Transitioning an unmanned aerial vehicle to horizontal flight

摘要

This disclosure describes a configuration of an unmanned aerial vehicle (UAV) that will facilitate extended flight duration. The UAV may have any number of lifting motors. For example, the UAV may include four lifting motors (also known as a quad-copter), eight lifting motors (octo-copter), etc. Likewise, to improve the efficiency of horizontal flight, the UAV also includes a thrusting motor and propeller assembly that is oriented at approximately ninety degrees to one or more of the lifting motors. When the UAV is moving horizontally, it may be determined if the horizontal airspeed of the UAV exceeds an airspeed threshold. If the horizontal airspeed exceeds the airspeed threshold, the thrusting motor may be engaged and the thrusting propeller will aid in the horizontal propulsion of the UAV.

主权项

1. A method to control an unmanned aerial vehicle (“UAV”), the method comprising:
under control of one or more computing systems configured with executable instructions;
determining a first force and a first direction of a wind outside of a materials handling facility;determining, while the UAV is positioned inside the materials handling facility and based at least in part on the first force and the first direction of the wind outside of the materials handling facility:
a heading for the UAV; anda second force to be generated by the UAV as the UAV transitions from inside the materials handling facility to outside the materials handling facility;causing, while the UAV is positioned inside the materials handling facility, the UAV to be oriented according to the heading;rotating, with a plurality of lifting motors coupled to the UAV and while the UAV is positioned inside the materials handling facility, a plurality of lifting propellers to generate a third force sufficient to cause the UAV to ascend and transition from inside the materials handling facility to outside the materials handling facility;rotating, with a thrusting motor coupled to the UAV and while the UAV is transitioning from inside the materials handling facility to outside the materials handling facility, a thrusting propeller to generate the second force;receiving a navigation command to fly the UAV in a direction that includes a horizontal component;in response to initiating an execution of the navigation command, determining that a first horizontal airspeed of the UAV exceeds a threshold; anddecreasing a rotational speed of at least one of the plurality of lifting propellers.