System and method for stopping movement of an operating member

Abstract

A method is provided, comprising causing an operating member of a system to move. The method comprises driving power or a control signal through a conductive coupling member. The conductive coupling member is connected between a first terminal and a second terminal in a power circuit, and the coupling member secures the operating member to a structural member of the system. The method comprises detecting an electrical disconnection between the first terminal and the second terminal. The method comprises determining a mechanical rupture associated with the coupling member based on the electrical disconnection between the first terminal and the second terminal. The method comprises stopping movement of the operating member of the system based on the determination of the mechanical rupture associated with the coupling member.

Description

[0001] CROSS-REFERENCE TO RELATED APPLICATIONS

[0002] This application claims priority to U.S. Patent Application No. 16 / 729,167, filed December 27, 2019, which is incorporated herein by reference in its entirety and for all purposes. Technical Field

[0003] The present application relates to systems and methods for stopping movement of an operating member. Background Art

[0004] An unmanned vehicle, also known as an autonomous vehicle, is a vehicle capable of operating without the physical presence of a human operator. Unmanned vehicles can operate in remote-controlled, autonomous, or partially autonomous modes.

[0005] When an unmanned vehicle is operating in remote control mode, a pilot or driver at a remote location can control the unmanned vehicle by sending commands to the unmanned vehicle via a wireless link. When an unmanned vehicle is operating in autonomous mode, the unmanned vehicle typically moves based on pre-programmed navigation waypoints, a dynamic automation system, or a combination of these. In addition, some unmanned vehicles can operate in both remote control mode and autonomous mode, and in some instances, can do so simultaneously. For example, a remote pilot or driver may wish to leave navigation to the autonomous system while manually performing another task, such as operating a mechanical system to, for example, pick up an object.

[0006] There are various types of unmanned vehicles for various environments. For example, unmanned vehicles exist for operations in the air, on the ground, underwater, and in space. Examples include quadcopters and tail-sitter UAVs. Unmanned vehicles also exist for hybrid operations, where multi-environment operations are possible. Examples of hybrid unmanned vehicles include amphibious vessels that can operate on land and on water, or flying boats that can land on water and on land. Other examples are also possible.

[0007] A system such as a UAV or, more generally, an aircraft may have an operating member that moves to facilitate performing a function. For example, in an aircraft, a motor may move a propeller and cause lift for the aircraft. This may allow the UAV to perform a delivery operation, for example. In some scenarios, coupling members such as screws, straps, clips, etc. may break or become loose and cause one or more operating members to become unsecured from a structural member such as a cantilever of the UAV. In these scenarios, the operating member may continue to move, but because it is not secured from the structural member, it may not operate as intended. This may negatively impact other parts of the system by introducing ambiguity in the operation of at least one component of the system.

[0008] Therefore, it would be desirable to stop movement of an operating member fixed to a structural member in response to mechanical rupture of the coupling member by using the coupling member. This may advantageously allow the system to operate more predictably, perhaps while taking one or more actions in response to detecting a mechanical rupture. Summary of the Invention

[0009] The present embodiments advantageously provide an aircraft, method, and system in which an operating member ceases movement in response to a mechanical rupture in a coupling member. A power circuit is configured to provide power or control signals to the operating member. The power circuit includes a conductive coupling member. The coupling member is positioned within the power circuit such that if the coupling member experiences a mechanical rupture, the operating member ceases receiving various aspects of the power or control signal and accordingly ceases movement.

[0010] In an example, the operating member includes a motor configured to move a propeller, and the coupling member includes a screw. The screw can be made of a conductive metal and can serve as part of a power circuit. If the threads of the screw become stripped, the screw no longer holds the motor in place on the structural member (e.g., a boom of an aircraft). In addition, because power or control signals are provided to the motor via the screw, the stripped threads also prevent the motor from receiving power or control signals. In this and other examples, the conductive properties of the coupling member can be used to passively sense and mitigate mechanical ruptures in the system.

[0011] In one aspect, an aircraft is provided. The aircraft includes a power circuit. The aircraft includes an operating member configured to move in response to receiving power or a control signal from the power circuit. The aircraft includes a structural member configured to stabilize one or more operating members of the aircraft. The aircraft includes a coupling member configured to secure the operating member to the structural member at a contact point. The coupling member includes a conductive material incorporated into the power circuit between a first terminal and a second terminal. Mechanical rupture of the coupling member results in: (i) the operating member becoming unsecured from the structural member at the contact point, and (ii) an electrical disconnect between the first terminal and the second terminal. The electrical disconnect stops the power or control signal, thereby stopping movement of the operating member.

[0012] In another aspect, a method is provided. The method includes moving an operating member of a system. The method includes driving power or a control signal through a conductive coupling member. The conductive coupling member is connected between a first terminal and a second terminal in a power circuit, and the coupling member secures the operating member to a structural member of the system. The method includes detecting an electrical disconnect between the first terminal and the second terminal. The method includes determining a mechanical rupture associated with the coupling member based on the electrical disconnect between the first terminal and the second terminal. The method includes stopping movement of the operating member of the system based on determining the mechanical rupture associated with the coupling member.

[0013] On the other hand, a system is provided. The system includes a power circuit. The system includes a plurality of operating members that are configured to move in response to receiving corresponding power or control signals from the power circuit. The system includes one or more structural members configured to stabilize the plurality of operating members. The system includes a plurality of coupling members that are configured to secure the plurality of operating members to the one or more structural members at a plurality of contact points. Each respective coupling member of the plurality of coupling members includes a conductive material incorporated into the power circuit between a respective first terminal and a respective second terminal. Mechanical rupture of the respective coupling member results in: (i) the respective operating member corresponding to the respective coupling member becoming unsecured from the respective structural member at the respective contact point, and (ii) an electrical disconnection between the respective first terminal and the respective second terminal. The electrical disconnection stops the respective power or control signal from reaching the corresponding operating member, thereby stopping the corresponding operating member from moving.

[0014] This embodiment also provides a system. The system includes a device for moving an operating member of the system. The system includes a device for driving power or a control signal through a conductive coupling member. The conductive coupling member is connected between a first terminal and a second terminal in a power circuit, and the coupling member secures the operating member to a structural member of the system. The system includes a device for detecting an electrical disconnect between the first terminal and the second terminal. The system includes a device for determining a mechanical rupture associated with the coupling member based on the electrical disconnect between the first terminal and the second terminal. The system includes a device for stopping movement of the operating member of the system based on determining a mechanical rupture associated with the coupling member.

[0015] These and other aspects, advantages and alternatives will become clear to those skilled in the art by reading the following detailed description with appropriate reference to the accompanying drawings. In addition, it should be understood that the description provided in this summary section and elsewhere in this document is intended to illustrate the claimed subject matter by way of example and not limitation. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1is an isometric view of an example unmanned aerial vehicle in accordance with an example embodiment.

[0017] Figure 2 is a simplified block diagram illustrating components of an unmanned aerial vehicle according to an example embodiment.

[0018] Figure 3 is a simplified block diagram illustrating a UAV system according to an example.

[0019] Figure 4 is a simplified block diagram of a system according to an example.

[0020] Figure 5A is a simplified illustration of a power circuit in a first state according to an example.

[0021] Figure 5B is a simplified illustration of a power circuit in a second state according to an example.

[0022] Figure 6A is a simplified illustration of a structural member in a first state according to an example.

[0023] Figure 6B is a simplified illustration of a structural member in a second state according to an example.

[0024] Figure 7 is a simplified illustration of a structural component according to an example.

[0025] Figure 8A is a simplified illustration of a structural member in a first state according to an example.

[0026] Figure 8B is a simplified illustration of a structural member in a second state according to an example.

[0027] Figure 9 is a block diagram of a method according to an example.

[0028] Figure 10 is a block diagram of a method according to an example. DETAILED DESCRIPTION

[0029] Exemplary methods and systems are described herein. It should be understood that the word "exemplary" as used herein means "serving as an example, instance, or illustration." Any implementation or feature described herein as "exemplary" or "illustrative" is not necessarily to be construed as preferred or advantageous over other implementations or features. In the drawings, similar symbols typically identify similar components unless the context dictates otherwise. The example implementations described herein are not meant to be limiting. It will be readily understood that the various aspects of the disclosure, as generally described herein and shown in the drawings, may be arranged, substituted, combined, separated, and designed in a variety of different configurations, all of which are contemplated herein.

[0030] I. Overview

[0031] The present embodiments advantageously provide aircraft, methods, and systems for changing the state of an operating component in a system. The present embodiments relate to an operating component secured to a structural component using a coupling member. As used herein, an "operating component" generally refers to a component that performs an active function during system operation, such as a component that generates movement. As non-limiting examples, in the context of an aircraft, motors, servomechanisms, pistons, and actuators can all be considered operating components. In some examples, an operating component can continue to function even when it is not advantageous to do so. For example, in the context of an aircraft, if a motor and / or corresponding propeller becomes unsecured, it may exert unintended force vectors on the aircraft and strain other components of the system to correct for these unintended forces. Furthermore, such unintended operation may lead to erroneous determinations about the system's environment. For example, an unsecured motor and / or propeller may cause the aircraft to list, tilt, and / or rotate in a manner similar to that caused by an aircraft experiencing turbulence. This may result in the aircraft being grounded unnecessarily or operating under erroneous determinations about the environment. Therefore, in these scenarios, it is desirable for the operating component to stop moving. In this way, the aforementioned motor / propeller may not generate any lift, but the other propellers in the aircraft can predictably operate the aircraft to account for the lack of lift typically generated by the motor.

[0032] In order to facilitate such operation, the coupling member can be conductive and integrated into a power circuit for providing power or control signals to the operating member. As used herein, the term "power or control signal" refers to a signal that supplies power to the operating member and thereby allows it to move (e.g., the connection between the power input terminal of the operating member and the power bus can be considered as a power signal) or a signal that carries control information to the operating member and thereby controls the various aspects of its movement (e.g., a modulated signal received at the control input terminal of the operating member can be considered as a control signal). For example, the coupling member can provide one or more phases of a multiphase (e.g., three-phase) signal sent to a motor for driving a propeller, which can correspond to the input signal of the motor (e.g., a pulse width modulation (PWM) signal for controlling the motor speed), or the motor can be directly connected to the power bus. In a further example, a controller area network (CAN) signal can similarly control the movement of the operating member via the coupling member. These members are configured so that if the coupling member fails (e.g., experiences a mechanical rupture), the power or control signal is interrupted, and the state of the operating member changes. In this way, if the coupling member experiences a mechanical rupture, the motor automatically stops moving.

[0033] In an example, the coupling member can be a screw made of a conductive material. The screw can secure the operating member to a structural member (e.g., a boom of an aircraft) at a contact point. The contact point can simultaneously couple the coupling member to the structural member and serve as an electrical connection point for two terminals in a power circuit. For example, a screw can be used at a contact point to hold the two terminals together, and a screw with a slipped thread or another mechanical rupture (e.g., shear rupture of the screw, such as a rupture of the screw shaft, or "pull through" of the screw, such as a screw pulling through a structural member) can cause the two terminals to disconnect. As a result, the operating member stops moving due to the mechanical rupture of the screw. In other examples, the coupling member can be a rivet or another component configured to couple the operating member to the structural member.

[0034] In one example, a coupling member is used to provide status updates to the system's central controller. For example, a computing device can receive output from a power circuit and detect an electrical disconnect between two terminals. The computing device can then control the corresponding operating member to stop moving and modify the operation of other operating members to compensate for the immobilization of the operating member. Thus, a system and method are provided that allows the operation of a second operating member to be modified based on the detection of a mechanical failure in a coupling member associated with a first operating member.

[0035] In a further example, a conductive feature can be incorporated into a structural component of a system, and the properties of the detected conductive feature can be used to determine the state of the structure. For example, an impact to a structural component may change the conductivity of the conductive feature (e.g., by increasing the resistance level). A computing device can detect this change in conductivity to determine that the state of the structural component has changed. Based on this determination, the computing device can control the operating components of the system or schedule maintenance of the system. Thus, the conductive aspects of the system can be used to detect mechanical ruptures, fault conditions, etc., and the computing device can control the system accordingly.

[0036] II. Exemplary Unmanned Vehicles

[0037] As used herein, the terms "unmanned aerial vehicle" and "UAV" refer to any autonomous or semi-autonomous vehicle capable of performing some function without the physical presence of a human pilot.

[0038] UAVs can take various forms. For example, a UAV can take the form of a fixed-wing aircraft, a glider, a tail-sitter, a jet aircraft, a ducted fan aircraft, a lighter-than-air craft such as a blimp or a steerable balloon, a rotorcraft such as a helicopter or a multicopter, and / or an ornithopter. Furthermore, the terms "drone," "unmanned aircraft system" (UAVS), or "unmanned aerial system" (UAS) may also be used to refer to a UAV.

[0039] Figure 1 is an isometric view of an example UAV 100. The UAV 100 includes wings 102, a boom 104, and a fuselage 106. The wings 102 can be stationary and can generate lift based on the wing shape and the forward airspeed of the UAV. For example, the two wings 102 can have an airfoil cross-section to generate aerodynamic forces on the UAV 100. In some embodiments, the wings 102 can carry horizontal propulsion units 108 and the boom 104 can carry vertical propulsion units 110. In operation, power for the propulsion units can be provided by battery bays 112 of the fuselage 106. In some embodiments, the fuselage 106 also includes an avionics bay 114, additional battery bays (not shown), and / or a delivery unit for handling a payload (not shown, such as a winch system). In some embodiments, the fuselage 106 is modular, and two or more bays (e.g., battery bay 112, avionics bay 114, other payload and delivery bays) are detachable from one another and can be secured to one another (e.g., mechanically, magnetically, or otherwise) to continuously form at least a portion of the fuselage 106.

[0040] In some embodiments, the boom 104 terminates in a rudder 116 for improving yaw control of the UAV 100. Additionally, the wings 102 may include one or more ailerons for improving roll control of the UAV 100.

[0041] In the configuration shown, the UAV 100 includes a structural frame. The structural frame may be referred to as the "structural H-frame" or "H-frame" of the UAV (not shown). The H-frame may include a wing spars (not shown) within the wing 102 and a boom bracket (not shown) within the boom 104. In some embodiments, the wing spars and boom brackets may be made of carbon fiber, hard plastic, aluminum, a light metal alloy, or other materials. The wing spars and boom brackets may be connected using a clamp. The wing spars may include pre-drilled holes for the horizontal propulsion units 108, and the boom brackets may include pre-drilled holes for the vertical propulsion units 110.

[0042] In some embodiments, the fuselage 106 can be removably attached to the H-frame (e.g., by attaching to the wing spar via clamps, configured with grooves, protrusions, or other features to mate with corresponding H-frame features, etc.). In other embodiments, the fuselage 106 can similarly be removably attached to the wing 102. The removable attachment of the fuselage 106 can improve the quality and / or modularity of the UAV 100. For example, the electrical / mechanical components and / or subsystems of the fuselage 106 can be tested separately from the H-frame and prior to attachment to the H-frame. Similarly, the printed circuit board (PCB) 118 can be tested separately from the boom bracket and prior to attachment to the boom bracket, thereby eliminating defective components / subassemblies before the UAV is completed. For example, components of the fuselage 106 (e.g., avionics, battery cells, delivery units, additional battery pods, etc.) can be electrically tested before the fuselage 106 is mounted to the H-frame. Furthermore, the motors and electronics of the PCB 118 can also be electrically tested prior to final assembly. Generally, identifying defective parts and subassemblies early in the final assembly process reduces the overall cost and lead time of the UAV. In addition, different types / models of fuselages 106 can be attached to the H-shaped frame, thereby increasing the modularity of the design. Such modularity allows these various parts of the UAV 100 to be upgraded without requiring substantial changes to the manufacturing process.

[0043] In some embodiments, the wing shells and boom shells can be attached to the H-shaped frame by adhesive elements (e.g., tape, double-sided tape, glue, etc.). Thus, multiple shells can be attached to the H-shaped frame rather than having a monolithic body molded around the H-shaped frame. In some embodiments, the presence of multiple shells reduces stress caused by the coefficient of thermal expansion of the UAV's structural frame. As a result, the UAV can have better dimensional accuracy and / or improved reliability.

[0044] Furthermore, in at least some embodiments, the same H-frame can be used with wing shells and / or boom shells of different sizes and / or designs, thereby increasing the modularity and versatility of the UAV design. The wing shells and / or boom shells can be made of a relatively light polymer (e.g., closed-cell foam) covered by a relatively stiff but relatively thin plastic skin.

[0045] Power and / or control signals from the fuselage 106 can be routed to the PCB 118 via cables routed through the fuselage 106, wings 102, and boom 104. In the illustrated embodiment, the UAV 100 has four PCBs, but other numbers of PCBs are possible. For example, the UAV 100 can include two PCBs, one for each boom. The PCBs carry electronic components 119, including, for example, power converters, controllers, memory, passive components, etc. In operation, the propulsion units 108 and 110 of the UAV 100 are electrically connected to the PCBs.

[0046] Many variations of the UAV shown are possible. For example, a fixed-wing UAV may include more or fewer rotor units (vertical or horizontal), and / or may utilize one or more ducted fans for propulsion. In addition, UAVs with more wings (e.g., an "x-wing" configuration with four wings) are also possible. Although Figure 1 Two wings 102, two booms 104, two horizontal propulsion units 108, and six vertical propulsion units 110 per boom 104 are shown, but it should be understood that other variations of the UAV 100 may be implemented with more or fewer of these components. For example, the UAV 100 may include four wings 102, four booms 104, and more or fewer propulsion units (horizontal or vertical).

[0047] Many variations on the fixed-wing UAV shown are possible. For example, the fixed-wing UAV may include more or fewer propellers, and / or may utilize one or more ducted fans for propulsion. Furthermore, UAVs with more wings (e.g., an "X-wing" configuration with four wings), fewer wings, or even no wings are also possible.

[0048] It should be understood that references herein to “unmanned” aerial vehicles or UAVs apply equally to autonomous and semi-autonomous aerial vehicles. In autonomous embodiments, all functions of the aerial vehicle are automated; for example, pre-programmed or controlled via real-time computer functions that respond to input from various sensors and / or predetermined information. In semi-autonomous embodiments, some functions of the aerial vehicle may be controlled by a human operator, while other functions are performed autonomously. Furthermore, in some embodiments, the UAV may be configured to allow a remote operator to take over functions that would otherwise be controlled autonomously by the UAV. Furthermore, a given type of function may be remotely controlled at one level of abstraction and autonomously performed at another level of abstraction. For example, a remote operator may control high-level navigation decisions for the UAV, such as by specifying that the UAV should travel from one location to another (e.g., from a warehouse in the suburbs to a delivery address in a nearby city), while the UAV's navigation system autonomously controls more fine-grained navigation decisions, such as the specific route to take between the two locations, the specific flight controls to achieve that route, and the obstacles to avoid while navigating that route.

[0049] More generally, it should be understood that the example UAVs described herein are not intended to be limiting. Example embodiments may relate to, be implemented within, or take the form of any type of unmanned aerial vehicle.

[0050] III. Exemplary UAV Components

[0051] Figure 2 is a simplified block diagram illustrating components of a UAV 200 according to an example embodiment. The UAV 200 may take the form of a Figure 1 The UAV 200 may be in the form of, or similar in form to, the UAV 100 depicted in the drawings. However, the UAV 200 may also take other forms.

[0052] The UAV 200 may include various types of sensors and may include a computing system configured to provide the functionality described herein. In the illustrated embodiment, the sensors of the UAV 200 include an inertial measurement unit (IMU) 202, an ultrasonic sensor 204, and a GPS 206, among other possible sensors and sensing systems. In the example, the UAV 200 may also include a laser rangefinder (not shown). Other configurations of the UAV 200 are possible.

[0053] In the illustrated embodiment, the UAV 200 also includes one or more processors 208. The processor 208 can be a general-purpose processor or a special-purpose processor (e.g., a digital signal processor, an application-specific integrated circuit, etc.). The one or more processors 208 can be configured to execute computer-readable program instructions 212, which are stored in the data storage 210 and can be executed to provide the functionality of the UAV described herein.

[0054] The data store 210 may include or take the form of one or more computer-readable storage media that may be read or accessed by the at least one processor 208. The one or more computer-readable storage media may include volatile and / or non-volatile storage components, such as optical, magnetic, organic, or other memory or disk storage, which may be integrated in whole or in part with at least one of the one or more processors 208. In some embodiments, the data store 210 may be implemented using a single physical device (e.g., one optical, magnetic, organic, or other memory or disk storage unit), while in other embodiments, the data store 210 may be implemented using two or more physical devices.

[0055] As described above, the data store 210 may include computer-readable program instructions 212 and possibly additional data, such as diagnostic data for the UAV 200. Thus, the data store 210 may include program instructions 212 to perform or facilitate some or all of the UAV functions described herein. For example, in the illustrated embodiment, the program instructions 212 include a navigation module 214 and a tether control module 216.

[0056] A.Sensor

[0057] In an illustrative embodiment, the IMU 202 may include both an accelerometer and a gyroscope, which may be used together to determine the orientation of the UAV 200. Specifically, the accelerometer may measure the orientation of the vehicle relative to the Earth, while the gyroscope may measure the rate of rotation about an axis. IMUs are commercially available in low-cost, low-power packages. For example, the IMU 202 may take the form of or include a miniaturized microelectromechanical system (MEMS) or nanoelectromechanical system (NEMS). Other types of IMUs may also be utilized.

[0058] In addition to accelerometers and gyroscopes, the IMU 202 may include other sensors that can help better determine position and / or help increase the autonomy of the UAV 200. Two examples of such sensors are magnetometers and pressure sensors. In some embodiments, the UAV may include a low-power, digital 3-axis magnetometer that can be used to implement an orientation-independent electronic compass for accurate heading information. However, other types of magnetometers may also be used. Other examples are also possible. Furthermore, note that the UAV may include some or all of the above-mentioned inertial sensors as separate components from the IMU.

[0059] The UAV 200 may also include a pressure sensor or barometer, which may be used to determine the altitude of the UAV 200. Alternatively, other sensors such as a sonic altimeter or a radar altimeter may be used to provide an indication of altitude, which may help improve the accuracy of the IMU and / or prevent drift of the IMU.

[0060] On the other hand, the UAV 200 may include one or more sensors that allow the UAV to sense objects in the environment. For example, in the illustrated embodiment, the UAV 200 includes an ultrasonic sensor 204. The ultrasonic sensor 204 can determine the distance to an object by generating a sound wave and determining the time interval between the sound wave emission and the corresponding echo received by the object. Typical applications of ultrasonic sensors or IMUs for unmanned vehicles are low-level altitude control and obstacle avoidance. Ultrasonic sensors can also be used for vehicles that need to hover at a certain height or need to be able to detect obstacles. Other systems (such as light detection and ranging (LIDAR) systems, laser detection and ranging (LADAR) systems and / or infrared or forward-looking infrared (FLIR) systems, etc.) can be used to determine, sense the presence of nearby objects and / or determine the distance to nearby objects.

[0061] In some embodiments, the UAV 200 may also include one or more imaging systems. For example, the UAV 200 may utilize one or more still and / or video cameras to capture image data from the UAV's environment. As specific examples, a charge-coupled device (CCD) camera or a complementary metal oxide semiconductor (CMOS) camera may be used in the unmanned vehicle. Such imaging sensors have many possible applications, such as obstacle avoidance, localization technology, ground tracking for more accurate navigation (e.g., by applying optical flow technology to images), video feedback, and / or image recognition and processing.

[0062] The UAV 200 may also include a GPS receiver 206. The GPS receiver 206 may be configured to provide data typical of the well-known GPS system, such as the GPS coordinates of the UAV 200. Such GPS data may be used by the UAV 200 for various functions. Thus, the UAV may use its GPS receiver 206 to help navigate to the caller's location, as indicated at least in part by the GPS coordinates provided by the caller's mobile device. Other examples are also possible.

[0063] B. Navigation and Position Determination

[0064] The navigation module 214 may provide functionality that allows the UAV 200 to, for example, move around its environment and reach a desired location. To this end, the navigation module 214 may control the altitude and / or direction of flight by controlling mechanical features of the UAV that affect flight (e.g., its rudder, elevators, ailerons, and / or its propeller speed).

[0065] In order to navigate the UAV 200 to the target location, the navigation module 214 can implement various navigation technologies, such as map-based navigation and positioning-based navigation. With map-based navigation, the UAV 200 can be provided with a map of its environment, which can then be used to navigate to a specific location on the map. With positioning-based navigation, the UAV 200 can use positioning to navigate in an unknown environment. Positioning-based navigation can involve the UAV 200 building its own map of its environment and calculating its position within the map and / or the position of objects in the environment. For example, as the UAV 200 moves through its environment, the UAV 200 can continue to use positioning to update its map of the environment. This continuous mapping process can be referred to as simultaneous localization and mapping (SLAM). Other navigation technologies can also be utilized.

[0066] In some embodiments, the navigation module 214 can use a technique that relies on waypoints to navigate. Specifically, a waypoint is a set of coordinates that identifies a point in physical space. For example, an air navigation waypoint can be defined by a certain latitude, longitude, and altitude. Thus, the navigation module 214 can cause the UAV 200 to move from waypoint to waypoint in order to ultimately travel to a final destination (e.g., the final waypoint in a sequence of waypoints).

[0067] In another aspect, the navigation module 214 and / or other components and systems of the UAV 200 can be configured for scenarios where "localization" is used to more precisely navigate to a target location. More specifically, in certain scenarios, it may be desirable for the UAV to be within a threshold distance of a target location (e.g., within a few feet of the target destination) of the target location to which the UAV is delivering a payload 228. To this end, the UAV can employ a two-stage approach in which it uses a more general location determination technique to navigate to a general area associated with the target location, and then uses a more precise location determination technique to identify and / or navigate to the target location within the general area.

[0068] For example, the UAV 200 can use waypoints and / or map-based navigation to navigate to the approximate area of the target destination, where the payload 228 is delivered to the target destination. The UAV can then switch to a mode in which the UAV utilizes a positioning process to locate and travel to a more specific location. For example, if the UAV 200 is to deliver a payload to a user's home, the UAV 200 may need to be substantially close to the target location to avoid delivering the payload to an undesirable area (e.g., on a roof, in a pool, on a neighbor's property, etc.). However, a GPS signal may only allow the UAV 200 to reach that far (e.g., within the block of the user's home). A more precise location determination technique can then be used to find the specific target location.

[0069] Once the UAV 200 has navigated to the general area of the target delivery location, various types of position determination techniques may be used to locate the target delivery location. For example, the UAV 200 may be equipped with one or more sensor systems, such as ultrasonic sensors 204, infrared sensors (not shown), and / or other sensors, which may provide input that the navigation module 214 uses to autonomously or semi-autonomously navigate to a specific target location.

[0070] As another example, once the UAV 200 reaches the general area of a target delivery location (or a mobile subject such as a person or their mobile device), the UAV 200 may switch to a "fly-by-wire" mode, in which it is at least partially controlled by a remote operator who can navigate the UAV 200 to the specific target location. To this end, sensory data from the UAV 200 may be sent to the remote operator to assist them in navigating the UAV 200 to the specific location.

[0071] As yet another example, the UAV 200 may include a module capable of signaling to passersby that assistance is needed to reach a specific target delivery location; for example, the UAV 200 may display a visual message in a graphical display requesting such assistance, play an audio message or tone through a speaker indicating that such assistance is needed, etc. Such a visual or audio message may indicate that assistance is needed in delivering the UAV 200 to a specific person or a specific location, and may provide information to assist passersby in delivering the UAV 200 to the person or location (e.g., a description or picture of the person or location, and / or the name of the person or location), etc. Such a feature may be useful in scenarios where the UAV is unable to use sensing capabilities or other location-determining technology to reach a specific target location. However, the feature is not limited to such scenarios.

[0072] In some embodiments, once the UAV 200 arrives at the approximate area of the target delivery location, the UAV 200 can utilize a beacon from a user's remote device (e.g., the user's mobile phone) to locate the person. Such a beacon can take various forms. As an example, consider a scenario in which a remote device such as a mobile phone of a person requesting UAV delivery is able to send out a direction signal (e.g., via an RF signal, a light signal, and / or an audio signal). In this scenario, the UAV 200 can be configured to navigate by "sourcing" such a direction signal, in other words, by determining where the signal is strongest and navigating accordingly. As another example, a mobile device can transmit a frequency within or outside the human range, and the UAV 200 can listen to the frequency and navigate accordingly. As a related example, if the UAV 200 is listening for verbal commands, the UAV 200 can utilize a verbal statement such as "I'm here!" to source the specific location of the person requesting the delivery of the payload.

[0073] In an alternative arrangement, the navigation module can be implemented at a remote computing device that communicates wirelessly with the UAV 200. The remote computing device can receive data indicating the operational state of the UAV 200, sensor data from the UAV 200 that allows it to assess the environmental conditions experienced by the UAV 200, and / or location information of the UAV 200. Given such information, the remote computing device can determine altitude and / or directional adjustments that the UAV 200 should make, and / or can determine how the UAV 200 should adjust its mechanical features (e.g., the speed of its rudder, elevator, ailerons, and / or its propellers) in order to achieve such movement. The remote computing system can then communicate such adjustments to the UAV 200 so that it can move in a determined manner.

[0074] C.Communication system

[0075] In another aspect, the UAV 200 includes one or more communication systems 218. The communication system 218 may include one or more wireless interfaces and / or one or more wired interfaces that allow the UAV 200 to communicate via one or more networks. Such wireless interfaces may provide communication under one or more wireless communication protocols such as Bluetooth, WiFi (e.g., IEEE 802.11 protocol), Long Term Evolution (LTE), WiMAX (e.g., IEEE 802.16 standard), Radio Frequency ID (RFID) protocol, Near Field Communication (NFC), and / or other wireless communication protocols. Such wired interfaces may include an Ethernet interface, a Universal Serial Bus (USB) interface, or a similar interface to communicate via a wire, twisted pair, coaxial cable, optical link, fiber optic link, or other physical connection to a wired network.

[0076] In some embodiments, UAV 200 may include a communication system 218 that allows for both short-range and long-range communications. For example, UAV 200 may be configured for short-range communications using Bluetooth and long-range communications under a CDMA protocol. In such an embodiment, UAV 200 may be configured to act as a "hotspot"; or in other words, as a gateway or proxy between a remote support device and one or more data networks (such as a cellular network and / or the Internet). Configured in this manner, UAV 200 may facilitate data communications that a remote support device would not otherwise be able to perform on its own.

[0077] For example, the UAV 200 can provide a WiFi connection to a remote device and act as a proxy or gateway to a cellular service provider's data network, to which the UAV can connect, for example, under LTE or 3G protocols. The UAV 200 can also act as a proxy or gateway to high-altitude balloon networks, satellite networks, or a combination of these networks that the remote device may not otherwise have access to.

[0078] D. Power system

[0079] In another aspect, the UAV 200 may include a power system 220. The power system 220 may include one or more batteries for providing power to the UAV 200. In one example, the one or more batteries may be rechargeable, and each battery may be charged via a wired connection between the battery and a power supply and / or via a wireless charging system (such as an inductive charging system that applies an external time-varying magnetic field to an internal battery).

[0080] E. Payload Delivery

[0081] The UAV 200 can employ various systems and configurations for transporting and delivering a payload 228. In some embodiments, the payload 228 of a given UAV 200 can include or take the form of a "package" designed to transport various goods to a target delivery location. For example, the UAV 200 can include a cabin in which one or more items can be transported. Such a package can be one or more food items, purchased goods, medical items, or any other object of a size and weight suitable for transport by a UAV between two locations. In other embodiments, the payload 228 can simply be the one or more items being delivered (e.g., no package containing items).

[0082] In some embodiments, payload 228 can be attached to the UAV and remain substantially external to the UAV for part or all of the duration of the UAV's flight. For example, a package can be tethered or otherwise releasably attached to the underside of the UAV during flight to a target location. In embodiments where a package carries cargo beneath the UAV, the package can include various features that protect its contents from the environment, reduce aerodynamic drag on the system, and prevent the contents of the package from shifting during flight of the UAV.

[0083] For example, when payload 228 takes the form of a package for transporting items, the package can include an outer shell constructed from waterproof cardboard, plastic, or any other lightweight, waterproof material. Furthermore, to reduce drag, the package can feature a smooth surface with a pointed front face that reduces the front cross-sectional area. Furthermore, the sides of the package can taper from a wide base to a narrow top, allowing the package to act as a narrow pylon, reducing interference with the UAV's wings. This can move some of the package's frontal area and volume away from the UAV's wings, thereby preventing the reduction in lift on the wings caused by the package. Furthermore, in some embodiments, the outer shell of the package can be constructed from a single piece of material to reduce air gaps or additional material, both of which can increase system drag. Additionally or alternatively, the package can include stabilizers to suppress package vibration. This reduction in vibration can allow for a less rigid connection between the package and the UAV and can result in less displacement of the package's contents during flight.

[0084] To deliver a payload, the UAV may include a winch system 221 controlled by a tether control module 216 to lower the payload 228 to the ground while the UAV is hovering above. Figure 2As shown, the winch system 221 may include a tether 224, and the tether 224 may be coupled to a payload 228 via a payload coupling device 226. The tether 224 may be wound on a spool that is coupled to a motor 222 of the UAV. The motor 222 may take the form of a DC motor (e.g., a servo motor) that may be actively controlled by a speed controller. The tether control module 216 may control the speed controller to cause the motor 222 to rotate the spool, thereby unwinding or retracting the tether 224 and lowering or raising the payload coupling device 226. In practice, the speed controller may output a desired operating rate (e.g., a desired RPM) for the spool, which may correspond to the speed at which the tether 224 and payload 228 should descend toward the ground. The motor 222 may then rotate the spool so that it maintains the desired operating rate.

[0085] In order to control the motor 222 via the speed controller, the tether control module 216 can receive data from a speed sensor (e.g., an encoder) that is configured to convert a mechanical position into a representative analog or digital signal. In particular, the speed sensor can include a rotary encoder that can provide information related to, for example, the rotational position (and / or rotational movement) of the motor's shaft or the spool coupled to the motor. In addition, the speed sensor can take the form of an absolute encoder and / or an incremental encoder. Thus, in an example embodiment, when the motor 222 causes the spool to rotate, a rotary encoder can be used to measure the rotation. In doing so, the rotary encoder can be used to convert the rotational position into an analog or digital electronic signal that is used by the tether control module 216 to determine the amount of rotation of the spool from a fixed reference angle and / or to convert into an analog or digital electronic signal representing the new rotational position. Other examples are also possible.

[0086] Based on data from the speed sensor, the tether control module 216 can determine the rotational speed of the motor 222 and / or the spool and responsively control the motor 222 (e.g., by increasing or decreasing the current supplied to the motor 222) to match the rotational speed of the motor 222 to the desired speed. When adjusting the motor current, the magnitude of the current adjustment can be based on a proportional-integral-derivative (PID) calculation using the determined and desired speeds of the motor 222. For example, the magnitude of the current adjustment can be based on the current difference between the determined speed of the spool and the desired speed, the past difference (based on the error accumulated over time), and the future difference (based on the current rate of change).

[0087] In some embodiments, the tether control module 216 can vary the rate at which the tether 224 and payload 228 are lowered to the ground. For example, the speed controller can vary the desired operating rate based on a variable development rate curve and / or in response to other factors to change the rate at which the payload 228 descends to the ground. To this end, the tether control module 216 can adjust the amount of braking or friction applied to the tether 224. For example, to vary the tether deployment rate, the UAV 200 can include friction pads that can apply variable amounts of pressure to the tether 224. As another example, the UAV 200 can include a motorized braking system that varies the rate at which the spool pays out the tether 224. Such a braking system can take the form of an electromechanical system in which the motor 222 operates to slow the rate at which the spool pays out the tether 224. Furthermore, the motor 222 can vary the amount by which it adjusts the spool speed (e.g., RPM), thereby varying the deployment rate of the tether 224. Other examples are also possible.

[0088] In some embodiments, the tether control module 216 can be configured to limit the motor current supplied to the motor 222 to a maximum value. With such a limit imposed on the motor current, there may be situations where the motor 222 cannot operate at the desired operation specified by the speed controller. For example, as discussed in more detail below, there may be situations where the speed controller specifies a desired operating rate at which the motor 222 should retract the tether 224 toward the UAV 200, but the motor current may be limited such that a sufficiently large downward force on the tether 224 will counteract the retraction force of the motor 222 and cause the tether 224 to unravel instead. As discussed further below, limits on the motor current may be imposed and / or varied depending on the operating state of the UAV 200.

[0089] In some embodiments, the tether control module 216 can be configured to determine the state of the tether 224 and / or payload 228 based on the amount of current supplied to the motor 222. For example, if a downward force is applied to the tether 224 (e.g., if the payload 228 is attached to the tether 224, or if the tether 224 is obstructed by an object while being retracted toward the UAV 200), the tether control module 216 may need to increase the motor current in order to match the determined rotational speed of the motor 222 and / or the spool to the desired speed. Similarly, when the downward force is removed from the tether 224 (e.g., upon delivery of the payload 228 or removal of a tether obstruction), the tether control module 216 may need to decrease the motor current in order to match the determined rotational speed of the motor 222 and / or the spool to the desired speed. Thus, the tether control module 216 can be configured to monitor the current supplied to the motor 222. For example, the tether control module 216 can determine the motor current based on sensor data received from a current sensor of the motor or a current sensor of the power system 220. In any case, based on the current supplied to motor 222, it is determined whether payload 228 is attached to tether 224, whether someone or something is pulling on tether 224, and / or whether payload coupling device 226 is pressed against UAV 200 after retracting tether 224. Other examples are possible.

[0090] During delivery of payload 228, payload coupling 226 can be configured to secure payload 228 as it is lowered from the UAV via tether 224, and can also be configured to release payload 228 upon reaching ground level. Payload coupling 226 can then be retracted to the UAV by reeling in tether 224 using motor 222.

[0091] In some embodiments, once payload 228 is lowered to the ground, it can be passively released. For example, the passive release mechanism may include one or more swing arms adapted to retract into and extend from a housing. The extended swing arms may form a hook to which payload 228 can be attached. When the release mechanism and payload 228 are lowered to the ground via the tether, gravity and the downward inertial force on the release mechanism may cause payload 228 to detach from the hook, allowing the release mechanism to be raised upward toward the UAV. The release mechanism may also include a spring mechanism that biases the swing arm to retract into the housing when no other external forces are acting on it. For example, the spring may exert a force on the swing arm that pushes or pulls the swing arm toward the housing, causing it to retract into the housing once the weight of payload 228 no longer forces the swing arm out of the housing. Retracting the swing arm into the housing reduces the likelihood of the release mechanism being obstructed by payload 228 or other nearby objects when the release mechanism is raised toward the UAV during payload 228 delivery.

[0092] Active payload release mechanisms are also possible. For example, sensors such as barometric altimeters and / or accelerometers can help detect the position of the release mechanism (and payload) relative to the ground. Data from the sensors can be communicated back to the UAV and / or control system via a wireless link and used to help determine when the release mechanism reaches ground level (e.g., by detecting a measurement characteristic of ground impact with an accelerometer). In other examples, the UAV can determine that the payload has reached the ground based on a weight sensor detecting a low-threshold downward force on the tether and / or based on a low-threshold measurement of the power drawn by the winch when lowering the payload.

[0093] In addition to or in lieu of a tethered delivery system, other systems and techniques for delivering a payload are possible. For example, UAV 200 may include an airbag delivery system or a parachute delivery system. Alternatively, UAV 200 carrying a payload may simply land on the ground at the delivery location. Other examples are also possible.

[0094] IV. Illustrative UAV Deployment System

[0095] UAV systems can be implemented to provide various UAV-related services. In particular, UAVs can be provided at multiple different launch sites that can communicate with regional and / or central control systems. Such a distributed UAV system can allow UAVs to be rapidly deployed to provide services across a large geographic area (e.g., much larger than the flight range of any single UAV). For example, UAVs capable of carrying payloads can be distributed across multiple launch sites across a large geographic area (perhaps even throughout an entire country, or even the world) to provide on-demand transportation of various items to locations throughout the geographic area. Figure 3 is a simplified block diagram illustrating a distributed UAV system 300 according to an example embodiment.

[0096] In the illustrative UAV system 300, the access system 302 may allow for interaction with, control of, and / or utilization of the network of UAVs 304. In some embodiments, the access system 302 may be a computing system that allows a human to control the dispatch of the UAV 304. As such, the control system may include or otherwise provide a user interface through which a user may access and / or control the UAV 304.

[0097] In some embodiments, the dispatching of UAVs 304 can additionally or alternatively be accomplished via one or more automated processes. For example, the access system 302 can dispatch one of the UAVs 304 to transport a payload to a target location, and the UAV can autonomously navigate to the target location by utilizing various onboard sensors (such as a GPS receiver and / or other various navigation sensors).

[0098] In addition, the access system 302 can provide for remote operation of the UAV. For example, the access system 302 can allow an operator to control the flight of the UAV via its user interface. As a specific example, the operator can use the access system 302 to dispatch the UAV 304 to a target location. The UAV 304 can then autonomously navigate to the approximate area of the target location. At this point, the operator can use the access system 302 to control the UAV 304 and navigate the UAV to the target location (e.g., to a specific person to whom the payload is to be transported). Other examples of remote operation of the UAV are also possible.

[0099] In the illustrative embodiment, UAVs 304 may take various forms. For example, each of UAVs 304 may be a Figure 1 304. However, the UAV system 300 may utilize other types of UAVs without departing from the scope of the present invention. In some embodiments, all of the UAVs 304 may have the same or similar configuration. However, in other embodiments, the UAVs 304 may include many different types of UAVs. For example, the UAVs 304 may include multiple types of UAVs, each type of UAV configured for a different type of payload delivery capability.

[0100] The UAV system 300 may also include a remote device 306, which may take various forms. Generally, the remote device 306 may be any device through which a direct or indirect request to dispatch a UAV may be made. (Note that an indirect request may involve any communication that can be responded to by dispatching a UAV, such as a request for package delivery). In an example embodiment, the remote device 306 may be a mobile phone, a tablet computer, a laptop computer, a personal computer, or any network-connected computing device. Furthermore, in some cases, the remote device 306 may not be a computing device. As an example, a standard telephone that allows communication via plain old telephone service (POTS) may be used as the remote device 306. Other types of remote devices are also possible.

[0101] Furthermore, the remote device 306 can be configured to communicate with the access system 302 via one or more types of communication networks 308. For example, the remote device 306 can communicate with the access system 302 (or a human operator of the access system 302) by communicating over a POTS network, a cellular network, and / or a data network such as the Internet. Other types of networks can also be utilized.

[0102] In some embodiments, the remote device 306 can be configured to allow a user to request that one or more items be delivered to a desired location. For example, a user can request a UAV to deliver a package to their home via their mobile phone, tablet computer, or laptop computer. As another example, a user can request dynamic delivery to wherever they are at the time of delivery. To provide such dynamic delivery, the UAV system 300 can receive location information (e.g., GPS coordinates, etc.) from the user's mobile phone or any other device on the user's person so that the UAV can navigate to the user's location (as indicated by their mobile phone).

[0103] In the illustrative arrangement, the central dispatch system 310 can be a server or group of servers that is configured to receive dispatch message requests and / or dispatch instructions from the access system 302. Such dispatch messages can request or instruct the central dispatch system 310 to coordinate the deployment of UAVs to various target locations. The central dispatch system 310 can also be configured to route such requests or instructions to one or more local dispatch systems 312. To provide such functionality, the central dispatch system 310 can communicate with the access system 302 via a data network, such as the Internet or a dedicated network established for communication between the access system and the automated dispatch system.

[0104] In the illustrated configuration, the central dispatch system 310 can be configured to coordinate the dispatch of UAVs 304 from a plurality of different local dispatch systems 312. Thus, the central dispatch system 310 can track which UAVs 304 are located at which local dispatch systems 312, which UAVs 304 are currently available for deployment, and / or which services or operations each of the UAVs 304 is configured for (in the event that the UAV fleet includes multiple types of UAVs configured for different services and / or operations). Additionally or alternatively, each local dispatch system 312 can be configured to track which of its associated UAVs 304 are currently available for deployment and / or are currently in the process of transporting an item.

[0105] In some cases, when the central dispatch system 310 receives a request for a UAV-related service (e.g., transportation of an item) from the access system 302, the central dispatch system 310 may select a specific UAV 304 for dispatch. The central dispatch system 310 may accordingly instruct the local dispatch system 312 associated with the selected UAV to dispatch the selected UAV. The local dispatch system 312 may then operate its associated deployment system 314 to launch the selected UAV. In other cases, the central dispatch system 310 may forward the request for the UAV-related service to a local dispatch system 312 located near the location where support is requested, and leave the selection of the specific UAV 304 to the local dispatch system 312.

[0106] In an example configuration, the local dispatch system 312 can be implemented as a computing system that is co-located with the deployment system 314 that it controls. For example, the local dispatch system 312 can be implemented by a computing system installed at a building, such as a warehouse, where the deployment system 314 and the UAV 304 associated with a particular local dispatch system 312 are also located at the building. In other embodiments, the local dispatch system 312 can be implemented at a location remote from its associated deployment system 314 and UAV 304.

[0107] Many variations and alternatives to the illustrated configuration of the UAV system 300 are possible. For example, in some embodiments, a user of a remote device 306 can request a package be delivered directly from the central dispatch system 310. To this end, an application can be implemented on the remote device 306 that allows the user to provide information about the requested delivery and generates and sends a data message requesting the UAV system 300 to provide the delivery. In such embodiments, the central dispatch system 310 can include automated functionality to process requests generated by such an application, evaluate such requests, and, if appropriate, coordinate with the appropriate local dispatch system 312 to deploy the UAV.

[0108] In addition, some or all of the functionality attributed herein to the central dispatch system 310, the local dispatch system 312, the access system 302 and / or the deployment system 314 may be combined in a single system, implemented in a more complex system, and / or redistributed among the central dispatch system 310, the local dispatch system 312, the access system 302 and / or the deployment system 314 in various ways.

[0109] Furthermore, while each local dispatch system 312 is shown as having two associated deployment systems 314, a given local dispatch system 312 may alternatively have more or fewer associated deployment systems 314. Similarly, while the central dispatch system 310 is shown as communicating with two local dispatch systems 312, the central dispatch system 310 may alternatively communicate with more or fewer local dispatch systems 312.

[0110] In another aspect, the deployment system 314 can take various forms. Generally, the deployment system 314 can take the form of or include a system for physically launching one or more of the UAVs 304. Such a launch system can include features that provide for automated UAV launch and / or features that allow for human-assisted UAV launch. Furthermore, the deployment systems 314 can each be configured to launch a specific UAV 304, or to launch multiple UAVs 304.

[0111] The deployment system 314 can also be configured to provide additional functionality, including, for example, diagnostic-related functionality, such as verifying system functionality of the UAV, verifying functionality of equipment housed within the UAV (e.g., a payload delivery device), and / or maintaining equipment or other items housed within the UAV (e.g., by monitoring the status of the payload, such as its temperature, weight, etc.).

[0112] In some embodiments, the deployment systems 314 and their corresponding UAVs 304 (and possibly associated local dispatch systems 312) can be strategically distributed throughout an area, such as a city. For example, the deployment systems 314 can be strategically distributed so that each deployment system 314 is close to one or more payload pickup locations (e.g., near a restaurant, store, or warehouse). However, depending on the specific implementation, the deployment systems 314 (and possibly the local dispatch systems 312) can be distributed in other ways. As an additional example, kiosks that allow users to ship packages via UAVs can be installed in various locations. Such kiosks can include UAV launch systems and can allow users to provide their packages for loading onto the UAVs, pay for the UAV delivery service, etc. Other examples are also possible.

[0113] In another aspect, the UAV system 300 may include or access a user account database 316. The user account database 316 may include data for multiple user accounts, with each user account being associated with one or more individuals. For a given user account, the user account database 316 may include data relevant to or useful in providing UAV-related services. Typically, the user data associated with each user account is optionally provided by the associated user and / or collected with the associated user's permission.

[0114] Furthermore, in some embodiments, if a person wishes to have UAV-related services provided to them by the UAV 304 from the UAV system 300, they may be required to register a user account with the UAV system 300. As such, the user account database 316 may include authorization information (e.g., a user name and password) for a given user account, and / or other information that may be used to authorize access to a user account.

[0115] In some embodiments, a person can associate one or more of their devices with their user account so that they can access the services of the UAV system 300. For example, when a person uses an associated mobile phone, such as to place a call to an operator of the access system 302 or to send a message to a dispatch system requesting a UAV-related service, the phone can be identified via a unique device identification number, and the call or message can then be attributed to the associated user account. Other examples are also possible. V. Example Systems and Apparatus for Changing the State of an Operating Component

[0116] Figure 4 is a simplified block diagram of a system according to an example. Specifically, Figure 4 A system 400 is shown having a computing device 402 having a processor 404, memory 406, and instructions 408. Computing device 402 can serve as a central controller for system 400. In some examples, system 400 can correspond to the system of UAV 200 described above. For example, processor 404 can correspond to processor 208 described above.

[0117] In the illustrated embodiment, the UAV 200 also includes one or more processors 208. The processor 208 can be a general-purpose processor or a special-purpose processor (e.g., a digital signal processor, an application-specific integrated circuit, etc.). The one or more processors 208 can be configured to execute computer-readable program instructions 212, which are stored in the data storage 210 and can be executed to provide the functionality of the UAV described herein. The system 400 also includes a power supply 410 connected to a power circuit 412, which supplies one or more power or control signals to a plurality of operating components, including an operating component 414 and an operating component 416.

[0118] Memory 406 may include or take the form of one or more computer-readable storage media that may be read or accessed by at least one of processors 404. The one or more computer-readable storage media may include volatile and / or non-volatile storage components, such as optical, magnetic, organic, or other memory or disk storage, which may be integrated in whole or in part with at least one of processors 404. In some embodiments, memory 406 may be implemented using a single physical device (e.g., one optical, magnetic, organic, or other memory or disk storage unit), while in other embodiments, data storage 210 may be implemented using two or more physical devices.

[0119] The memory 406 may include instructions 212, such as computer-readable program instructions, and possibly additional data, such as diagnostic data for the system 400 (e.g., of the UAV 200). As such, the memory 406 may include instructions 408 to perform or facilitate some or all of the functions described herein with respect to the system 400. For example, in the illustrated embodiment, the instructions 408 correspond to operations involving the power circuit 412 and a plurality of operating components.

[0120] The power circuit 412 includes a plurality of conductive coupling members corresponding to the plurality of operating members. Figure 4 As shown, conductive coupling member 418 corresponds to operating member 414, and conductive coupling member 420 corresponds to operating member 416. Power circuit 412 receives power from power source 410. For example, power source 410 can be a battery of system 400. Power circuit 412 may include multiple current paths that draw power from power source 410 and include conductive coupling members. A mechanical rupture in one of the coupling members may prevent power or control signals from reaching the corresponding operating member, causing the operating member to stop moving. In some examples, this cessation of power or control signals may occur based on the computing device 402 or the operating member sensing an electrical disconnect caused by the mechanical rupture of the conductive coupling member. In other examples, this may occur because power or control signals cease to be provided to the operating member. For example, if each current path of the power circuit is connected to the power bus of power source 410, then a mechanical rupture will prevent the operating member from receiving power, and thus, movement of the operating member will cease due to a lack of power supply. As described below, other possible ways of changing the state of the operating member based on the conductive coupling member are also possible.

[0121] In a further example, system 400 may include one or more structural members. Conductive coupling members may secure each operating member to one or more structural members. As further described below, one or more structural members may also include conductive features incorporated therein, further allowing for robust sensing of the state of the structural members. In such a scenario, power circuit 412, or more generally system 400, may also include multiple conductive features incorporated into one or more structural members. Example implementations of these systems are described below.

[0122] Figure 5A is a simplified illustration of a power circuit in a first state according to an example. In particular, Figure 5A The power circuit 500 is shown when the coupling member has not experienced a mechanical fracture. The power circuit 500 includes a power source 502, a power bus 504, a first current path 516, and a second current path 528. Figure 5A Also shown are structural member 505 and motor 506 driving propeller 508. Motor 506 can be considered an operating member because it generates movement of propeller 508 and facilitates the operation of the aircraft. For the purposes of this example, structural member 505 can be understood as a boom, fuselage, or another structural aspect of the aircraft. Motor 506 is secured to structural member 505 using a fixing plate 510, a first screw 512 and a corresponding nut 514, and a second screw 524 and a corresponding nut 526. First screw 512 and second screw 524 can be considered coupling members of the system. In this example, fixing plate 510, nuts 514, and 526 can also be considered coupling members. In another example, fixing plate 510, first screw 512 and a corresponding nut 514, and second screw 524 and a corresponding nut 526 can collectively be considered coupling members of the system. Although not shown, insulation features can be included to shield the elements of first current path 516 and second current path 528 from other possible conductive features in the system or the surrounding environment. For example, insulating material can be used to cover the first screw 512 and the second screw 524 to prevent moisture from the external environment (e.g., rain) from creating an alternating current path. Similarly, insulating material can be used between the first screw 512, the second screw 524, the fixing plate 510, and the structural member 505 to prevent the current path from flowing through other components of the system.

[0123] The first screw 512 and the second screw 524 are electrically conductive and are each part of the power circuit 500. In particular, the first screw 512 is part of the first current path 516 and the second screw 524 is part of the second current path 528. Each current path supplies power or a control signal to the controller 536 of the motor 506. Figure 5AAs shown, the nut 514 is connected to the first input line 522, which provides power or control signals to the controller 536 via the first screw 512. Similarly, the nut 526 is connected to the second input line 534, which provides power or control signals to the controller 536 via the second screw 524. Each current path can connect the controller 536 to the power bus 504 (e.g., Figure 5A ), supplying a control signal (e.g., a PWM signal) related to how much power is provided to the motor 506, or corresponding to a phase or control signal of multi-phase power. Other types of power or control signals are possible. Generally, a power or control signal can refer to a signal that indicates the amount of power consumed by an operation. In some situations, the power or control signal can be binary: the operating member receives power or it does not receive power. In other situations, the power or control signal allows the operating member to consume a range of power levels (e.g., when using PWM or CAN signals).

[0124] The power circuit 500 also includes a first resistor 518 in the first current path 516 and a second resistor 530 in the second current path. In addition, the power circuit 500 includes a first node 520 of the first current path 516 and a second node 532 of the second current path 528. In a first state of the power circuit 500, current flows to the controller 536 through both the current paths and the conductive coupling members. The controller 536 may have an internal resistance, and thus the first node 520 and the second node 532 may have voltage levels based on the resistance of the first resistor 518, the second resistor 530, and the internal resistance of the controller 536. Therefore, the computing device can determine the state of the power circuit 500 by sampling the voltage levels at the first node 520 and the second node 532. Figure 5A As shown, a voltage level below the power bus 504 indicates that the coupling member has not experienced mechanical rupture.

[0125] Despite Figure 5A Two coupling members are depicted in FIG5—a first screw 512 and a second screw 524, but more or fewer coupling members may be used. Furthermore, while the power circuit 500 uses the power bus 504 to provide power or control signals to the controller 536, other examples may involve power or control signals originating elsewhere, such as directly from the computing device (e.g., computing device 402) or another component of the system. The power circuit 500 may be configured in other ways and still provide the same Figure 5A Similar functionality is shown.

[0126] Figure 5B is a simplified illustration of a power circuit in a second state according to an example. In particular, Figure 5B The power circuit 500 is shown in a second state. Figure 5BThe second state can be understood as Figure 5A The state of the power circuit 500 that occurs after the first state is shown. Figure 5B , first screw 512 is not connected to nut 514 because the threads of first screw 512 have stripped. This results in motor 506 not being secured to structural member 505. Furthermore, because screw 512 has experienced mechanical fracture, the first terminal associated with first node 520 and the second terminal associated with first input line 522 become electrically disconnected.

[0127] The controller 536 can determine an electrical disconnect based on receiving zero power or a control signal and responsively control the motor 506 to stop moving. In an example where the operating member receives power or a control signal directly from the coupling member (i.e., without an intermediate controller), the operating member may stop moving due to a lack of power received from the power or control signal. Due to the mechanical rupture of the first screw 512, the first current path 516 becomes open at the first node 520, and the voltage increases to the same voltage level as the power bus 504. The computing device can determine the mechanical rupture of the first screw 512 based on the voltage increase at the first node 520 and infer that the movement of the motor 506 has stopped. Therefore, the computing device can control the system (e.g., an aircraft, such as a UAV) based on the fact that the motor 506 and the propeller 508 are not moving. For example, in response to determining the mechanical rupture of the first screw 512, the computing device can increase the speed of one or more motors that share a cantilever with the motor 506.

[0128] Figure 6A is a simplified illustration of a structural member in a first state according to an example. In particular, Figure 6A A structural member 600 is shown that includes a wing 602. The wing 602 has one or more conductive features incorporated therein. In particular, a current path 604 is incorporated into the wing 602. The current path 604 can be composed of a material having a variable resistance that depends on the deflection and the corresponding strain imposed on the material. For example, the current path 604 can include a metal, and an impact on the wing 602 can have a piezoresistive effect on the current path 604. In other words, the resistivity can increase in proportion to the amount of strain on the current path 604. Although only a few turns of the current path 604 are shown, in practice, the current path 604 can be wired more densely to increase the detectability of the piezoresistive effect.

[0129] Figure 6AAlso shown are a plurality of nodes 606, 610, 614, and 618, which correspond to regions 608, 612, 616, and 620 of wing 602, respectively. Detecting the voltage level at each given node can indicate how resistive the portion of current path 604 is in the corresponding region of wing 602. For example, a computing device can periodically sample the voltage level at each node, and changes in the sampled voltage levels can indicate changes in the resistivity of current path 604 at one or more locations. In this manner, a computing device (e.g., computing device 402) can determine whether one or more of regions 608, 612, 616, and 620 have been subjected to an impact. In an example, in response to detecting a change in resistivity at one of nodes 606, 610, 614, and 618, the computing device can schedule an inspection or maintenance of wing 602 or a region thereof.

[0130] Figure 6B is a simplified illustration of a structural member in a second state according to an example. In the second state, wing 602 experiences an impact that causes deflection of the surface of wing 602 in region 622. Because current path 604 is incorporated into the surface of wing 602, the deflection in region 622 of wing 602 causes increased strain on the corresponding portion of current path 604, thereby increasing resistance. For illustrative purposes, this is represented by resistor 624. Based on this increased resistance, the voltage level at node 618 may change, and the computing device may determine that region 620 has experienced an impact. For example, this may involve determining the resistivity of current path 604 within region 620 based on the sampled voltage level at node 618, calculating the corresponding strain on current path 604 in region 620, and inferring the amount of deflection in region 620 based on region 620. Determining that the resistivity remains at a high level may indicate that wing 602 has sustained lasting damage in region 620, and the computing device may responsively schedule maintenance on wing 602 based on this determination. Determining that the resistivity has returned to a lower level may indicate that wing 602 has sustained an impact but has not sustained lasting damage, and the computing device may responsively schedule an inspection of wing 602 based on this determination.

[0131] Figure 7 is a simplified illustration of structural components according to an example. In particular, Figure 7A top view of a structural member 700 including a wing 702 is shown. Within the wing 702, a grid 704 of conductive material is formed that can indicate whether the wing 702 has been subjected to an impact, thereby indicating whether the wing 702 is approved for inspection or maintenance. Thus, the grid 704 is another conductive feature that can be incorporated into the structural member. The grid 704 can be a framework of interconnected electrical conductors (e.g., low-gauge wires) inserted during or before the injection molding of the wing 702. The grid can be arranged in a manner that substantially fills the three-dimensional space within the wing 702. For example, the grid can be inserted before or at the same time as the foam material is injected into the wing 702, and the grid can remain in place as the foam material solidifies. In some examples, the grid can be randomly arranged according to the injection process. In other examples, the grid can be prefabricated to fit the empty space within the structural member 700.

[0132] Structural member 700 also shows input line 706, sampling node 708, and ground node 710. The computing device can periodically sample the voltage level at sampling node 708 and any other sampling nodes associated with grid 704. Different sampling nodes can correspond to different portions of grid 704. Therefore, if an electrical conductor in grid 704 breaks and disconnects a portion from the frame, this can be detected by sampling the corresponding sampling nodes. Based on detecting that one or more electrical conductors have broken, the computing device can determine that wing 702 has experienced an impact large enough to cause the electrical conductors in grid 704 to break, and responsively schedule inspection or maintenance of wing 702. In other examples, the computing device can take other actions in response to detecting a change in grid 704, such as grounding the aircraft or changing delivery schedules to expedite maintenance of the aircraft. In some examples, detecting a change in the grid can involve detecting the resistance level of grid 704. For example, if the total voltage level at sampling node 708 changes from a baseline voltage associated with the initial resistance of mesh 704 to a sampled voltage associated with the changed resistance of mesh 704 , this may indicate an impact on wing 702 .

[0133] Figure 8A is a simplified illustration of a structural member in a first state according to an example. In particular, Figure 8AA side view of structural member 800 is shown in a first state in which structural member 800 has not been impacted. Structural member 800 includes surface 802, a plurality of conductive features (including conductive features 804 and 808) integrated into structural member 800 on the bottom of surface 802, and a plurality of contact nodes (including contact nodes 806 and 810) corresponding to the plurality of conductive features. The conductive features are positioned such that if surface 802 moves relative to the contact nodes, the conductive features close the circuit associated with the contact nodes, such that a voltage change is detectable at the contact nodes. An array of conductive features and corresponding contact nodes can be placed on different surfaces throughout the system to monitor the system for impacts and schedule inspections and / or maintenance of structural members determined to have been impacted.

[0134] Figure 8B is a simplified illustration of a structural member in a second state according to an example. In particular, Figure 8B A side view of structural member 800 is shown in a second state in which structural member 800 has been impacted. In the second state, conductive surface 802 has moved due to the impact, and corresponding conductive feature 808 has moved toward contact node 810. Based on the movement of surface 802, conductive feature 808 closes a circuit associated with contact node 810, such that a voltage change is detectable at contact node 810.

[0135] Despite Figure 6A 、 Figure 6B 、 Figure 7 、 Figure 8A and Figure 8B In the present invention, a wing is depicted as a structural member, but other structural members, such as a boom or fuselage, may also be used. Moreover, similar functionality may be implemented in other types of systems, such as land vehicles, water vehicles, free-standing structures, and other systems. Furthermore, while the use of conductive features integrated into structural members is described in the context of detecting impact, other conditions of such structural members may also be detected using integrated conductive features. For example, bending, twisting, or other relative movement may be detected using such conductive features.

[0136] Figure 9 is a block diagram of a method according to an example. In particular, Figure 9 Method 900 is shown. Method 900 can be referred to above Figure 1 、 Figure 2 、 Figure 3 、 Figure 4 、 Figure 5A 、 Figure 5B 、 Figure 6A 、 Figure 6B 、 Figure 7 、 Figure 8A or Figure 8B Any system described to perform.

[0137] In addition, for Figure 9 The method shown and other processes and methods disclosed herein, the flow chart shows the function and operation of a possible implementation of the present embodiment. In this regard, some boxes can represent a part of a module, a program code segment or a program code, which includes one or more instructions that can be executed by a processor for realizing a specific logical function or step in the process. The program code can be stored on any type of computer-readable medium (for example, as a storage device including a disk or hard drive). The computer-readable medium can include a non-transitory computer-readable medium, for example, a computer-readable medium storing data in a short period of time like a register memory, a processor cache and a random access memory (RAM). The computer-readable medium can also include a non-transitory medium, such as a secondary or permanent long-term memory, for example, as a read-only memory (ROM), an optical disc or a magnetic disk, a CD-ROM (CD-ROM). The computer-readable medium can also be any other volatile or non-volatile storage system. For example, a computer-readable medium can be considered to be a computer-readable storage medium, a tangible storage device or other products.

[0138] In addition, for the methods and other processes and methods disclosed herein, Figure 9 Each block in the diagram may represent circuits that are wired to perform the specific logical functions in the process.

[0139] In block 902, method 900 includes moving an operating component of a system. For example, this may involve providing power from a power source to an operating component of the system, such as a motor.

[0140] At block 904, method 900 includes driving power or a control signal through a conductive coupling member (e.g., a screw or rivet). The conductive coupling member is connected between a first terminal and a second terminal in the power circuit, and the coupling member secures the operating member to a structural member of the system. For example, in an aircraft, the structural member may be a boom, a wing, or a fuselage.

[0141] In block 906, the method 900 includes detecting an electrical disconnection between the first terminal and the second terminal. For example, this may involve sampling a voltage level at a node in the power circuit to detect a change in voltage from a first level to a second level. This may be based on information about Figure 5B Described operations to perform.

[0142] At block 908, method 900 includes determining a mechanical rupture associated with the coupling member based on an electrical disconnect between the first terminal and the second terminal. For example, this may involve a controller of the operating member detecting the mechanical rupture based on no longer receiving power or a control signal, or a computing device of the system detecting the mechanical rupture based on a change in a voltage level detected at a node in the power circuit.

[0143] In block 910, method 900 includes stopping movement of an operating member of the system based on determining a mechanical rupture associated with the coupling member. For example, a controller of the operating member or a central controller of the system (e.g., computing device 402) can stop movement of the operating member in response to detecting the mechanical rupture.

[0144] In an example, electrically disconnecting a fault detection circuit corresponding to an operating member (eg, Figure 5A and Figure 5B In these examples, determining a mechanical rupture may include determining that an increase in voltage at the first terminal corresponds to an open fault detection circuit. For example, this may be based on information about Figure 5B Described operations to perform.

[0145] In examples, the power or control signal includes a pulse width modulation (PWM) signal or a controller area network (CAN) signal used as an input to a controller of the operating member. In these examples, detecting the electrical disconnect includes detecting, by the controller of the operating member, an absence of receipt of the PWM signal.

[0146] In an example, method 900 also includes changing the operation of one or more other operating members based on stopping the operating member from moving. In these examples, the fault detection loop can be associated with the type of operating member (e.g., a motor), and the operation of one or more other operating members can be changed based on the type of operating member. For example, the operating member can be a motor, and the central controller of the system (e.g., computing device 402) can increase the speed of one or more additional motors of the system to compensate for the lack of lift supplied by the motor.

[0147] In an example, method 900 includes determining a mechanical rupture based on a vibration profile of the structural member. For example, an unsecured motor may cause vibration of the cantilever, which may be detectable by the system's central controller using one or more vibration sensors. Method 900 may also include corroborating the vibration profile based on an open fault detection loop. Thus, the fault detection loop may be utilized to increase the confidence level in sensing that an operating member is unsecured, or to accelerate detection that an operating member is unsecured.

[0148] In an example, method 900 also includes updating a maintenance schedule for the system based on the fault detection loop being open. For example, because the fault detection loop may indicate a mechanical rupture of a coupling component, a central controller of the system may schedule maintenance of the coupling component and possibly corresponding structural and / or operational components.

[0149] In an example, method 900 also includes changing the planned flight of the aircraft in response to determining the mechanical rupture. For example, this may include making an emergency landing of the aircraft or selecting a less challenging profile for the aircraft.

[0150] Reference above Figure 1 、 Figure 2 、 Figure 3 、 Figure 4 、 Figure 5A 、 Figure 5B 、 Figure 6A 、 Figure 6B 、 Figure 7 、 Figure 8A and Figure 8B Other functions described may also be included in method 900. Figure 10 The described aspects of method 1000 may replace, be combined with, or supplement aspects of method 900 .

[0151] Figure 10 is a block diagram of a method according to an example. In particular, Figure 10 Method 1000 is shown. Method 1000 can be obtained from the above Figure 1 、 Figure 2 、 Figure 3 、 Figure 4 、 Figure 5A 、 Figure 5B 、 Figure 6A 、 Figure 6B 、 Figure 7 、 Figure 8A or Figure 8B Any system described to perform.

[0152] In addition, for Figure 10The method shown and other processes and methods disclosed herein, the flow chart shows the function and operation of a possible implementation of the present embodiment. In this regard, some boxes can represent a part of a module, a program code segment or a program code, which includes one or more instructions that can be executed by a processor for realizing a specific logical function or step in the process. The program code can be stored on any type of computer-readable medium (for example, a storage device such as a disk or hard drive). The computer-readable medium can include a non-transitory computer-readable medium, for example, a computer-readable medium that stores data in a short period of time such as a register memory, a processor cache and a random access memory (RAM). The computer-readable medium can also include a non-transitory medium, such as a secondary or permanent long-term memory, for example, a read-only memory (ROM), an optical disc or a magnetic disk, a CD-ROM (CD-ROM). The computer-readable medium can also be any other volatile or non-volatile storage system. For example, a computer-readable medium can be considered to be a computer-readable storage medium, a tangible storage device or other products.

[0153] In addition, for the methods and other processes and methods disclosed herein, Figure 10 Each block in the diagram may represent circuits that are wired to perform the specific logical functions in the process.

[0154] In block 1002, method 1000 includes sampling a first voltage level at a sampling node associated with a conductive feature incorporated into a structural member of a system at a first time. For example, this may be based on Figure 6A 、 Figure 7 and Figure 8A and its corresponding description to execute.

[0155] In block 1004, method 1000 includes determining a first state of the structural component based on the first voltage level. For example, this may be based on Figure 6A 、 Figure 7 and Figure 8A and its corresponding description to execute.

[0156] At block 1006, method 1000 includes sampling a second voltage level at the sampling node at a second time, wherein the second voltage level is different from the first voltage level. Figure 6B 、 Figure 7 and Figure 8B and its corresponding description to execute.

[0157] At block 1008, method 1000 includes determining a change associated with the conductive characteristic based on the second voltage level being different from the first voltage level. Figure 6B 、 Figure 7 and Figure 8B and its corresponding description to execute.

[0158] At block 1010, method 1000 includes detecting a second state of the structural member based on (i) determining a change associated with the conductive feature and (ii) incorporating the conductive feature into the structural member. For example, this may be based on Figure 6B 、 Figure 7 and Figure 8B and its corresponding description to execute.

[0159] Reference above Figure 1 、 Figure 2 、 Figure 3 、 Figure 4 、 Figure 5A 、 Figure 5B 、 Figure 6A 、 Figure 6B 、 Figure 7 、 Figure 8A and Figure 8B Other functions described above may also be included in method 1000. Figure 9 Aspects of the described method 900 may replace, be combined with, or supplement aspects of method 1000 .

[0160] VI. Conclusion

[0161] The particular arrangements shown in the accompanying drawings should not be considered restrictive. It should be understood that other embodiments may include more or less of each element shown in a given figure. In addition, some of the elements shown may be combined or omitted. Furthermore, example embodiments may include elements not shown in the accompanying drawings.

[0162] Additionally, although various aspects and embodiments have been disclosed herein, other aspects and embodiments will be clear to those skilled in the art. The various aspects and embodiments disclosed herein are for illustrative purposes and are not intended to be limiting, and the true scope and spirit are indicated by the appended claims. Other embodiments may be utilized, and other changes may be made, without departing from the spirit or scope of the subject matter presented herein. It will be readily understood that the various aspects of the present disclosure, as generally described herein and shown in the accompanying drawings, may be arranged, substituted, combined, separated, and designed in a variety of different configurations, all of which are contemplated herein.

Claims

1. An aircraft, comprising: Power circuits; an operating member configured to move in response to receiving power or a control signal from the power circuit; a structural member configured to stabilize one or more operational members of the aircraft; as well as A coupling member configured to secure the operating member to the structural member at a contact point, wherein the coupling member comprises a conductive material incorporated into the power circuit between the first terminal and the second terminal, and wherein mechanical rupture of the coupling member results in: (i) the operating member becomes loose from the structural member at the point of contact; and (ii) An electrical disconnect between the first terminal and the second terminal, wherein the electrical disconnect stops the power or control signal and thereby stops the operating member from moving.

2. The aircraft according to claim 1, wherein: The coupling member includes a screw, and wherein the mechanical rupture corresponds to one or more of: stripping of threads associated with the screw, shear rupture of the screw, and pulling of the screw through a structural member.

3. The aircraft according to claim 2, wherein: The operating member comprises a motor configured to move a propeller, wherein the structural member comprises a cantilever, wherein a slipped thread associated with the screw results in: (i) the motor becomes unsecured from the boom, and (ii) Electrical disconnection, causing the propeller to stop moving.

4. The aircraft according to claim 1, wherein: The power circuit comprises a power bus connected to a power source, wherein the first terminal is connected to the power bus, wherein the second terminal is connected to a power input of an operating member, wherein the power or control signal comprises an input voltage received from the power bus via the structural member, and wherein the mechanical rupture causes the second terminal to be disconnected from the input voltage.

5. The aircraft according to claim 1, wherein: The operating member includes a controller configured to receive power or a control signal, wherein the power or control signal serves as an input to the controller such that the controller controls movement of the operating member, and wherein the electrical disconnection corresponds to an input such that the controller stops movement of the operating member.

6. The aircraft of claim 1 , further comprising a computing device, wherein: The power circuit includes a fault detection loop, wherein the electrical disconnection corresponds to an open fault detection loop, and wherein the computing device is configured to detect the mechanical rupture based on the open fault detection loop.

7. The aircraft according to claim 6, wherein: The computing device is further configured to: In response to detecting the mechanical rupture, stopping movement of the operating member; and The operation of one or more other operating members is changed based on stopping the movement of the operating member.

8. The aircraft according to claim 7, wherein: The fault detection loop is associated with a type of operating member, and wherein changing the operation of the one or more other operating members is based on the type of operating member.

9. The aircraft according to claim 6, wherein: The computing device is further configured to determine a mechanical fracture based on a vibration profile of the structural member; and The vibration profile is confirmed based on an open fault detection loop.

10. The aircraft according to claim 6, wherein: The computing device is further configured to update a maintenance schedule for the aircraft based on the fault detection loop being open.

11. The aircraft according to claim 6, wherein: The computing device is further configured to alter a planned flight of the aircraft in response to determining a mechanical breach.

12. A method for an aircraft, comprising: causing an operating member of the aircraft to move; driving the power or control signal through a conductive coupling member, wherein the conductive coupling member is connected between a first terminal and a second terminal in a power circuit, and wherein the coupling member secures the operating member to a structural member of the aircraft; detecting an electrical disconnection between the first terminal and the second terminal; determining a mechanical fracture associated with the coupling member based on an electrical disconnect between the first terminal and the second terminal; and Based on determining a mechanical rupture associated with the coupling member, movement of an operating member of the aircraft is stopped.

13. The method according to claim 12, wherein: The electrical disconnection corresponds to an open circuit of a fault detection circuit of the operating member, and wherein determining the mechanical rupture comprises determining an increase in voltage at the first terminal corresponding to the open circuit of the fault detection circuit.

14. The method according to claim 12, wherein: The power or control signal comprises a pulse width modulation (PWM) signal or a controller area network (CAN) signal used as an input to a controller of the operating member, and wherein detecting the electrical disconnection comprises detecting, by the controller of the operating member, non-receipt of the PWM signal or the CAN signal.

15. The method according to claim 13, further comprising: The operation of one or more other operating members is changed based on stopping the movement of the operating member.

16. The method according to claim 15, wherein The fault detection loop is associated with a type of operating member, and wherein changing the operation of the one or more other operating members is based on the type of operating member.

17. The method according to claim 12, further comprising: Determination of mechanical rupture based on the vibration profile of the structural component; as well as The vibration profile is confirmed based on an open fault detection loop.

18. The method according to claim 12, further comprising: A maintenance schedule for the aircraft is updated based on the fault detection loop opening.

19. An aircraft system comprising: Power circuits; a plurality of operating members configured to move in response to receiving corresponding power or control signals from the power circuit; one or more structural members configured to stabilize the plurality of operational members; as well as A plurality of coupling members configured to secure a plurality of operating members to one or more structural members at a plurality of contact points, wherein each respective coupling member of the plurality of coupling members comprises an electrically conductive material incorporated into a power circuit between a respective first terminal and a respective second terminal, and wherein mechanical rupture of the respective coupling member results in: (i) a respective operating member corresponding to the respective coupling member becomes unsecured with the respective structural member at the respective contact point; and (ii) an electrical disconnection between the respective first terminal and the respective second terminal, wherein the electrical disconnection stops the respective power or control signal from reaching the respective operating member and thereby stops the respective operating member from moving.

20. The system of claim 19, further comprising a power supply, wherein The power circuit includes a power bus connected to a power source, wherein each respective first terminal is connected to the power bus, wherein each respective second terminal is connected to a power input of a corresponding operating member, wherein each respective power or control signal comprises an input voltage received from the power bus via the corresponding structural member, and wherein the mechanical rupture causes the respective second terminal to be disconnected from the input voltage.

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