-executable instructions, software, or firmware implementation of the processor (s) 1134 may include computer-executable instructions or machine-executable instructions written in any suitable programming language to perform the various functions described. Can be included. Memory 1132 can include more than one memory and can be distributed across multiple server networks. Memory 1132 can store data generated during the execution of these programs, as well as program instructions (eg, management module 1136) that can be loaded and executed on processor (s) 1134. Depending on memory configuration and type, memory 1132 may be volatile (such as random access memory (RAM)) and / or non-volatile (such as read only memory (ROM), flash memory, or other memory). it can.

  Server 1104 may also include additional removable storage devices and / or fixed storage devices including, but not limited to, magnetic storage devices, optical disks, and / or tape storage devices. Disk drives and their associated computer readable media may provide non-volatile storage of computer readable instructions, data structures, program modules, and other data for computing devices. In some implementations, memory 1132 may include a plurality of different types of memory, such as static random access memory (SRAM), dynamic random access memory (DRAM), or ROM.

  Looking more closely at the contents of memory 1132, memory 1132 includes one or more application programs, modules or services for performing the functions disclosed herein, including an operating system 1138 and at least a management module 1136. Can be included. The management module 1136 may support, direct, manage, and / or control the operation of some or all of the components of the UAV 1100 in some examples. For example, the management module 1136 can send data related to item delivery to the UAV 1100. Such data can be used by the UAV 1100, such as by a management module therein, to deliver items and modulate one or more sets of propellers of different sizes and / or processing. Such data is used by the UAV 1100, such as by a management module therein, to deliver items and modules from a first size first propeller set to a second size second propeller set. it can. In addition, management module 1136 can be used to select and deploy UAV 1100 for delivery missions. As part of this selection, management module 1136 may also select propeller configurations of different sizes that may be used for item delivery. The selection of different sized propeller configurations, including modulation that will occur during delivery between different sized propeller sets, may be based on several parameters, as described herein. Further, the management module 1136 can receive data (external data, unique data, acoustic propagation characteristics, payload characteristics, etc.) from the UAV 1100 during deployment and / or execution of delivery missions. The management module 1136 can process the data and provide further instructions to the UAV 1100 as needed to adjust the delivery of items and / or adjust the modulation or simultaneous configuration of different size propellers.

  In some examples, the server 1104 may include additional storage devices 1140 that may include removable storage devices and / or non-removable storage devices. Additional storage devices 1140 can include, but are not limited to, magnetic storage devices, optical discs, and / or tape storage devices. Disk drives and their associated computer readable media may provide non-volatile storage of computer readable instructions, data structures, program modules, and other data for computing devices.

  Both removable and non-removable memory 1132 and additional storage device 1140 are examples of computer-readable storage media. For example, a computer readable storage medium is a volatile or non-volatile, removable medium implemented in any suitable method or technique for storing information such as computer readable instructions, data structures, program modules, or other data, Or it may include non-removable media. As used herein, a module may refer to a programming module that is executed by a computing system (eg, a processor). A module of server 1104 may include one or more components. Server 1104 includes, for example, a keyboard, mouse, pen, voice input device, touch input device, display, speaker, printer, or other I / O device (s) that allow connection with other I / O devices and the like A port 1142 may also be included.

  Turning now to the details of UAV 1100, UAV 1100 may include some or all of the components of UAV 200 described in connection with FIG. In the exemplary embodiment, UAV 1100 may include management components that are executed in part or in whole by computing system 1102, similar to computing system 204 of FIG. The computing system 1102 may include at least one memory 1114 and one or more processing units (or processor (s)) 1116. The processor (s) 1116 may be suitably implemented with hardware, computer-executable instructions, software, firmware, or a combination thereof. The computer-executable instructions, software, or firmware implementation of the processor (s) 1116 may be computer-executable instructions or machine-executable instructions written in any suitable programming language to perform the various functions described. Can be included. Memory 1114 may include more than one memory and may be distributed throughout computing system 1102. Memory 1114 can store data generated during the execution of these programs, as well as program instructions (eg, management module 1120) that can be loaded and executed on processor (s) 1116. Depending on the memory configuration and type, the memory 1114 may be volatile (such as random access memory (RAM)) and / or non-volatile (such as read only memory (ROM), flash memory, or other memory). it can.

  The computing system 1102 can also include additional removable storage devices and / or fixed storage devices including, but not limited to, magnetic storage devices, optical discs, and / or tape storage devices. Disk drives and their associated computer readable media may provide non-volatile storage of computer readable instructions, data structures, program modules, and other data for computing devices. In some implementations, the memory 1114 may include a number of different types of memory, such as static random access memory (SRAM), dynamic random access memory (DRAM), or ROM.

  In some examples, the computing system 1102 may include additional storage devices 1122 that may include removable storage devices and / or non-removable storage devices. Additional storage devices 1122 can include, but are not limited to, magnetic storage devices, optical disks, and / or tape storage devices. Disk drives and their associated computer readable media may provide non-volatile storage of computer readable instructions, data structures, program modules, and other data for computing devices.

  Both removable and non-removable memory 1114 and additional storage device 1122 are examples of computer-readable storage media. For example, a computer readable storage medium is a volatile or non-volatile, removable medium implemented in any suitable method or technique for storing information such as computer readable instructions, data structures, program modules, or other data, Or it may include non-removable media. A module of computing system 1102 may include one or more components.

  Looking at the contents of memory 1114 in more detail, memory 1114 includes one or more application programs, modules or services for performing the functions disclosed herein, including operating system 1118 and at least management module 1120. Can be included. The management module 1120 can be configured to provide operational management functions and / or manage the operation of different components for delivering items to a delivery location. In one example, the management module 1120 can operate autonomously or independently of the management module 1136 of the server 1104. In another example, the management module 1120 may operate semi-autonomously or may be fully controlled by the management module 1136.

  The computing system 1102 may also include I / O device (s) 1126 (eg, interfaces, ports), for example to allow connection with the server 1104. The I / O device (s) 1126 may also allow communication with other components and systems of the UAV 1100 (eg, propulsion systems and payload containment systems, payload release systems, propeller modulation systems).

  FIG. 12 shows an example environment for reducing or changing the sound during the delivery of an item and generating the desired sound. As will be appreciated, a web-based environment is used for illustration purposes, but different environments may be used as needed to implement various embodiments. The environment includes an electronic client device 1202, which can include any suitable device operable to send and receive requests, messages, or information over a suitable network 1204. Send information back to the user of the UAV (via the client device) or to the UAV itself. Examples of such client devices include personal computers, cell phones, handheld messaging devices, laptop computers, set top boxes, personal data assistants, electronic book readers, and the like. The network can include any suitable network, including an intranet, the Internet, a cellular network, a local area network, or any other such network, or combinations thereof. The components used in such a system may depend at least in part on the type of network and / or environment selected. Protocols and components for communicating over such networks are well known and will not be described in detail herein. Communication over the network can be enabled by wired or wireless connections and combinations thereof. In this example, the network includes the Internet because the environment includes a web server 1206 for receiving requests and providing content in response thereto. However, for other networks, alternative devices that serve a similar purpose can be used, as will be apparent to those skilled in the art.

  An exemplary environment includes at least one application server 1208 and a data store 1210. There are several application servers, layers, or other elements, processes, or components that can be configured in a chain or otherwise, and can interact to perform tasks such as obtaining data from an appropriate data store It should be understood that you get. As used herein, the term “data store” refers to any device or combination of devices capable of storing, accessing and retrieving data, including data servers, databases, data storage Any combination and number of devices and data storage media may be included in any standard, distributed, or clustered environment. The application server optionally integrates with the data store to execute one or more application aspects for the client device and / or UAV and handle most of the application's data access and logic Suitable hardware and software. The application server can cooperate with the data store to provide access control services and generate content such as text, graphics, audio and / or video that is transferred to the user, which in this example is hyper Provided to the user by the web server 1206 in the form of a text markup language (“HTML”), an extensible markup language (“XML”), another suitable structural language in this example, or via an application and a graphical user interface. obtain. The processing of all requests and responses and the distribution of content between client device 1202 and application server 1208 can be handled by web server 1206. Since the structured code discussed herein can run on any suitable device or host machine as discussed elsewhere herein, the web server and application server are not required and are merely exemplary It should be understood that

  Data store 1210 may include a number of separate data tables, databases, or other data storage mechanisms, and media for storing data relating to particular aspects. For example, the illustrated data store provides a mechanism for storing information that may be used by the modules described herein, such as a sound profile 1212, a sound propagation profile and / or performance metric 1214, and / or user information 1216. Including. There are many other aspects that need to be stored in the data store, such as access to page image information and access rights information, these can be added to any of the above mechanisms as needed or in the data store 1210 It should be understood that these mechanisms can be stored. The data store 1210 is operable to receive instructions from the application server 1208 and to retrieve, update, or otherwise process the data in response to logic associated with the data store.

  Each server typically includes an operating system that provides executable program instructions for general management and operation of the server, typically when executed by a server processor, the server It includes computer readable storage media (eg, hard disk, random access memory, read only memory, etc.) that store instructions that enable it to perform its intended function. Suitable implementations for the general functionality of the operating system and server are known or commercially available, and are readily implemented by those skilled in the art, especially in light of the disclosure herein.

  The environment in one embodiment is a distributed computing environment that utilizes several computer systems and components interconnected via communication links using one or more computer networks or direct connections. However, those skilled in the art will appreciate that such a system can work equally well with systems having fewer or more components than those shown in FIG. Accordingly, the depiction of the system 1200 of FIG. 12 should be interpreted as being exemplary in nature and not limiting the scope of the present disclosure.

  Various embodiments can be further implemented in a wide variety of operating environments, and in some cases, one or more user computers, computing that can be used to run any number of applications Devices or processing devices can be included. A user or client device can be a desktop or laptop computer running a standard operating system, as well as cellular, wireless, and portable devices that can run portable software and support a number of networking and messaging protocols. Any of a number of general purpose personal computers may be included. Such a system may also include a number of workstations running any of a variety of commercial operating systems and other known applications for purposes such as development and database management. These devices can also include other electronic devices such as dummy terminals, thin clients, game systems, and other devices that can communicate over a network.

  Most embodiments include: Transmission Control Protocol / Internet Protocol (“TCP / IP”), Open System Interconnection (“OSI”), File Transport Protocol (“FTP”), Universal Plug and Play (“UpnP”), Well known to those skilled in the art to support communications using any of a variety of commercially available protocols such as Network File System (“NFS”), Common Internet File System (“CIFS”) and AppleTalk®. Take advantage of at least one network. The network can be, for example, a local area network, a wide area network, a virtual private network, the Internet, an intranet, an extranet, a public switched telephone network, an infrared network, a wireless network, and / or any combination thereof.

  In embodiments that utilize a web server, the web server may include various hypertext transfer protocol (“HTTP”) servers, FTP servers, common gateway interface (“CGI”) servers, data servers, Java servers, and business application servers. Either server or middle tier applications can be executed. Server (s) is written in any programming language such as Java, C, C #, or C ++, or any scripting language such as Perl, Python, or TCL, and combinations thereof 1 A program or script may also be executed in response to a request from a user device, such as by executing one or more web applications that may be implemented as one or more scripts or programs. Server (s) may also include database servers including, but not limited to, those commercially available from Oracle®, Microsoft®, Sybase®, and IBM®. it can.

  The environment can include various data stores and other memories and storage media as described above. These can vary, such as on storage media that is local to (and / or resides within) one or more computers, or on storage media that is remote from any or all computers over a network. Can exist in place. In a particular set of embodiments, the information may reside in a storage area network (“SAN”) well known to those skilled in the art. Similarly, files necessary to perform functions that are assumed to be on a computer, server or other network device can be stored locally and / or remotely as desired. Where the system includes computerized devices, each such device may include hardware elements that may be electrically coupled via a bus, such as at least one central processing unit. (“CPU”), at least one input device (eg, mouse, keyboard, controller, touch screen or keypad) and at least one output device (eg, display device, printer or speaker). Such systems also include, for example, one or more storage devices such as disk drives, optical storage devices, and solid state storage devices such as random access memory (“RAM”) or read only memory (“ROM”), As well as removable media devices, memory cards, flash cards.

  Such devices may also include a computer readable storage media reader, a communication device (eg, a modem, a network card (wireless or wired), an infrared communication device, etc.), and a working memory as described above. The computer readable storage media reader includes computer readable storage media representing remote storage, local storage, persistent storage and / or removable storage, and computer readable information temporarily and / or more permanently. It can be connected to storage media for storing, transmitting and retrieving, or can be configured to receive them. The system and various devices also typically include a number of software applications, modules, services, or arranged in at least one working memory device, including an operating system and application programs such as client applications or web browsers. Includes other elements. It will be appreciated that alternative embodiments have numerous variations described above. For example, customized hardware may also be used and / or certain elements may be implemented in hardware, software (including portable software such as applets) or both. In addition, connections to other computing devices such as network input / output devices can be used.

  Storage media and computer readable media for storing code or portions of code include RAM, ROM, electrically erasable programmable read only memory ("EEPROM"), flash memory or other memory technology, compact disk read only memory ("CD-ROM"), digital versatile disk (DVD) or other optical storage, magnetic cassette, magnetic tape, magnetic disk storage or other magnetic storage device, or can be used to store desired information And implemented in any manner or technique for storage and / or transmission of information such as computer readable instructions, data structures, program modules or other data, including any other medium accessible by the system device Gender and immorality Any suitable medium known or used in the art, including, but not limited to, storage media and communication media, including, but not limited to, volatile media, removable and non-removable media, etc. Based at least in part on the disclosure and teachings provided herein, one of ordinary skill in the art will appreciate other methods and / or techniques for implementing various embodiments.

  Embodiments disclosed herein direct an unmanned aerial vehicle (UAV) to receive an order to deliver a package involving an electronic market, deliver the package based at least in part on information related to the order. Generating one or more sound profiles based at least in part on one or more different size propeller sets attached to the UAV. The profile identifies the intended sound corresponding to utilizing a particular propeller set of a particular size during the flight of the UAV, and / or using a flight plan and one or more sound profiles, Directs the UAV to fly to a location associated with the delivery of the flight, thereby flying during at least a portion of the flight plan A computer-implemented method comprising: one or more of modulating a sound generated by a UAV by modulating a first sized first propeller set to a second sized second propeller set Can be a thing.

  Optionally, the computer-implemented method allows the UAV to receive information indicating that the first propeller set of the first size is malfunctioning and to modulate to the third propeller set of the third size. May include indicating. Optionally, the computer-implemented method requests one or more based on at least in part the input from the user requesting input from the user associated with the delivery of the package regarding the sound level of the UAV being delivered. UAV to modulate from a second sized second propeller set to a third sized third propeller set to update the sound profile and / or change the sound produced by the UAV. Instructing. Optionally, each propeller set of one or more sets of propellers of different sizes may include a different material composition.

  Embodiments disclosed herein include receiving an order to deliver a package, instructing the UAV to deliver the package to a location associated with the order, from a first sensor attached to the UAV, from the above Receiving a first sound generated around the UAV based on a first sized first propeller set utilized by the UAV during flight to a location of the UAV, at least partially in the first sound To generate a sound profile based on the sound profile, identifying the intended sound corresponding to utilizing a particular propeller set of a particular size during UAV flight, and / or From a first propeller set of a first size to a second one based at least in part on the sound profile and relative position of the UAV during delivery of the package To modulate the second propeller sets of size, it can relate to computer-implemented method comprising one or more of that instructs the UAV.

  Optionally, the computer-implemented method includes one or more of receiving a second sound generated around the UAV from a second sensor attached to the UAV based on sound from the surrounding environment. obtain. Optionally, generating the sound profile may include a second sound. Optionally, the computer-implemented method receives the updated first sound and the updated second sound from the first sensor and the second sensor attached to the UAV, the updated first Updating the sound profile based at least in part on the sound and the updated second sound, and / or the UAV from a second size second propeller set to a third size third propeller. Instructing the set to modulate may be included. Optionally, the first sized first propeller set may include one or more propeller finishes.

  Optionally, instructing the UAV to modulate from a first sized first propeller set to a second sized second propeller set changes the rotational speed associated with the second sized propeller. including. Optionally, the computer-implemented method provides updated first sounds including additional sounds from a first size first propeller set and a second size second propeller set utilized simultaneously. Updating the sound profile based at least in part. Optionally, a first size first propeller set is tilted relative to the UAV at a first position, and a second size second propeller set is tilted relative to the UAV at a second position is doing. Optionally, generating the sound profile may include using a machine learning algorithm that utilizes the first sound. Optionally, instructing the UAV to modulate from a first size first propeller set to a second size second propeller set is the relative position of the UAV in the flight plan for delivering the package Can be included.

  Embodiments disclosed herein are directed to receiving a first instruction to deliver a package to a computer system, to a first propeller set of UAV first size, at a location associated with the package. Directed to propel the UAV and generated around the UAV from a first sensor attached to the UAV based on a first sized first propeller set utilized during flight to that location Obtaining a first sound and obtaining an environmental input within a certain distance from the UAV during flight to the location from a second sensor attached to the UAV and / or at least partially Instruct the UAV to modulate from a first sized first propeller set to a second sized second propeller set during flight to the location based on a sound and environmental input of one To perform at least one or more of that, a computer executes a storage medium storing collectively instructions executable by one or more processors of a computer system.

  Optionally, the environmental input includes at least one of temperature, barometric pressure, humidity, wind speed, wind direction, calendar date, cloud cover, sunshine, surface conditions or surface properties in the environment, radiation level, or pollution level. obtain. Optionally, the computer-executable storage medium, when executed by one or more processors, further causes the computer system to have a first propeller set of at least a first size and a second propeller set of a second size. From a second propeller set of a second size to a third propeller set of a third size based on at least partly based on the performance metric. Instructions for directing the modulation of the data may be included. Optionally, the computer-executable storage medium, when executed by one or more processors, further causes the computer system to obtain at least an input specifying delivery of the package to the location and / or to the UAV, as described above. Instructions for directing modulation from a second sized second propeller set to a third sized third propeller set based at least in part on the input of.

  Optionally, directing the UAV to modulate from a first sized first propeller set to a second sized second propeller set may include using a set of sound metrics; The set of sound metrics can include a decibel level, a loudness level, a sharpness level, a roughness level, and a variation strength. Optionally, instructing the UAV to modulate from a first sized first propeller set to a second sized second propeller set during flight from the first sensor and the second sensor It may include using thresholds associated with the obtained metrics and delivery.

  Embodiments disclosed herein include a propulsion system having one or more frames, one or more first motors coupled to a first sized first propeller, and / or a second size. A second motor coupled to the second propeller and / or an unmanned aerial vehicle (UAV) including a computing system configured to manage the propulsion system during a flight associated with delivery of the payload . Optionally, the computing system may be configured to modulate from the first motor to the second motor based at least in part on the sound generated by the UAV during flight.

  Optionally, the computing system may be configured to receive information indicating that the first motor is malfunctioning and / or to instruct the UAV to modulate the second motor. Optionally, the computing system requests input from a user associated with the delivery of the payload regarding the sound level of the UAV being delivered, and a sound profile associated with the UAV based at least in part on the input from the user. Instruct the UAV to modulate from the first motor to the second motor or from the second motor to the first motor to update the sound and / or change the sound generated by the UAV Can be configured as follows. Optionally, the first sized first propeller may be of a different material composition than the second sized second propeller.

  Embodiments disclosed herein are for delivery of one or more frames, propulsion systems attached to the frames, having one or more propeller sets of different sizes, and / or item delivery. During an accompanying flight, it may include an unmanned aerial vehicle (UAV) that includes a computing system configured to manage the propulsion system. Optionally, the computing system is configured to generate a sound profile based on the first sound generated by the UAV during flight, and using the sound profile, the first sound generated by the UAV Can be modulated between the first propeller set of the first size and the second propeller set of the second size during the flight.

  Optionally, the computing system may be configured to receive a second sound generated around the UAV from a first sensor attached to the UAV based on the sound from the surrounding environment. Optionally, generating the sound profile may include using a second sound. Optionally, the computing system receives the updated first sound and the updated second sound from the first sensor, and at least the updated first sound and the updated second sound. Based in part, may be configured to update the sound profile and / or direct the UAV to modulate from a first size first propeller set to a second size second propeller set. . Optionally, the first sized first propeller set may have one or more propeller finishes. Optionally, the modulation from the first sized first propeller set to the second sized second propeller set may include changing the rotational speed associated with the second sized propeller.

  Optionally, the computing system may receive updated first sounds including additional sounds from a first size first propeller set and a second size second propeller set utilized simultaneously. The sound profile may be configured to be updated based at least in part. Optionally, a first size first propeller set is tilted relative to the UAV at a first position, and a second size second propeller set is tilted relative to the UAV at a second position is doing. Optionally, generating the sound profile includes a machine learning algorithm that uses the first sound. Optionally, modulating from a first size first propeller set to a second size second propeller set may include delivering the item using the relative position of the UAV in the flight plan. .

  Embodiments disclosed herein include one or more frames, propulsion systems attached to the frames, including one or more propeller sets of different sizes, and / or delivery of luggage. A computing system configured to manage the propulsion system during the accompanying flight, and configured to modulate between different size propeller sets during the flight to modify the sound generated by the UAV UAVs including computing systems that perform such operations.

  Optionally, the UAV may include a first sensor configured to obtain an environmental input within a certain distance from the UAV during flight, the environmental input including at least temperature, pressure, humidity , Wind speed, wind direction, calendar date, cloud cover, sunshine, surface conditions or surface properties in the environment, or pollution degree. Optionally, the computing system obtains performance metrics of the first sized first propeller set and the second sized second propeller set during flight and / or performance measurements on the UAV. It may be configured to direct modulation from a first sized first propeller set to a second sized second propeller set based at least in part on the criteria. Optionally, the computing system obtains input identifying successful delivery of the package to a location and / or from a second size second propeller set based at least in part on the input. It can be configured to instruct the UAV to modulate to a first size first propeller set. Optionally, the modulation from the first sized first propeller set to the second sized second propeller set is at least partially in a set of sound metrics associated with the sound generated by the UAV. Based on, the set of sound metrics may include a decibel level, a loudness level, a sharpness level, a roughness level, and a variation intensity. Optionally, modulating from a first sized first propeller set to a second sized second propeller set during flight is obtained, at least in part, from the first sensor and the second sensor. Based on the metric being used and the threshold associated with the delivery.

  Embodiments disclosed herein direct an unmanned aerial vehicle (UAV) to receive an order to deliver a package involving an electronic market, deliver the package based at least in part on information related to the order. Generating a flight plan to generate a sound profile based in part on one or more sets of propellers attached to the UAV, wherein the sound profile is one or more sets of propellers during the flight of the UAV. Identify the desired sound corresponding to using the set simultaneously, and one propeller set of one or more propeller sets is a different size than another propeller set of one or more propeller sets Using the flight plan to instruct the UAV to fly to the location associated with the delivery of the package and / or U A computer-implemented method comprising one or more of simultaneously indicating the modulation of each propeller set of one or more propeller sets during at least a portion of a flight plan so that the intended sound is generated by V. May be included.

  Optionally, the computer-implemented method receives from the UAV information indicating that a first sized propeller set out of one or more different sized propeller sets is malfunctioning and / or the information. One or more of instructing the UAV to update the modulation of one or more sets of propellers to maintain the desired sound generation based at least in part. Optionally, the computer-implemented method may request one input from a user associated with the delivery of the package regarding the intended sound of the UAV being delivered, based at least in part on the input from the user. Including one or more of updating the above sound profile and / or directing simultaneous modulation of one or more sets of propellers to change the intended sound of the UAV during flight Can do. Optionally, each propeller set of the one or more sets of propeller sets includes a different propeller finish.

  Embodiments disclosed herein include receiving an order to deliver a package, instructing the UAV to deliver the package to a location associated with the order, a first sensor attached to the UAV during flight Instructing the UAV to send a signal to the surrounding environment, that the signal is sent within a specific distance around the UAV, and from the second sensor attached to the UAV, Receiving information identifying a signal reflected by the environment and received by the second sensor, around the UAV in flight based at least in part on the information received by the second sensor attached to the UAV One or more sets of propellers attached to the UAV, identifying the acoustic propagation of the environment and / or instructing the UAV to fly to the above location and during at least part of the flight Modulate at the same time to generate the desired sound by the UAV based in part on the specified acoustic propagation of the surrounding environment, where each propeller set of one or more propeller sets is separated from one or more propeller sets. May include a computer-implemented method that includes one or more of different sizes from the other propeller set.

  Optionally, the computer-implemented method can include one or more of receiving information including sound generated by the UAV during flight from a third sensor attached to the UAV. Optionally, the computer-implemented method can include one or more of generating a sound profile for the location based at least in part on the signals and information. Optionally, the computer-implemented method identifies a sound band in the sound spectrum corresponding to the intended sound within the ambient environment of the UAV during flight based at least in part on the received signal; and One of updating the modulation of one or more sets of propellers, thereby excluding at least a portion of the identified sound band being generated by the one or more sets of propellers during flight. The above can be included.

  Optionally, directing modulation of one or more sets of propeller sets may include using a configuration of one or more sets of propeller sets for a UAV frame. Optionally, directing modulation of one or more sets of propeller sets includes modulating each propeller set of a particular size to a different rotational speed with respect to another propeller set of another particular size. . Optionally, directing modulation of one or more sets of propellers can include using a flight planning step utilized by the UAV to fly to that location. Optionally, directing the modulation of one or more sets of propeller sets comprises using a machine learning algorithm that utilizes the signal received by the first sensor and the configuration of each propeller set with respect to a UAV frame. May be included. Optionally, the configuration of each propeller set for a UAV frame is specified by an acoustic model that utilizes the sound specified by the user to generate the configuration and produce the desired sound. Optionally, directing modulation of one or more sets of propellers may include using a threshold associated with the package attributes. Optionally, the package attributes may include at least one of a package type, a package weight, a package shape, a package acoustic resonance, a package material composition, or a package container for the package.

  Embodiments disclosed herein are a first propeller set of a first size coupled to one or more frames, a propulsion system attached to the frame, and provide propulsion to the UAV A second propeller set of a second size coupled to a propulsion system attached to the frame, wherein the first propeller set can be configured to be configured with respect to the first propeller set of the first size A second propeller set that is in a particular arrangement and can be configured to provide thrust and directivity in the flight path of the UAV and / or configured to manage the propulsion system during the flight associated with delivery of the payload UAVs that include an improved computing system. Optionally, the computing system simultaneously modulates the first propeller set to the first rotational speed and the second propeller set to the second rotational speed during the flight corresponding to the flight plan, It can be configured to produce the desired sound.

  Optionally, the computing system receives a sound specified by the user and / or a first size first propeller set and a second size second to mimic the specified sound. One or more of updating the modulation of a set of propellers. Optionally, the computing system obtains a performance metric for the first size first propeller set and / or based at least in part on the performance metric for the second size second One or more of indicating updates to the modulation for the propeller set may be included. Optionally, a second sized second propeller set coupled to the propulsion system attached to the frame is adapted to change the acoustic resonance associated with the in-flight UAV to the first sized first prop The propeller set is arranged on the frame.

Claims (15)

A computer execution method,
Taking orders to deliver packages via a computer system;
Directing the unmanned aerial vehicle (UAV) by the computer system to deliver the package to a location associated with the order;
During flight, a first sensor attached to the UAV is instructed by the computer system to send a signal to the surrounding environment of the UAV, and the signal is within a certain distance around the UAV. Being sent,
Receiving information identifying the signal reflected by the computer system and from a second sensor attached to the UAV to the ambient environment and received by the second sensor;
Identifying, by the computer system, acoustic propagation of the ambient environment of the UAV during flight based at least in part on the information received by the second sensor associated with the UAV; and the computer system By directing the UAV to fly to the location, and simultaneously modulating one or more sets of propellers attached to the UAV during at least a portion of the flight to identify the specified ambient acoustics Based on the propagation, at least in part, the UAV generates the desired sound, each propeller of the one or more sets of propellers being different in size from another propeller of the one or more sets of propellers Including the computer-implemented method.   The computer-implemented method of claim 1, further comprising receiving information including sound generated by the UAV during the flight by the computer system and from a third sensor attached to the UAV.   The computer-implemented method of claim 1, further comprising generating a sound profile for the location based at least in part on the signal and the information. Determining, by the computer system, a sound band in a sound spectrum corresponding to the intended sound within the ambient environment of the UAV during the flight based at least in part on the received signal; And updating the modulation of the one or more sets of propellers, thereby excluding, during the flight, at least a portion of the identified sound band being generated by the one or more sets of propellers. The computer-implemented method according to claim 1, 2, or 3, further comprising:   5. The indication of the modulation of the one or more propeller sets is further based at least in part on the configuration of the one or more propeller sets for the UAV frame. The computer execution method of description.   Directing the modulation of the one or more sets of propellers comprises modulating each propeller set of a particular size to a different rotational speed with respect to another propeller set of another particular size. Item 6. The computer execution method according to Item 1, 2, 3, 4, or 5.   The indication of the modulation of the one or more sets of propellers is further based at least in part on a stage of a flight plan utilized by the UAV to fly to the location. The computer execution method according to 4, 5, or 6.   Directing the modulation of the one or more sets of propellers is at least partially in a machine learning algorithm that utilizes the signal received by the first sensor and the configuration of each propeller set with respect to the UAV frame. The computer-implemented method of claim 1, 2, 3, 4, 5, 6, or 7.   The configuration of each propeller set for the frame of the UAV is specified by an acoustic model that utilizes a user-specified sound to generate the configuration and produce the desired sound. The computer-implemented method according to 2, 3, 4, 5, 6, 7, or 8.   The indication of the modulation of the one or more propeller sets is further based at least in part on a threshold associated with an attribute of the package. 10. The computer execution method according to 8 or 9.   The package attributes include at least one of the package type, the package weight, the package shape, the package acoustic resonance, the package material composition, or the package container. Item 11. The computer execution method according to Item 1, 2, 3, 4, 5, 6, 7, 8, 9, or 10. An unmanned aerial vehicle (UAV)
Frame,
A first propeller set of a first size coupled to a propulsion system attached to the frame, the first propeller set of the first size configured to provide propulsion to the UAV When,
A second propeller set of a second size coupled to the propulsion system attached to the frame, wherein the second propeller set is in a specific arrangement with respect to the first propeller set of the first size; The second propeller set of the second size further configured to provide thrust and directivity in a UAV flight path;
Configured to manage the propulsion system during flight associated with delivery of the payload;
During the flight corresponding to the flight plan, the first propeller set is at a first rotational speed and the second propeller set is at a second rotational speed at the same time to produce the desired sound. Said UAV comprising: a computing system further configured to direct said UAV to modulate. The computing system is
Receive the sound specified by the user,
And further configured to update the modulation of the first propeller set of the first size and the second propeller set of the second size to mimic the identified sound. Item 13. The UAV according to Item 12. The computing system is
Obtaining a performance metric for the first propeller set of the first size;
14. The UAV of claim 12 or 13, further configured to indicate an update to the modulation for the second propeller set of the second size based at least in part on the performance metric.   The second sized second propeller set coupled to the propulsion system attached to the frame changes the acoustic resonance associated with the UAV in flight so that the first sized 15. A UAV according to claim 12, 13 or 14, arranged on the frame relative to the first propeller set.