Pre-flight self test for unmanned aerial vehicles (UAVs)

• US 10,023,326 B2
• Filed: 11/30/2016
• Issued: 07/17/2018
• Est. Priority Date: 02/25/2015
• Status: Active Grant

• Current Assignee: Cisco Technology, Inc. (Cisco Systems, Inc.)
• Original Assignee: Cisco Technology, Inc. (Cisco Systems, Inc.)
• Inventors: Byers, Charles Calvin, Salgueiro, Gonzalo
• Primary Examiner(s): PAIGE, TYLER D
• Application Number:
  US15/364,852
• Publication Number:
  US 20170081045A1
• Time in Patent Office: 594 Days
• Field of Search: 701 15
• CPC Class Codes: A47G 29/14 Deposit receptacles for food, e.g. breakfast, milk , or large parcels; Similar receptacles for food or large parcels with appliances for preventing unauthorised removal of the deposited articles , i.e. food or large parcels
• CPC Class Codes: B64C 39/024 of the remote controlled vehicle type, i.e. RPV
• CPC Class Codes: B64D 1/00 Dropping, ejecting, releasing, or receiving articles, liquids, or the like, in flight with respect to weapon sights devices F41G takes precedence, parachutes per se B64D17/00; ejectable seats B64D25/10; ejectable capsules B64D25/12; refuelling during flight B64D39/00; launching apparatus for projecting projectiles or missiles F41F1/00, F41F7/00; rocket or torpedo launchers F41F3/00
• CPC Class Codes: B64F 1/00 Ground or aircraft-carrier-deck installations specially adapted for captive aircraft B64F3/00
• CPC Class Codes: B64F 1/04 for launching aircraft
• CPC Class Codes: B64F 1/12 for anchoring aircraft
• CPC Class Codes: B64F 5/60 Testing or inspecting aircraft components or systems
• CPC Class Codes: B64U 10/00 Type of UAV
• CPC Class Codes: B64U 10/10 Rotorcrafts
• CPC Class Codes: B64U 10/13 Flying platforms
• CPC Class Codes: B64U 20/96 using air
• CPC Class Codes: B64U 2101/60 for transporting passengers; for transporting goods other than weapons
• CPC Class Codes: B64U 2101/64 for parcel delivery or retrieval
• CPC Class Codes: B64U 2201/10 autonomous, i.e. by navigating independently from ground or air stations, e.g. by using inertial navigation systems [INS]
• CPC Class Codes: B64U 30/20 Rotors; Rotor supports
• CPC Class Codes: B64U 50/14 ducted or shrouded
• CPC Class Codes: B64U 50/19 using electrically powered motors
• CPC Class Codes: B64U 50/34 In-flight charging photovoltaics B64U50/31
• CPC Class Codes: B64U 50/37 Charging when not in flight
• CPC Class Codes: B64U 70/00 Launching, take-off or landing arrangements
• CPC Class Codes: B64U 70/95 : Means for guiding the landing UAV towards the platform, e.g. lighting means
• CPC Class Codes: B64U 70/99 : Means for retaining the UAV on the platform, e.g. dogs or magnets
• CPC Class Codes: B64U 80/20 : with arrangements for servicing the UAV
• CPC Class Codes: B64U 80/25 : for recharging batteries; for refuelling
• CPC Class Codes: B64U 80/40 : for two or more UAVs
• CPC Class Codes: B64U 80/86 : Land vehicles
• CPC Class Codes: G06Q 10/0832 : Special goods or special handling procedures, e.g. handling of hazardous or fragile goods
• CPC Class Codes: H05K 999/99 : dummy group

Abstract

In one embodiment, a controller instructs an unmanned aerial vehicle (UAV) docked to a landing perch to perform a pre-flight test operation of a pre-flight test routine. The controller receives sensor data associated with the pre-flight test operation from one or more force sensors of the landing perch, in response to the UAV performing the pre-flight test operation. The controller determines whether the sensor data associated with the pre-flight test operation is within an acceptable range. The controller causes the UAV to launch from the landing perch based in part on a determination that UAV has passed the pre-flight test routine.

Claims

1. A landing perch for an unmanned aerial vehicle (UAV), comprising:

a base having a plurality of posts that extend from the base and are configured to couple with apertures of the UAV to retain the UAV in a docked position on the base after landing, wherein one or more of the posts comprise an electrical contact configured to provide an electrical charge to the UAV when the UAV is docked on the landing perch;

one or more electromagnets located on one or more of the plurality of posts; and

a controller that includes;

one or more network interfaces to communicate with a computer network;

a processor coupled to the one or more network interfaces and configured to execute a process; and

a memory configured to store the process executable by the processor, the process when executed operable to;

detect the UAV within proximity of the landing perch;

cause the UAV to align the apertures of the UAV with one or more of the plurality of posts of the base; and

activate the one or more electromagnets on the posts to retain the UAV on the landing perch.

2. The landing perch of claim 1, wherein the process when executed is further operable to:

determine that the UAV is within a predefined distance, attitude, or orientation relative to the landing perch during approach to the base.

3. The landing perch of claim 1, wherein the process when executed is further operable to:

determine that the UAV is within an arrival time at the landing perch during approach to the base.

4. The landing perch of claim 1, wherein the landing perch further comprises one or more proximity sensors, and wherein the process when executed is further operable to:

detect the presence of the UAV near the landing perch by the one or more of the proximity sensors.

5. The landing perch of claim 4, wherein the sensor is a lens or a security camera.

6. The landing perch of claim 1, wherein one or more of the plurality of posts comprises a force sensor configured to measure a force exerted on the one or more posts when the UAV is docked onto the perch.

7. The landing perch of claim 1, wherein the process when executed is further operable to:

cause the one or more electromagnets to interact with one or more magnets of the UAV.

8. The landing perch of claim 1, wherein the process when executed is further operable to:

activate the one or more electromagnets to repel the UAV away from the perch.

9. The landing perch of claim 1, wherein the base further comprises an aperture through which the UAV deposits or receives a package for delivery.

10. The landing perch of claim 1, wherein one or more of the posts comprise an aperture through which a cooling or heating medium is provided to the UAV when the UAV is docked on the landing perch.

11. The landing perch of claim 1, further comprising:

an optical or radio transceiver via which the controller communicates with the UAV.

12. The landing perch of claim 1, wherein in the process when executed is operable to:

instruct the UAV docked on the landing perch to perform a pre-flight test operation of a pre-flight test routine prior to being launched from the landing perch;

receive sensor data associated with the pre-flight test operation from the one or more force sensors of the landing perch, in response to the UAV performing the pre-flight test operation;

determine whether the sensor data associated with the pre-flight test operation is within an acceptable range; and

cause the UAV to launch from the landing perch based in part on a determination that UAV has passed the pre-flight test routine.

13. A method comprising

detecting, by a controller, that an unmanned aerial vehicle (UAV) is within proximity of a landing perch, the landing perch comprising:

a base having a plurality of posts that extend from the base and are configured to couple with apertures of the UAV to retain the UAV in a docked position on the base after landing, wherein one or more of the posts comprise an electrical contact configured to provide an electrical charge to the UAV when the UAV is docked on the landing perch, and

one or more electromagnets located on one or more of the plurality of posts;

causing, by the controller, the UAV to align the apertures of the UAV with one or more of the plurality of posts of the base; and

activating, by the controller, the one or more electromagnets on the posts to retain the UAV on the landing perch.

14. The method of claim 13, further comprising:

instructing, by the controller, the UAV docked on the landing perch to perform a pre-flight test operation of a pre-flight test routine prior to being launched from the landing perch;

receiving, at the controller, sensor data associated with the pre-flight test operation from the one or more force sensors of the landing perch, in response to the UAV performing the pre-flight test operation;

receiving, at the controller, data indicative of an acceptable range for the sensor data associated with the pre-flight test operation;

determining, by the controller, whether the sensor data associated with the pre-flight test operation is within the acceptable range; and

causing, by the controller, the UAV to launch from the landing perch based in part on a determination that UAV has passed the pre-flight test routine.

15. A system comprising:

a roost having a communication system configured to execute processes to manage communication to the UAVs and a plurality of landing perches for a plurality of unmanned aerial vehicles (UAVs), each landing perch including;

a base having a plurality of posts that extend from the base and are configured to couple with apertures of a particular UAV to retain the particular UAV in a docked position on the base after landing, and one or more electromagnets located on one or more of the plurality of posts; and

a controller that includes;

one or more network interfaces to communicate with a computer network;

a processor coupled to the one or more network interfaces and configured to execute a process; and

a memory configured to store the process executable by the processor, the process when executed operable to;

detect that a UAV is in proximity of the particular perch;

align the UAV with one or more of the plurality of posts of a selected perch; and

activate the one or more electromagnets on the posts of the selected perch to retain the UAV on the landing perch.

16. The system of claim 15, wherein the roost is positioned on a road vehicle or a seagoing vessel.

17. The system of claim 15, wherein the roost is positioned on a stationary structure.

18. The system of claim 15, wherein the roost further comprises a loading mechanism to load a parcel onto the selected UAV when in a docked position on the selected perch.