公开(公告)号：US12205483B1

公开(公告)日：2025-01-21

申请号：US18341312

申请日：2023-06-26

Applicant: Amazon Technologies, Inc.

Inventor： Yibo Cao ,  Chong Huang ,  Dawei Li ,  Yang Liu ,  Kah Kuen Fu

IPC: G08G5/00 ,  B64U10/13 ,  B64U101/70

Abstract: An aerial vehicle is configured to calculate ranges to objects around the aerial vehicle when operating within indoor spaces, using a LIDAR sensor or another range sensor. The aerial vehicle calculates ranges within a plurality of sectors around the aerial vehicle and identifies a minimum distance measurement for each of the sectors. Sets of adjacent sectors having distance measurements above a threshold are identified, and bearings and minimum distance measurements of the sets of adjacent sectors are determined. When the aerial vehicle detects an object within a flight path, the aerial vehicle selects one of the sets of adjacent sectors based on the minimum distance measurements and executes a braking maneuver in a direction of the selected one of the sets of adjacent sectors.

公开(公告)号：US12280889B1

公开(公告)日：2025-04-22

申请号：US17855071

申请日：2022-06-30

Applicant: Amazon Technologies, Inc.

Inventor： Chong Huang ,  Yibo Cao ,  Cheng Chen ,  Yang Liu ,  Kah Kuen Fu ,  Tianyang Ma

IPC: B64C39/02 ,  B64D35/08 ,  B64D47/00 ,  G01C21/20 ,  G05D1/00

Abstract: An aerial vehicle is configured to operate within indoor spaces. The aerial vehicle is programmed with positions of waypoints within three-dimensional space, and to calculate a trajectory for traveling through such waypoints in a manner that minimizes snap of the aerial vehicle. Where a distance between a pair of the waypoints is sufficiently long, the aerial vehicle inserts intervening waypoints for planning purposes, and programs the aerial vehicle to travel at a maximum speed between the intervening waypoints. Upon detecting an obstacle with a first range using one or more sensors, the aerial vehicle reduces its speed and monitors a second, shorter range using the sensors, and compensates for motion between such readings.