公开(公告)号：US11858625B1

公开(公告)日：2024-01-02

申请号：US16448311

申请日：2019-06-21

Applicant: Amazon Technologies, Inc.

Inventor： Shmuel Eisenmann ,  Ofer Rubin

IPC: B64C39/02 ,  B64C27/46 ,  G01S15/93 ,  B64C19/02

CPC classification number: B64C39/024 ,  B64C19/02 ,  B64C27/46 ,  G01S15/93 ,  B64U2201/00

Abstract: Disclosed are systems and methods to detect objects within an environment by an aerial vehicle. An aerial vehicle may detect objects within an environment based on propeller noises emitted by the aerial vehicle that are reflected back to the aerial vehicle by objects in the environment. The propeller noise may be noise that is generated during normal operation of one or more propellers. The propeller noise emitted by the propellers of the aerial vehicle propagates into the environment around the aerial vehicle and reflects off any objects within the environment. Because the noise generated by each propeller is distinguishable, sets of solutions (distance and all directions) may be computed for each propeller. The intersections of those sets of solutions is representative of the actual distance and direction of the object with respect to the aerial vehicle.