JP6637622B2 - Drone noise reduction by simultaneous propeller modulation - Google Patents

Description

  Increasingly, users are purchasing items (eg, goods and / or services) using network-based resources such as electronic markets. Network-based resources can provide a user experience that is comparable to traditional brick-and-mortar stores. For example, network-based resources may provide a greater assortment of more diverse items. In addition, for some items, there may be many merchants with various discount prices. Thus, customers can not only take advantage of a rich selection of items, but also get items at the most affordable discounts.

  In many cases, a user (eg, a customer) can operate a computing device to access network-based resources and request information about an item. Network based resources can provide that information and information about available delivery methods. As a result, a user can purchase an item provided by the network-based resource and specify a delivery location. The item may be delivered to the delivery location accordingly. Network-based resources can provide the option of delivering items to a delivery location by unmanned aerial vehicles (UAVs), 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.

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

  In the following description, various embodiments are described. For the purpose of explanation, specific configurations are clarified in detail in order to thoroughly understand the embodiments. However, it will also be apparent to one 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, inter alia, to reducing and / or altering the sound generated by an unmanned aerial vehicle (UAV) during delivery of a payload, such as including items ordered from network-based resources. I do. Specifically, the UAV utilizes one or more sets of differently sized propellers during the delivery of the payload to reduce the decibel level of the sound produced by the UAV and to provide a sound that is more pleasing to nearby users. May be configured to generate For example, a first propeller set of a first size may be utilized during a moving portion of the flight while the UAV is on a route to deliver an item to a particular location, while a first A second set of propellers of a second size different from the size may be utilized during the delivery or landing portion of the flight.

  Embodiments of the present disclosure are also directed, inter alia, to generating the desired sound (which may result in a modified sound or a reduced sound) by the UAV delivering the payload. In particular, UAVs can be configured to utilize a set of one or more differently sized propellers that modulate to different rotational speeds to produce the desired sound that can be more pleasing to nearby users. For example, during a UAV flight, each set of differently sized propellers attached to the UAV receives instructions from the management module and modulates the path to deliver an item to a particular location to a particular rotational speed, Affects the acoustic resonance of another set of propellers of different sizes, producing 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 generate sounds generated by the UAV during flight. It can be reduced and / or changed. For example, a propeller blade can include propeller blade processing along one or more portions of the propeller blade (eg, blade processing along a leading edge of the propeller blade). Each propeller blade set that is a different size than another propeller blade set of the UAV may be made of a separate material or may have other surface treatments, such as depressions, holes, and the like. In some embodiments, a set of propeller blades can be tilted at an angle to the UAV to provide various types of control and movement during UAV propulsion. Some propeller blades may include processing to reduce noise. This processing can be enabled by a propeller blade processing adjustment controller that retracts and / or expands one or more of the propeller blade processing. Other propeller blades with different processing, composition, or angles are included in the present disclosure.

  The propeller blade may include propeller blade machining along one or more portions of the propeller blade. For example, a 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 upper region of the propeller blade, in the lower region of the propeller blade, or in the trailing edge of the propeller blade. Or at the tip of a propeller blade, or any combination thereof.

  The propeller blade processing can 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 additionally, a portion of the propeller blade machining may extend into the propeller blade. In some embodiments, some or all of the propeller blade machining can be moved or activated while the propeller is rotating. For example, the propeller may include a propeller blade machining adjustment controller to retract and / or extend one or more of the propeller blade machining. As one or more propeller blades are moved, the sound produced by the rotating propeller changes. Propeller blade machining that can move (eg, retract, expand, shift, or rotate) may also be referred to herein as active propeller blade machining.

  In some implementations, one or more sensors that measure the sound generated by or around the aircraft may be located on the aircraft. Based on the measured sound, one or more of the propeller blade machining of the propeller blades mounted on the aircraft can be altered to produce an anti-sound, wherein the anti-sound is generated by the aircraft. Changes the sound produced by the aircraft when it matches the sound that For example, the processor of the aircraft may maintain information about each sound generated for each individual propeller blade processing position. Based on the measured sound and the desired rotational speed of the propeller, when the propeller rotates, a propeller blade processing position that results in producing an anti-sound is selected, and as the propeller rotates at the desired rotational speed, This anti-sound cancels, reduces, and / or otherwise alters the measured sound.

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

  In embodiments, attaching or placing one or more sensors on the UAV to measure the sound generated by or around the UAV during item delivery and flight Can be. In embodiments, the measured sound may be utilized to generate a sound profile that identifies particular 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 intensity, and tonal saliency. Each metric included in the sound profile may include one or more thresholds corresponding to a flight portion for item delivery, to determine whether to reduce or alter the sound generated by the UAV. Can be compared. For example, one threshold that allows for loud noise may be used during the travel mode, while another threshold that specifies loud noise is used during different flight segments, such as delivery or takeoff. obtain.

  In some embodiments, a computer system in communication with, or a computer system of, a UAV may utilize information provided by one or more sensors to generate a sound profile. In some embodiments, a sound profile may be utilized to provide instructions to the UAV and related components, wherein the instructions are transmitted from a first propeller set of a first size to a second propeller set of a second size. To a propeller set or some combination of the two sets to reduce or alter noise. For example, one or more sets of different sized propellers can drive the UAV by providing a noise canceling frequency, rather than the additive effect of utilizing one or more sets of the same size propellers, and can be used by the UAV. It can be instructed to reduce the noise generated. In various embodiments, sound profiles can be used to provide instructions to UAVs and related components, where the instructions can be of different sized propellers, engineered propellers, or other bladed propellers. Each set of propellers is utilized simultaneously to effect modulation of the sets, thereby producing the desired sound. As used herein, modulating, or modulating, includes the corresponding transition of a first propeller of a first size to a second propeller of a second size (start / stop), including a complete transition. Changing or changing the RPM of the blade is included. In some embodiments, one or more sensors may be configured to send and receive signals that identify acoustic propagation characteristics of the environment around the UAV during delivery. For example, one or more sensors may be configured to send and receive signals within a certain distance around the UAV during delivery (ie, anywhere from 5 to 20 meters from the UAV). In some embodiments, one or more sound profiles may be updated and / or generated utilizing sound propagation characteristics. The sound profile and / or sound propagation characteristics can be utilized by the management module to modulate different sized propeller blades to different rotational speeds to produce the desired sound.

  In embodiments, the 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 a flight. For example, a flight plan may be generated that instructs the UAV to deliver the payload to the destination. At various points in the flight plan during the flight, the sound profile previously generated in the flight plan and the current position of the UAV may be used as data points to reduce and / or alter the noise generated by the UAV. , The modulation of each set of propellers of different sizes can be indicated. 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 a component failure or performance metric, an instruction is generated by the UAV to modulate from the first set of propellers to the second set of propellers to prevent unexpected slowdown of the UAV during delivery. Transmitted and / or utilized. In some embodiments, the user who originally ordered the item for delivery and a nearby neighbor can provide input regarding the relative noise level of the UAV being delivered, or may be required to do so. It may be. Utilizing input provided by the user, the sound profile can be updated dynamically, providing updated instructions to reduce and / or modify the sounds generated by the UAV. , Different configurations of propellers of different sizes and / or propellers of different sizes can be modulated. The pre-generated sound profile may be updated using user input for the next delivery to the same delivery location or destination. In some embodiments, the propeller blades and associated components (i.e., motors, fixtures, etc.) of different sizes or variously machined are configured in a particular arrangement with respect to the UAV frame and each other. Is also good. Because the acoustic resonance of each component and the rotational speed of the propeller blade affect the sound generated by the UAV, the desired sound can be generated using the component configuration.

  In some embodiments, the measured sound may be recorded with and / or independently of other operational and / or environmental data. Such information or data may include, but is not limited to, external information or data, such as, for example, information or data not directly related to the unmanned aerial vehicle, or proprietary information or data, such as, for example, information or data relating to the unmanned aerial vehicle itself. . For example, external information or external data may include environmental conditions (eg, temperature, pressure, humidity, wind speed, and wind direction), time of day or day of the week when the unmanned aerial vehicle is operating, month or year, cloud coverage evaluation criteria, sunshine, Surface conditions or properties within the given environment (eg, whether the surface is wet, dry, covered with sand or snow, or has other properties), the phase of the moon , Ocean tides, direction of the Earth's magnetic field, degree of air pollution, particulate count, or other factors within a given environment. Specific information or data includes operating characteristics (eg, dynamic attributes such as altitude, course, speed, ascent or descent speed, turning speed, or acceleration; or structure or frame dimensions, number of propellers or motors, Physical attributes such as the speed of operation of the motor), the tracked location of the unmanned aerial vehicle (eg, latitude and / or longitude), or the status of the package delivered, but is not limited to these. According to the present disclosure, the amount, type and variety of information or data that can be captured and collected for a physical or operating environment in which an unmanned aerial vehicle operates and correlates with information or data about the measured sound is theoretically Is unlimited. In some embodiments, the display or information may indicate 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 home position (associated facility), thus further modifying and / or reducing the sound generated by the UAV. This data point can also be used to modulate between propeller sets of different sizes.

  In some embodiments, the range or sound band generated by the environment or payload can be used as a data point in generating one or more sound profiles to generate modulation instructions. For example, if during flight a sensor attached to the UAV indicates that the surrounding environment is producing a sound that falls within a particular band of the sound spectrum, then adopt this sound to play a sound that is already present in the environment. The modulation instructions can be generated and / or modified so that they do not. According to the present disclosure, the amount, type and variety of information or data that can be captured and collected for a physical or operating environment in which an unmanned aerial vehicle operates and correlates with information or data about the measured sound is theoretically Is unlimited. In some embodiments, the display or information may indicate 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 home position (associated facility), thus further modifying and / or reducing the sound generated by the UAV. This data point can also be used to modulate between propeller sets of different sizes. In some embodiments, data relating to the payload, such as weight, size, packaging material, weight distribution, and acoustic properties 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 unique information or data captured by the unmanned aerial vehicle during flight, the operation or location of the unmanned aerial vehicle, or conditions around such a location, may be generated by the unmanned aerial vehicle. The machine learning system can be trained to associate with a sound. A trained machine learning system, or a sound profile developed using such a trained machine learning system, may then be used when the unmanned aerial vehicle operates at a given location or at a given speed or location. Predict the sounds that can be emitted when operating under a set of conditions, or according to other characteristics, such as utilizing a set of propellers of a particular size that is different from another set of propellers of different sizes. Can be used to Once such a sound is predicted, the size configuration, processing, composition, and / or location of the propeller blades that will result in the UAV producing a modified and / or reduced sound are determined. In some examples, different configurations of different sized propellers can be determined to produce anti-sound. Anti-sound, as used herein, is approximately opposite but not exclusively opposite to the predicted or measured sound, and / or is approximately out of phase but exclusively out of phase. Sound having a different amplitude and frequency (e.g., having a polarity inverted relative to the polarity of the predicted sound). During the unmanned aerial operation of the unmanned aerial vehicle, a specially configured propeller set of propellers of different sizes is utilized so that the propellers can generate anti-sound. When anti-sounds are generated by propeller blades, such anti-sounds effectively modify the effect of some or all of the predicted sounds at those locations. In this regard, the systems and methods described herein may be utilized to effectively control, reduce, and / or otherwise alter the sound produced by an unmanned aerial vehicle during a flight.

  For example, consider the example of a network-based resource, such as a website involved in an electronic marketplace. Users can access the website to order cotton napkins and porcelain plates. The UAV may be deployed accordingly to deliver the order from the facility to the location associated with the user. During the flight of the UAV, an instruction is generated to direct the modulation of each set of differently sized propellers attached to the UAV to alter or reduce the sound produced by the UAV in the various delivery sections and is provided to the UAV. obtain. UAVs can accommodate luggage, including cotton napkins and porcelain plates. Upon arriving at the location, the UAV may unload the cable connecting the napkin and porcelain plate luggage to the UAV. In parallel or subsequently, the UAV modulates one or more sets of differently sized propellers to maintain flight success, deliver luggage, and reduce and / or alter the sound generated by the UAV. Can be. When the luggage lands at the same location, the cable can be disconnected. The UAV can then re-modulate to a different set of sized propellers to modify and / or generate the desired sound during the flight back to the facility.

  To further illustrate, consider another example of a network-based resource, such as a website involving an electronic marketplace. Users can access the website to order cotton napkins and porcelain plates. The UAV may be deployed accordingly to deliver the order from the facility to the location associated with the user. Modulation from a first propeller set of a first size to a second propeller set of a second size so as to modify or reduce the sound produced by the UAV in various deliveries during the flight of the UAV. May be generated and provided to the UAV. UAVs can accommodate luggage, including cotton napkins and porcelain plates. Upon arriving at the location, the UAV may unload the cable connecting the napkin and porcelain plate luggage to the UAV. In parallel or subsequently, the UAV modulates between one or more sets of differently sized propellers to maintain flight success, deliver luggage, and reduce and / or alter the sound generated by the UAV. can do. When the luggage lands at the same location, the cable can be disconnected. The UAV can then be re-modulated to another set (s) of differently sized propellers to return to the facility.

  In the above description, cables are used to deliver packages to the delivery location, but embodiments herein are not so limited. Alternatively, the UAV may deliver the package to the delivery location by landing on the ground, or send the package by dropping the package from some height above the delivery location and leave the package to complete the delivery. A connected parachute mechanism may be used.

  For simplicity of description, the present embodiment may be described herein in the context of a UAV delivering a package containing items ordered from a network-based resource, and the delivery may include a cable. May include using and unloading luggage. However, the present embodiment is not limited as such. Alternatively, the embodiments can be applied to one or more UAVs as well, each of them or a collection of them delivering one or more payloads. In general, delivery includes using one or more ropes, such as one or more cables of the same or different kind, to unload one or more payloads and one or more ropes to deliver one or more payloads May be released. Releasing the rope from the UAV may include disconnecting the rope or disconnecting the rope from the UAV without disconnecting.

  Referring to FIG. 1, an example of an environment for reducing and / or modifying the sound generated by a UAV during delivery of an item is shown, in accordance with 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 a residence for 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, the UAV 110 is currently configured to utilize a first propeller set 118 that produces a first sound while traveling. The UAV 110 may generate the first sound predicted based on the sound profile determined when using the first propeller set 118 while using the first propeller set 118. It should be noted that FIG. 1 illustrates a UAV 110 utilizing a first set of propellers 118 and not using another set of propellers attached to the UAV 110. In some embodiments, UAV 110 may utilize multiple sets of propellers of different sizes in various configurations (propeller processing, composition, rotational speed, etc.) to alter or reduce the sound produced by 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 may be packed at the facility and loaded on UAV 110. The UAV 110 can be remotely controlled or operated autonomously to air the luggage 116 from the facility to the location 112, deliver the luggage 116, and return it to the facility or other location. Such operations of UAV 110 may represent an example of a flight mission in which UAV 110 may be deployed for performance.

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

  In an embodiment, when the UAV 110 approaches the delivery surface 120, it issues or generates an instruction that allows the UAV 110 to modulate from a first propeller set 118 of a first size to a second propeller set 124 of a second size. be able to. Modulation from a first propeller set 118 of a first size to a second propeller set 124 of a second size can reduce and / or alter the sound generated by the UAV 110 during delivery of the package 116. . In an embodiment, the UAV may receive an input 126 via the attached cable 128 that the package 116 has been delivered. This successful delivery data point can be used to further update or generate a new sound profile for UAV 110. The UAV 110 further directs the modulation between the different sized propeller sets (118, 124) to urge 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, and the weight may be modified by 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 specific sound profile is generated such that the desired sound is generated. Thus, a particular size propeller set configuration can be selected. For example, after delivery, a first propeller set 118 of a first size and a second size, such that the sound profile and corresponding instructions direct the UAV 110 to lift the UAV 110 to an appropriate height before returning to the home facility. Of the second propeller set 124 may be utilized. As described herein, embodiments of the present disclosure generate anti-sound or further reduce the sound generated by the UAV during various portions of delivery 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 sounds generated by the UAV 110 at the delivery location 112 are captured and stored for later use to generate and utilize various sound profiles for the specific delivery location and UAV 110 propeller configuration. You can train machine learning algorithms.

  An example of a UAV component, such as UAV 110, configured to deliver packages to a location and reduce and / or alter the sound generated by UAV 110 is further illustrated in FIG. The UAV may use a cable, such as cable 128, as one end of the delivery technique. Cables may be added (e.g., installed, mounted, attached, coupled, connected) to the UAV as part of deploying the UAV for delivery operations. The 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. FIG. 2 shows an example of a UAV 200 configured to deliver items. UAV 200 may be designed according to commercial aviation standards and may include multiple redundancy to ensure reliability. Specifically, UAV 200 may include a plurality of systems or subsystems that operate under the control of, or at least partially under the control of, management component 202. Management component 202 may be configured to mechanically and / or electronically manage and / or control various operations of other UAV 200 components. For example, the management component 202 may include various sensing, actuation, and monitoring mechanisms to manage and control various operations. For example, the management component 202 autonomously or semi-autonomously controls and manages various operations of the UAV 200, and in some instances, an on-board computing system that hosts a management module that enables remote control by a pilot. 204 may be included or interfaced with it. Various operations include a propulsion system 218 that facilitates flight, a payload storage mechanism 212 that facilitates storage of a payload (eg, luggage), and / or a payload release mechanism 214 that facilitates release and delivery of the payload. Managing other UAV 200 components can also be included. Portions of the management component 202, including mechanical and / or electronic controls, are housed under the top cover 250 or distributed within other components, such as the payload receiving mechanism 212 and the payload releasing mechanism 214. You may. In a further example, components remote from the UAV 200 may be deployed, which may communicate with the management component 202 and direct some or all of the operations of the management component 202. These remote components may be referred to as management components. In one example, management component 202 includes a power supply and power assembly (eg, rechargeable batteries, liquid fuel, and other power supplies) (not shown), one or more communication links and communication antennas (eg, modem, radio). , Networks, cellular systems, satellites, and other links for transmitting and / or receiving information (not shown), one or more navigation devices and navigation antennas (eg, a global positioning system (GPS), an inertial navigation system) (INS), rangefinder, RADAR, and other systems that help navigate the UAV 200 to detect objects (not shown), and radio frequency identification (RFID) functions (not shown). May be included.

  UAV 200 may also include an on-board computing system 204. In one example, computing system 204 may be integrated with management component 202. In another example, computing system 204 may be separate from management component 202 but may be interfaced with it. Computing system 204 may be configured to provide electronic control of various operations of UAV 200, including those provided by a management module. In one example, computing system 204 can also process data detected by one or more other components of the UAV, such as management component 200, to generate data related to the delivery surface. In a further example, the computing system 204 can also electronically control components of the payload accommodation mechanism 212 and / or the 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. You. The management component 202 and the computing system 204 change the propeller usage, modulation, and rotational speed of the propulsion devices 230 (A) -230 (F) and are generated by the UAV 200 as described herein. It may be configured to reduce and / or alter noise. In embodiments, the propellers of the propulsion devices 230 (A) -230 (F) may be of various different sizes (e.g., of different lengths, widths, or other differences that make a difference between the sizes of the propellers). Or appropriate propeller blade processing. As shown in FIG. 2, the computing system 204 can be housed inside a top cover 250 and can include multiple components, such as a computer 206, a storage device 208, and an interface 210. Computer 206 can host a management module configured to provide management operations for the flight and / or other portions of the mission of UAV 200. For example, the data management module may generate data relating to the sound generated by or around the UAV 200, determine an appropriate sound profile, direct the modulation of different propeller sets of different sizes. Determining the appropriate delivery surface, determining the distance to unload the payload, the speed of unloading the payload, directing the propulsion system to place the UAV 200 in place according to this data, the payload containment mechanism 212 Activating the release of the luggage from the vehicle, activating the release of the cable, and / or activating other functions of the mission, and during the various parts of the mission to deliver the payload, the size Of different propeller sets can be continued to be modulated. 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 stores any operational data of the UAV 200, external sound data or unique sound data obtained by sensors attached to the UAV 200, with respect to sound generated by or around the UAV 200, related to the delivery surface. May be configured to store generated or received data and / or received data associated with a delivery location. The data may include the distance at which the payload can be dropped and the descent rate. Further, the storage device 208 may store a series of rules relating to unloading and releasing payloads. This set of rules determines where, when, and / or how to deliver the payload so that the likelihood of damaging the payload (or its contents) and / or interference with the UAV 200 can be reduced. You can specify parameters to The set of rules may also specify parameters for determining the appropriate sound level for the metrics included in the sound profile (loudness, fluctuation intensity, etc.). Computer 206 (e.g., a management module) monitors and / or determines some or all of the parameters, thereby generating distances and / or speeds for delivery, and reducing and producing sounds generated by UAV 200. An appropriate set of particular propellers of a particular size with corresponding rotational speeds can be determined for use in changing. In some embodiments, the computer 206 (e.g., the management module) can generate instructions to deploy certain propeller processing that reduces and / or alters the sound generated during the flight of the UAV 200. The modulation of the individual propeller sets and / or the deployment / retraction of the propeller processing can be controlled electronically or mechanically. Interface 210 may correspond to an interface that exchanges data as part of managing and / or controlling a portion of the operation 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. Thus, the interface 210 may include a wired and / or wireless, serial and / or parallel high speed interface to enable high speed upload and download of data to and from the computing system 204.

  As shown in FIG. 2, UAV 200 may also include a payload accommodation mechanism 212. The payload accommodation mechanism 212 may be configured to accommodate or hold a payload. In some examples, the payload receiving mechanism 212 may use a frictional force mechanism, a vacuum suction mechanism, a counter arm mechanism, a magnet mechanism, a receiving mechanism, and / or other holding mechanisms to receive or hold the payload. it can. As shown in FIG. 2, the payload receiving mechanism 212 may include a compartment configured to contain 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 accommodation mechanism 212. For example, the management component 202 can operate the payload containing mechanism 212 electronically and / or mechanically to contain and / or release the payload. In one example, the payload is received by opening the compartment, pushing the payload, moving one or both of the opposing arms, and / or by stopping the application of frictional, vacuum, and / or magnetic forces. It can be released from the mechanism 212.

  UAV 200 may 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 unload the released payload from the payload receiving mechanism 214 and release the cable once the payload has been lowered a certain distance.

  Accordingly, the payload release mechanism 214 may include a descent mechanism and a release mechanism. For example, the descent mechanism may include a cable and / or an electronic or mechanical control configured to lower the cable at a controlled speed. For example, the control may include a winch, a spool, a ratchet, and / or a clamp. A cable can connect the payload to the UAV 200. For example, one end of the cable may be connected, attached, or integrated with the payload. The other end of the cable may be coupled to one or more of the payload release mechanism 214, the payload accommodation mechanism 212, the 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 wrapped inside a compartment (if used as part of the payload receiving mechanism 212). The cable may have a configuration chosen based on the mission of the UAV 200, the mass of the payload, and / or the expected environment (eg, potential obstructions) associated with the delivery location.

  In one example, the release mechanism may be integral 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 has been lowered a certain distance. Releasing the cable includes disconnecting the cable, weakening the cable, and / or separating the cable from the UAV 200 (eg, from the payload release mechanism 214) without disconnecting or weakening the cable. obtain.

  To disconnect the cable, the release mechanism includes a sharpened surface, such as a blade, for example, where the cable can be severed when the cable is hooked there. To weaken the cable, the release mechanism may include a sharp head, edge, and / or tip, such as a piercing punch, or a friction surface that causes damage to the integrity of the cable structure. Other release mechanisms may be used to disconnect or weaken the cable. In one example, a mechanism configured to apply a thermoelectric effect to a cable may be included. For example, a contact surface, such as a contact surface using a conductor, may be configured to emit 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. Separating the cable from the UAV 200 does not allow the cable to be firmly 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 wrapped around a winch or spool without attaching any end of the cable to the winch or spool or to another UAV200 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 occurs based on the mass of the payload.

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

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

  Further, UAV 200 may include a propulsion system 218. In some examples, propulsion system 218 may include rotating blades, or conversely, propulsion system 218 may 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, controls, and other equipment to enable flight. In some examples, propulsion system 218 may operate at least partially under the 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 to reduce and / or alter the sound produced by the UAV 200 in response to instructions from the management module. Can be.

  UAV 200 may also include a landing structure 222. The landing structure 222 can be rigid enough to support the 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 located below the frame 226 and, in some cases, can be formed from the same material and / or the same piece of material as the frame 226. The propulsion system 218 may be radially disposed near the outer periphery of the frame 226, or may be otherwise distributed around the frame 226. In some examples, the frame 226 may attach or attach one or more fixed wings.

  Thus, a UAV similar to UAV 200 may be deployed on a mission to deliver a payload, for example, by modulating between different sized propeller sets and / or by using different sized propeller sets simultaneously. A UAV may autonomously or semi-autonomously complete or perform a portion of a mission. For example, the coordinates of the delivery location can be provided to the UAV. The UAV can house the payload in the payload housing and fly to the delivery location. In addition, UAVs can utilize portions of one or more propeller sets of different sizes to propel the UAV and produce the desired sound or sound level during delivery. Upon arriving at that location, the UAV senses or obtains data from one or more sensors to modify 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). Optionally, the UAV can release the payload from the payload accommodation mechanism. The UAV can again adjust and modify the differently sized propeller sets to ascend and take a return trip to the origin location or facility from which the UAV is deployed.

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

  FIG. 3 illustrates that the UAV 310 utilizes the first configuration of the first size propeller 314 to lower the item 318 via the cable 320 to the delivery location 312. In an embodiment, the UAV 310 generates a desired sound using a first configuration according to a sound profile-based approach generated using unique data from and around the UAV 310 and external data. Can be. For example, the data may be such that utilizing the first configuration of the propeller when approaching the delivery location 312 includes a sound within an acceptable range, or a metric included in the sound profile that does not exceed a threshold associated with the location 312. Can be shown to be able to produce a sound that is Upon delivery of the item 318 by the UAV 310 (see the figure on the right), another sound profile may be generated or the original sound profile may be updated with an input confirming the delivery of the item 318 to the delivery location 312. can do. Utilizing the updated / different sound profile, an instruction is generated to utilize both propeller sets (314 and 316) simultaneously to produce a different sound than when utilizing only the first configuration of propeller 314. be able to. The instruction describes the use of both propeller sets (314 and 316) to produce a comfortable and acceptable sound for nearby users during takeoff or climbing to a certain height before returning to the home position. Can be shown.

  Any of the differently sized propeller sets, or a combination thereof, may facilitate changing or reducing the sound generated by the UAV during delivery of the item. 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 the origin (406 and 410) and the destination (408 and 412) during the delivery of the item. For example, UAV 404 is shown halfway between 406 and 408, and UAV 402 is shown halfway between 410 and 412. UAVs 402 and 404 are configured to use one or more sensors to capture external or proprietary information or data 416 about UAVs 402 and 404 and the environment in which UAVs 402 and 404 are operating, including , Altitude, route, speed, ascent or descent, turning speed, acceleration, wind speed, humidity level and temperature, sound, etc., but are not limited thereto. UAVs 402 and 404 are also configured to capture sounds 416 and vibrations 416 generated by the UAV during each flight.

  For example, as shown in the information or data 416 of FIG. 4, the UAV 404 can be used in a 4 mph south-southwest wind at 127 feet altitude, 78 percent humidity, 74 degrees Fahrenheit (° F) atmosphere, and 082 degrees Centigrade. The ship is traveling 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 of FIG. 4 only shows sound measurements for a single location on the UAV, the information or data 416 provides a sound measured adjacent to or near each propeller of each UAV. It will be appreciated that this can be included. For example, if aircraft 404 includes eight propellers, aircraft 404 may also include eight sensors that measure sound data 416. The operating information may also indicate the position, rotational speed, and / or power consumption required to generate the indicated lift for navigating the aircraft in the air, with one or more propeller blade machining of each propeller blade. You may. This information may also indicate the size of each propeller blade and the position of the motor utilizing this size propeller blade relative to the UAV 404.

  In accordance with the present disclosure, UAVs 402 and 404 provide both external and unique information or data 416 (eg, information or data regarding environmental conditions, operating characteristics, or tracking locations of UAVs 402 and 404) to the data processing system. Information or data 416 that is configured and recorded during the movement of UAVs 402 and 404 may also be configured to provide to the data processing system. The 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 on the move or as they arrive at their respective destinations. In some embodiments, external and unique information or data 416, such as, for example, the observed environmental signal e (t), is provided to the machine learning system as a set of training inputs and each of the UAVs 402 and 404 is moved during movement. Information or data 416, such as, for example, measured sound data, relating to 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 measures the 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), which correlates with the sound obtained. After the machine learning system has been trained and the sound profile created, the machine learning system contains a set of external or unique information or data that can be expected in an environment where the UAV is operating or expected to operate. (E.g., environmental conditions, operating characteristics, or location) may 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 may reside and / or operate on one or more computing devices or machines mounted on one or more UAVs 402 and 404. The machine learning system may 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 unique information or data actually observed by the UAV and, based on that information or data, outputs corresponding to the predicted sound Can be generated.

  In other embodiments, a machine learning system may reside and / or operate on one or more centrally located computing devices or machines. The machine learning system may receive information or data about a corpus of sounds measured by sensors of UAVs 402 and 404, respectively. Once the machine learning system has been trained, the machine learning system sends the UAV's computing device or machine, which belongs to the owning aircraft, a UAV based on external or unique information or data actually observed by the respective UAV. It can be used to write sound profiles that predict the sound of individual propeller sizes in operation. In yet other embodiments, the machine learning system may be programmed to receive as input, external or unique information or data from the operating UAV, for example, via wireless means. Based on the information or data received, 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, the 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 a machine learning system implemented management system. It may be sent to the module. Upon receiving the information or data, the machine learning system generates an output 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, To the UAV. The UAV then uses the received output to identify propeller blades of different sizes that, when the propeller rotates, cause the UAV to produce a corresponding sound or counter-sound and produce the indicated lift. Can be determined. Alternatively, or in addition, the output received may be used by the UAV to determine which particular set of propeller blades of different sizes attenuate the sound or otherwise alter the sound (e.g., changing 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 according to such operating characteristics within such environmental conditions, sounds that may be expected for each propeller size of the UAV 404 are received as output from the trained machine learning system. obtain. From such an output, the configuration of different propeller sets of different sizes is determined that alters the sound produced, eg, generates anti-sound and / or attenuates the produced sound of UAV 404, or Modulating from a first propeller set of a first size to a second propeller set of a second size, 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 of reducing and / or modifying 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), and thereby be fully or partially automated. However, other or other combinations of electronic and / or mechanical components may additionally or alternatively be used. Also, while the operations are shown in a particular order, it is to be understood that no particular order is required and that one or more of the 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 may be received. For example, an order can be received at a network-based resource associated with an electronic marketplace. An electronic marketplace can provide items. The order may be received from a user's computing device accessing the network-based resource. At operation 504, instructions for delivering an item to a flight plan or destination may be generated for the UAV. Orders received can be processed to generate mission and / or flight plans. The mission / flight plan may specify a delivery location and / or delivery aspect associated with the user and, where applicable, data associated with the expected location and / or delivery environment at the delivery aspect. The mission may be provided to the UAV to trigger its deployment. For example, mission data may be sent to a management component of the UAV.

  At operation 506, one or more sound profiles are generated based in part on one or more sets of propellers of different sizes attached or placed on the UAV. In some embodiments, one or more sound profiles specify the intended sound generated from the UAV based on utilizing a particular configuration of propellers of different sizes. In embodiments, one or more sound profiles specify the desired sound to be generated from the UAV based on different processing, angles, or other finishes of the different sized propellers. The UAV may autonomously or semi-autonomously perform a task or portion thereof, including, for example, flying to a delivery location, delivering an item of luggage, and returning to home. In autonomous execution, the management component of the UAV manages and controls the partial execution of the mission, including modulating between different sized propellers to reduce and / or alter the sound produced by the UAV. I can do it. In a semi-autonomous execution, a management component may coordinate another management component or do so under the direction of another management component. This separate component may be a ground component that is in remote communication with the management component of the UAV.

  In operation 508, the UAV may provide a first propeller set of a first size to reduce and / or modify a sound generated by the UAV during at least a portion of a flight plan (delivery route to a delivery location). To a second set of propellers of a second size. In an embodiment, when determining the modulation between propellers of different sizes attached to the UAV to reduce and / or alter the sound produced by the UAV, the relative position or the stage of the flight plan is determined. Can be used as data points. This determination may be based on the UAV's current location data (eg, GPS coordinates) and based on 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 arriving at the delivery location, the UAV detects the various environmental data and, if applicable, determines or updates the sound profile, thereby determining which particular sound to generate the desired sound according to the sound profile. Update whether to use propeller set. The UAV can deliver the item and modulate it to yet another set of propellers of different sizes for return to the facility or origin location. In some embodiments, multiple sets of propellers of different sizes may be utilized in one or more configurations to reduce and / or modify the sound produced by the UAV at various locations of the UAV during delivery. (Eg, another intended sound being delivered at a delivery location, as opposed to an intended sound traveling at one altitude). Based on the unique data as well as the expected or detected environmental conditions around the delivery location, the UAV performs various maneuver flights and utilizes one or more configurations of propellers of different sizes to deliver. The delivery of the item to the location can be completed.

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

  At operation 608, a sound profile may be dynamically generated for the UAV based in part on the first sound. The sound profile may specify an intended sound corresponding to utilizing a particular propeller set of a particular size during a flight. In embodiments, other data, such as environmental data, may be used in conjunction with data from the first sensor to generate a sound profile for a UAV. In some embodiments, a metric included in the generated sound profile is compared to a threshold to determine if any or more specific metrics exceed a threshold associated with a stage in the flight plan. can do. For example, while traveling (ie, between the origin location and the delivery location), one or more thresholds may be specified to allow for high metrics included in the sound profile. In contrast, during landing, the threshold may be specified to be restrictive, thereby reducing and / or altering the sound generated by the UAV. In operation 610, the UAV modulates from a first propeller set of a first size to a second propeller set of a second size based on a sound profile during item delivery and a relative position of the UAV. You can be directed 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 the generated sound to be reduced or modified. Thus, the instructions may modulate the UAV to utilize other propeller sets of different sizes to reduce or alter the noise generated. The selection of a particular set of propellers of different sizes is based on a dynamically generated sound profile that identifies the intended sound when using a particular set of propellers that is different in size from the currently used propeller set. Can be determined.

  FIG. 7 illustrates an example of an environment for generating an intended sound by a UAV during 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 wants the UAV 708 to generate during delivery of the item to the location associated with the user 702. 1 illustrates a user 702 utilizing a computing device 704 (such as a mobile phone). In embodiments, information provided by user 702 may be communicated over available network 712 to one or more service provider computers 710. 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 generate, among other things, flight paths and modulation instructions that are provided to UAV 708 via network 712 for successful delivery and sound by UAV 708 to the location associated with user 702. It can be configured to facilitate production.

  In embodiments, the UAV 708 may be comprised of one or more propellers of a different size or different blade machining 714 or a portion thereof. As described herein, UAV 708 may receive or obtain instruction 716 and simultaneously modulate 718 propeller 714 to produce the desired sound. The intended sound generated by UAV 708 may correspond to the identified sound or sound spectrum 706. In some embodiments, UAV 708 can deliver 720 payload 722 to a landing marker or zone 724 associated with the delivery location of user 702. In embodiments, the modulation instructions 716 may be updated or changed based on the acoustic properties of the payload 722. For example, the sound generated by UAV 708 can be modified based on the size, weight, packaging, and weight distribution of payload 722. Thus, when the UAV 708 delivers the payload 722, the differently sized propellers 714 may update and provide the UAV 708 with the modulation instructions 716 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 as the UAV 708 generates during takeoff or post-delivery 720, or specify another sound or adjustment to the sound 706, and A modulation instruction 716 is generated that results in being provided to UAV 708. In various embodiments, UAV 708 is configured to dynamically update or change modulation 718, thereby updating or changing the sound generated by UAV 708 during flight.

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

  According to at least one embodiment, the management module 808 updates the modulation 814 of the propeller 812 of different size or processing to generate a particular sound based on the sound propagation characteristics identified from the transmitted and received signals 810. I can do it. In an embodiment, the updated modulation 814 may update the sound generated by the UAV 804 to stop generating sounds or sound bands within the sound spectrum already provided by the surrounding environment 800. . In various embodiments, the updated modulation instructions 814 may mimic the sound generated by the surrounding environment 800 or result in a sound generated by the UAV 804 that is within its octave. Sound propagation may 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 for the sound generated by the UAV 804. (Update modulation, remove or mimic sound).

  Referring to FIGS. 9 and 10, FIGS. 9 and 10 illustrate example flows 900 and 1000 of modifying or generating the desired 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), and thereby be fully or partially automated. However, other or other combinations of electronic and / or mechanical components may additionally or alternatively be used. Also, while the operations are shown in a particular order, it is to be understood that no particular order is required and that one or more of the 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 may be received. For example, a user may interact with a computing device and an associated browser (eg, an Internet web browser, a user interface of an electronic market application, etc.) to order items delivered by a UAV. At operation 904, a UAV flight plan for delivering the item 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 the management module of each UAV can receive orders and generate flight plan instructions. The UAV may utilize flight plan instructions to fly a particular route and deliver the item associated with the order.

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

  With reference to FIG. 10, operation 1000 may include receiving an order for an item at 1002. At operation 1004, an instruction may be provided to the UAV to deliver the package to the location associated with the order. In embodiments, a flight plan that includes various stages (i.e., takeoff, during delivery, hovering, landing, etc.) may be generated and provided to the UAV for semi-autonomous and / or autonomous flight. At operation 1006, a command may be provided to a first sensor associated with the UAV to emit a signal to the environment around the UAV during a flight. The first sensor may be configured to transmit a signal and receive when the signal crosses the object and returns to the sensor. At operation 1008, in response to the emission of the signal from the first sensor, the sound propagation to the surrounding environment in flight may be determined based on the signal received by the first sensor. In an embodiment, operation 1000 ends at 1010 by instructing the UAV to fly to that location and simultaneously modulate one or more sets of differently sized propellers attached to the UAV to identify the surrounding environment. The desired sound can be generated based on the obtained sound propagation. For example, if the surrounding environment contains strong propagation characteristics (ie, echo), the modulation command 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 in terms of reducing or altering the sound generated by the UAV during delivery of an item is illustrated. The architecture may include a UAV 1100, a server 1104, and a network 1106. In general, the architecture may be implemented as part of an electronic marketplace that offers goods. For example, server 1104 may communicate with UAV 1100 to facilitate delivery of items ordered from an electronic marketplace. This communication may take place over network 1106. Network 1106 includes any one or a 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 server 1104, server 1104 can include one or more service provider computers, such as servers and other suitable computing devices, configured to provide various data services to users. . The server 1104 may be configured to host websites (or combinations of websites) accessible to customers as hosts. Websites may be accessible via a web browser and may allow customers to order items.

  In embodiments, server 1104 may be executed by one or more virtual machines implemented in a hosted computing environment. A hosted computing environment can include one or more rapidly provisioned and released network-based resources. Such network-based resources may include computing devices, networking devices, and / or storage. The hosted computing environment is sometimes called a cloud computing environment. In some examples, servers 1104 may include one or more servers, possibly as individual servers located in a cluster or not associated with one another.

  In one exemplary configuration, server 1104 may include at least one memory 1132 and one or more processing unit (s) (or processor (s)) 1134. Processor (s) 1134 may be implemented as appropriate with hardware, computer-executable instructions, software, firmware, or a combination thereof. The computer-executable instructions, software, or firmware implementation of processor (s) 1134 may include computer-executable instructions or machine-executable instructions written in any suitable programming language to perform the described functions. Can be included. Memory 1132 may include more than one memory and may be distributed across multiple server networks. Memory 1132 may store data generated during the execution of these programs, as well as program instructions (eg, management module 1136) that are loadable and executable on processor (s) 1134. Depending on the configuration and type of memory, 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.

  The server 1104 may also include additional removable and / or fixed storage, including but not limited to magnetic storage, optical disks, and / or tape storage. Disk drives and their associated computer-readable media may provide nonvolatile storage of computer-readable instructions, data structures, program modules, and other data for a computing device. 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 at the contents of the memory 1132 in more detail, the memory 1132 includes an operating system 1138 and one or more application programs, modules, or services for performing the functions disclosed herein, including at least a management module 1136. May be included. Management module 1136 may, in some examples, support, direct, manage, and / or control the operation of some or all of the components of UAV 1100. For example, management module 1136 may send data related to the delivery of an item to 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 may be used by the UAV 1100, such as by a management module therein, to deliver items and modules from a first propeller set of a first size to a second propeller set of a second size. it can. Further, the management module 1136 can be used to select and deploy the UAV 1100 for a delivery mission. As part of this selection, management module 1136 may also select a configuration of propellers of different sizes that may be used to deliver the item. The selection of different sized propeller configurations, including the modulation that will occur during delivery between different sized propeller sets, may be based on several parameters, as described herein. In addition, management module 1136 may receive data (external data, unique data, sound propagation characteristics, payload characteristics, etc.) from UAV 1100 during deployment and / or execution of a delivery mission. The management module 1136 can process the data and provide further instructions to the UAV 1100 as needed to adjust item delivery and / or adjust modulation or simultaneous configuration of different sized propellers.

  In some examples, server 1104 may also include additional storage 1140, which may include removable storage and / or non-removable storage. Additional storage 1140 may include, but is not limited to, magnetic storage, optical disks, and / or tape storage. Disk drives and their associated computer-readable media may provide nonvolatile storage of computer-readable instructions, data structures, program modules, and other data for a computing device.

  Both removable and non-removable memory 1132 and additional storage 1140 are examples of computer-readable storage media. For example, computer readable storage media can be volatile or non-volatile, removable media 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 a non-removable medium. Module, as used herein, may refer to a programming module executed by a computing system (eg, a processor). Modules of server 1104 may include one or more components. The server 1104 includes, for example, an I / O device (s) that allows connection to a keyboard, mouse, pen, voice input device, touch input device, display, speaker, printer, or other I / O device, and the like. And / or a port 1142 may 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 an exemplary embodiment, UAV 1100 can include management components that are partially or wholly executed 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 unit (s) 1116. Processor (s) 1116 may be implemented as appropriate with hardware, computer-executable instructions, software, firmware, or a combination thereof. The computer-executable instructions, software, or firmware implementation of processor (s) 1116 may include computer-executable instructions or machine-executable instructions written in any suitable programming language to perform various described functions. Can be included. Memory 1114 may include two or more memories 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 configuration and type of memory, 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.

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

  In some examples, computing system 1102 may also include additional storage 1122, which may include removable storage and / or non-removable storage. Additional storage devices 1122 may 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 nonvolatile storage of computer-readable instructions, data structures, program modules, and other data for a computing device.

  Both removable and non-removable memory 1114 and additional storage 1122 are examples of computer-readable storage media. For example, computer readable storage media can be volatile or non-volatile, removable media 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 a non-removable medium. A module of the computing system 1102 may include one or more components.

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

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

  FIG. 12 shows an example of an environment for reducing or modifying sound during the delivery of an item and producing the desired sound. As will be appreciated, although a web-based environment is used for illustrative purposes, 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 UAV user (via the client device) or to the UAV itself. Examples of such client devices include personal computers, mobile phones, handheld messaging devices, laptop computers, set-top boxes, personal data assistants, e-book readers, and the like. A network may include any suitable network, including an intranet, the Internet, a cellular network, a local area network, or any other such network, or a combination 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 a network may be enabled by a wired or wireless connection 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. However, for other networks, alternative devices that serve similar purposes can be used, as will be apparent to those skilled in the art.

  The exemplary environment includes at least one application server 1208 and a data store 1210. There are some application servers, layers, or other elements, processes, or components that can be configured in a chain or otherwise, and that can interact to perform tasks such as obtaining data from an appropriate data store. It should be understood that gain. 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 stores. Any combination and number of devices and data storage media may be included in any standard, distributed, or clustered environment. An application server, optionally integrated with a data store, executes one or more aspects of the application for the client device and / or UAV and optionally handles most of the data access and logic of the application. Suitable hardware and software. The application server can provide access control services in cooperation with the data store to generate content, such as text, graphics, audio and / or video, which is transferred to the user, where the content 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 delivery of content between the client device 1202 and the application server 1208, can be handled by the web server 1206. The web server and application server are not required, but merely exemplary, as the structured code discussed herein may execute on any suitable device or host machine as discussed elsewhere herein. It should be understood that these components are

  Data store 1210 may include a number of separate data tables, databases, or other data storage mechanisms and media for storing data relating to a particular aspect. For example, the illustrated data store provides a mechanism for storing information that may be used by the modules described herein, such as sound profile 1212, sound propagation profile and / or performance metrics 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, and may be added to any of the above mechanisms as needed, or to additional data in the data store 1210. It is to be understood that the information can be stored in the following mechanism. Data store 1210 is operable to receive instructions from application server 1208 and to retrieve, update, or otherwise process data in response thereto, via logic associated with the data store.

  Each server typically includes an operating system that provides executable program instructions for the general administration and operation of the server, and typically, when executed by a processor of the server, It includes a computer-readable storage medium (eg, a hard disk, a random access memory, a read-only memory, etc.) that stores instructions that enable it to perform its intended function. Suitable implementations for the general functionality of operating systems and servers are known or commercially available, and are readily implemented by one of ordinary skill in the art, especially in light of the present disclosure.

  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 may work equally well with systems having fewer or more components than shown in FIG. Accordingly, the depiction of the system 1200 of FIG. 12 should be construed as exemplary in nature and not limiting the scope of the present disclosure.

  The various embodiments may be further implemented in a wide variety of operating environments, and in some cases, one or more user computers, computing devices that may be used to run any number of applications. A device or processing device may be included. The user or client device can be a desktop or laptop computer running a standard operating system, and can run mobile software and support a number of networking and message protocols, such as cellular, wireless, and portable devices. It may include any of a number of general-purpose personal computers. Such a system may also include several workstations running any of a variety of commercially available operating systems and other known applications for purposes such as development and database management. These devices may 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"), It is well known to those skilled in the art for supporting communication using any of a variety of commercially available protocols, such as the Network File System ("NFS"), the Common Internet File System ("CIFS"), and AppleTalk. Leverage 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 utilizing a web server, the web server can be any of a variety of servers, including hypertext transfer protocol ("HTTP") servers, FTP servers, common gateway interface ("CGI") servers, data servers, Java servers, and business application servers. Either a server or a middle tier application can execute. The server (s) may be 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. The 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. The 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 memory and storage media, as described above. These may be on a variety of storage media, such as on storage media local to (and / or residing within) one or more computers, or on storage media remote from any or all computers via a network. Can be in place. In a particular set of embodiments, the information may reside on a storage area network ("SAN") that is well known to those skilled in the art. Similarly, the files necessary to perform the functions assumed to be on a computer, server or other network device can be stored locally and / or remotely as needed. 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”), and may include at least one input device (eg, a mouse, keyboard, controller, touch screen or keypad) and at least one output device (eg, a display device, a printer, or a 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 medium reader includes a computer-readable storage medium representing a remote storage device, a local storage device, a fixed storage device and / or a removable storage device, and temporarily and / or more permanently the computer-readable information. It can be connected to, or configured to receive, storage media for storing, transmitting, and retrieving. The system and various devices also typically include a number of software applications, modules, services, or services located within at least one working memory device, including an operating system and application programs such as client applications or web browsers. Including other elements. It is understood that alternative embodiments have many of the 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. Further, 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 any method or technology implemented for storage and / or transmission of information, such as computer readable instructions, data structures, program modules or other data, including any other media accessible by the system device. Sex Any suitable media known or used in the art, including, but not limited to, transmissive media, removable and non-removable media, including but not limited to storage media and communication media. 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 are directed to receiving an order to deliver a package associated with an electronic marketplace, and instructing an unmanned aerial vehicle (UAV) to deliver a package based at least in part on information associated with the order. Generating one or more sound profiles based at least in part on one or more differently sized propeller sets associated with the UAV. Identifying a desired sound corresponding to utilizing a particular set of propellers of a particular size during the flight of the UAV, and / or utilizing the flight plan and one or more sound profiles to determine the luggage The UAV to fly to the location associated with the delivery of the flight, thereby flying during at least a portion of the flight plan A computer-implemented method that includes one or more of modulating a first set of propellers of a first size to a second set of propellers of a second size to modify the sound produced by the UAV. Can be something.

  Optionally, the computer-implemented method causes the UAV to receive information indicating that the first propeller set of the first size is malfunctioning, and to modulate the third propeller set of the third size. It may include indicating. Optionally, the computer-implemented method comprises: requesting input from a user associated with the delivery of the package regarding the sound level of the UAV being delivered; one or more based on the input from the user. Updating the sound profile and / or modifying the sound generated by the UAV from a second propeller set of a second size to a third propeller set of a third size; Instructions. Optionally, each propeller set of one or more sets of propellers of different sizes may include different material compositions.

  Embodiments disclosed herein include receiving an order to deliver a package, instructing the UAV to deliver the package to the location associated with the order, and from a first sensor associated with the UAV, Receiving a first sound generated around the UAV based on a first propeller set of a first size utilized by the UAV during a flight to a location of the UAV, wherein the first sound is at least partially Generating a sound profile based on the sound profile, wherein the sound profile identifies a desired sound corresponding to utilizing a particular propeller set of a particular size during the flight of the UAV, and / or A first propeller set of a first size to a second 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, from a second sensor associated with the UAV, a second sound generated around 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 comprises: receiving an updated first sound and an updated second sound from a first sensor and a second sensor associated with the UAV; Updating the sound profile based at least in part on the sound and the updated second sound; and / or providing the UAV with a third size third propeller from a second size second set of propellers. It may include instructing the set to modulate. Optionally, a first propeller set of a first size may include one or more propeller finishes.

  Optionally, instructing the UAV to modulate from a first propeller set of a first size to a second propeller set of a second size comprises changing a rotational speed associated with the second size propeller. including. Optionally, the computer-implemented method further comprises updating the first sound including additional sounds from the first propeller set of the first size and the second propeller set of the second size to be used simultaneously. Updating, at least in part, the sound profile may be included. Optionally, a first propeller set of a first size is tilted with respect to the UAV at a first position and a second propeller set of a second size is tilted with respect to the UAV at a second position. are 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 propeller set of a first size to a second set of propellers of a second size comprises the relative position of the UAV in a flight plan for delivering packages. May be used.

  Embodiments disclosed herein may include receiving an initial instruction to a computer system to deliver a package, a first propeller set of a first size of the UAV, a location associated with the package. Generated around the UAV based on a first set of propellers of a first size utilized during a flight to the location from a first sensor associated with the UAV, propelling the UAV. Obtaining a first sound and obtaining, from a second sensor associated with the UAV, an environmental input within a certain distance from the UAV during a flight to the location, and / or at least partially obtaining a first sound; Instruct the UAV to modulate from a first set of first sized propellers to a second set of second sized propellers during a flight to the location based on one sound and environmental input. 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 inputs include at least one of temperature, barometric pressure, humidity, wind speed, wind direction, calendar date, cloud cover, sunshine, surface conditions or properties in the environment, radiation levels, or pollution degree. obtain. Optionally, the computer-executable storage medium, when executed by one or more processors, further provides the computer system with at least a first propeller set of a first size and a second propeller set of a second size. The in-flight performance metrics and / or causing the UAV to move from a second set of second sized propellers to a third set of third sized propellers based at least in part on the performance metrics. 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 input specifying delivery of the package to the location, and / or For instructing modulation from a second sized second propeller set to a third sized third propeller set based at least in part on the input of the second propeller set.

  Optionally, instructing the UAV to modulate from a first set of propellers of a first size to a second set of propellers of a second size can include using a set of sound metrics. The set of sound metrics may include a decibel level, a loudness level, a sharpness level, a roughness level, and a fluctuation intensity. Optionally, instructing the UAV to modulate during flight from a first set of first size propellers to a second set of second size propellers comprises: This may include using the resulting metrics and thresholds associated with the delivery.

  Embodiments disclosed herein include a propulsion system having one or more frames, one or more first motors in communication with a first propeller of a first size, and / or a second size. 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 a first motor to a second motor based at least in part on a sound generated by the UAV during the flight.

  Optionally, the computing system may be configured to receive information indicating that the first motor is malfunctioning and / or 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, based at least in part on the input from the user, a sound profile associated with the UAV. The UAV to modulate from the first motor to the second motor or from the second motor to the first motor to update and / or change the sound produced by the UAV It can be configured as follows. Optionally, the first propeller of the first size may be of a different material composition than the second propeller of the second size.

  Embodiments disclosed herein may include one or more frames, a propulsion system attached to the frame, the propulsion system having one or more sets of propellers of different sizes, and / or delivery of items. 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 the flight, and utilizes the sound profile to generate the first sound generated by the UAV. May be modulated during flight between a first propeller set of a first size and a second propeller set of a second size.

  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 sound from the surrounding environment. Optionally, generating a 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 generates at least the updated first sound and the updated second sound. Based, in part, on updating the sound profile and / or instructing the UAV to modulate from a first propeller set of a first size to a second propeller set of a second size. . Optionally, the first propeller set of the first size may have one or more propeller finishes. Optionally, modulation from a first propeller set of a first size to a second propeller set of a second size may include changing a rotational speed associated with the second size propeller.

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

  Embodiments disclosed herein include one or more frames, a propulsion system attached to the frame, the propulsion system including one or more sets of propellers of different sizes, and / or delivery of luggage. A computing system configured to manage a propulsion system during an accompanying flight, wherein the computing system is configured to modulate between differently sized propeller sets during the flight to modify a sound generated by the UAV. UAVs that include computing systems.

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

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

  Optionally, the computer-implemented method comprises receiving, from the UAV, information indicating that a first size propeller set of the one or more different size propeller sets is malfunctioning, and / or the information. At least in part, instructing the UAV to update the modulation of one or more propeller sets to maintain the desired sound production. Optionally, the computer-implemented method comprises: requesting input from a user associated with the delivery of the package with respect to an intended sound of the UAV being delivered, based at least in part on the input from the user. Updating one or more of the above sound profiles and / or indicating one or more simultaneous modulations of one or more sets of propeller sets to change the intended sound of the UAV during flight. Can be. Optionally, each propeller set of the one or more 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 a signal to be transmitted to the surrounding environment of the UAV, wherein the signal is transmitted within a specific distance around the UAV; Receiving information reflected by the environment and identifying a signal received by the second sensor; detecting, at least in part, information about the UAV in flight based on the information received by the second sensor associated with the UAV. Determining the acoustic propagation of the environment and / or instructing the UAV to fly to the above location, and during at least a portion of the flight, one or more sets of propellers attached to the UAV Simultaneously modulating to produce the desired sound by the UAV, based in part on the identified sound propagation of the surrounding environment, wherein each propeller set of one or more propeller sets is a distinction of one or more propeller sets. May include computer-implemented methods that include one or more of differing in size from the set of propellers.

  Optionally, the computer-implemented method can include one or more of receiving information including a sound generated by the UAV during the 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 determines, based at least in part on the received signal, a sound band in a sound spectrum corresponding to a desired sound within a range of the environment around the UAV during the flight, and One of updating the modulation of one or more propeller sets, thereby excluding at least a portion of the identified sound band from being produced by one or more propeller sets during flight. The above can be included.

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

  The embodiments disclosed herein are a first set of propellers of a first size coupled to one or more frames, a propulsion system associated with the frames, to provide propulsion to the UAV. A first propeller set, a second propeller set of a second size coupled to a propulsion system associated with the frame, wherein the first propeller set is of a first size. A second propeller set, which is in a particular configuration and may be configured to provide thrust and directivity in the UAV flight path, and / or configured to manage the propulsion system during the flight associated with payload delivery. UAVs including embedded computing systems. Optionally, the computing system simultaneously modulates the first set of propellers to the first rotational speed and the second set of propellers to the second rotational speed during a flight corresponding to the flight plan; It can be configured to produce the desired sound.

  Optionally, the computing system receives a user-specified sound and / or a first propeller set of a first size and a second propeller of a second size to mimic the specified sound. Updating the modulations of the propeller sets of the P.I. Optionally, the computing system obtains a performance metric of the first propeller set of the first size and / or based at least in part on the performance metric, the second size of the second propeller set. It may include one or more of indicating updates to the modulation for the propeller set. Optionally, a second propeller set of a second size coupled to a propulsion system associated with the frame includes a first propeller of a first size to alter an acoustic resonance associated with the UAV in flight. Placed on the frame for the propeller set.

Claims (20)

Receiving an order by a computer system to deliver a package associated with the electronic marketplace;
The computer system generating a flight plan instructing an unmanned aerial vehicle (UAV) to deliver the package based on the information associated with the order;
The computer system identifies an intended sound corresponding to utilizing a particular set of propellers of a particular size during the flight of the UAV based on one or more sets of propellers of different sizes associated with the UAV. Generating one or more sound profiles;
The computer system instructs the UAV to fly to a location associated with the delivery of the package using the flight plan and the one or more sound profiles, wherein the UAV is in flight during at least a portion of the flight plan. Modulating from a first propeller set of a first size to a second propeller set of a second size to change the sound generated from the UAV. The computer system receiving from the UAV information indicating that the first propeller set of the first size is malfunctioning;
The computer-implemented method of claim 1, wherein the computer system directs the UAV to modulate to a third set of third sized propellers. The computer system prompting a user associated with the delivery of the package for input regarding the sound level of the UAV during delivery;
The computer system updating one or more sound profiles based on input from the user;
To change the sound produced by the UAV, the computer system instructs the UAV to modulate from the second set of second sized propellers to a third set of sized third propellers. 3. The computer-implemented method according to claim 1, further comprising:   4. The computer-implemented method of claim 1, wherein, among the one or more propeller sets, each propeller set having a different size has a different material composition. 5. Receiving an order to deliver the package via a computer system;
The computer system instructing an unmanned aerial vehicle (UAV) to deliver the package to a location associated with the order;
The computer system generates a first set of propellers around the UAV from a first sensor associated with the UAV based on a first set of propellers of a first size utilized by the UAV during flight to the location. Receiving one sound,
Generating a sound profile, based on the first sound, identifying a desired sound corresponding to utilizing a particular set of propellers of a particular size during the flight of the UAV;
The computer system instructs the UAV from the first propeller set of the first size to a second propeller set of a second size based on a sound profile during delivery of the package to the location and a relative position of the UAV. And instructing to modulate.   The computer of claim 5, further comprising the computer system receiving, from a second sensor associated with the UAV, a second sound generated around the UAV based on ambient sound. Execution method.   The computer-implemented method of claim 6, wherein generating the sound profile is further based on the second sound. The computer system receiving an updated first sound and an updated second sound from the first sensor and the second sensor associated with the UAV;
The computer system updating the sound profile based on the updated first sound and the updated second sound;
8. The computer system of claim 7, wherein the computer system directs the UAV to modulate from the second set of second size propellers to a third size of third set of propellers. Computer execution method.   The computer-implemented method of any one of claims 5 to 8, wherein the first propeller set of the first size includes one or more propeller finishes.   The computer system instructing the UAV to modulate from the first set of first size propellers to the second set of second size propellers comprises the second size propellers. 10. A computer-implemented method according to any one of claims 5 to 9, comprising changing a rotation speed associated with.   Further, based on an updated first sound including additional sounds from the first propeller set of the first size and the second propeller set of the second size used simultaneously. The computer-implemented method according to any one of claims 5 to 10, comprising updating the sound profile.   The first propeller set of the first size is tilted relative to the UAV at a first position, and the second propeller set of the second size is relative to the UAV at a second position. A computer-implemented method according to any one of claims 5 to 11, wherein the method is inclined at an angle.   The computer-implemented method of any one of claims 5 to 12, wherein generating the sound profile is based on using a machine learning algorithm that utilizes the first sound.   Instructing the UAV to modulate from the first set of propellers of the first size to the second set of propellers of the second size comprises providing the UAV in a flight plan for delivering the package. 14. A computer-implemented method according to any one of claims 5 to 13, based on the relative position of: A computer-executable storage medium storing instructions executable by one or more processors of a computer system, the computer system comprising:
Get the first instructions to deliver the package,
Causing a first set of propellers of a first size associated with an unmanned aerial vehicle (UAV) to propel the UAV to a location associated with the load;
Obtaining a first sound generated around the UAV from a first sensor associated with the UAV based on the first propeller set of the first size utilized during a flight to the location Let
Causing a second sensor attached to the UAV to obtain an environmental input within a certain distance from the UAV during a flight to the location;
Modulating from the first propeller set of the first size to a second propeller set of a second size during a flight to the location based on the first sound and the environmental input; A computer-executable storage medium for instructing the UAV.   The environmental input may include one or more of temperature, barometric pressure, humidity, wind speed, wind direction, calendar date, cloud cover, sunshine, surface conditions or properties in the environment, radiation levels, or pollution degree. A computer-executable storage medium according to claim 1. The instructions, when executed by one or more processors, further cause a computer system to:
Causing the in-flight performance indicators of the first propeller set of the first size and the second propeller set of the second size to be acquired;
17. The apparatus according to claim 15, further comprising an instruction for instructing the UAV to perform modulation from the second propeller set of the second size to a third propeller set of a third size based on the performance index. A computer-executable storage medium according to claim 1. The instructions, when executed by one or more processors, at least cause the computer system to:
Obtaining input identifying delivery of the package to the location;
18. The method of claim 15, further comprising, based on the input, instructing the UAV to modulate from the second propeller set of the second size to a third propeller set of a third size. A computer-executable storage medium according to any one of the preceding claims.   Instructing the UAV to modulate from the first set of propellers of the first size to the second set of propellers of the second size is based on the set of sound metrics, The computer-implemented storage medium of any one of claims 15 to 18, wherein the set of comprises a decibel level, a loudness level, a sharpness level, a roughness level, and a fluctuation magnitude. Instructing the UAV to modulate during flight from the first propeller set of the first size to the second propeller set of the second size comprises the first sensor and the second sensor. 20. The computer-implemented storage medium of claim 19, wherein the computer-implemented storage medium is based on indices obtained from the sensors and thresholds associated with load, location, or flight planning stages .