Procedure description language and operational rule file

• US 10,040,550 B2
• Filed: 08/26/2015
• Issued: 08/07/2018
• Est. Priority Date: 08/26/2015
• Status: Active Grant

• Current Assignee: The Boeing Co.
• Original Assignee: The Boeing Co.
• Inventors: Barraci, Nima, Kneuper, Nils, Narwojsz, Michal, Hendrian, Matthew B., Szklarski, Karol
• Primary Examiner(s): Camby, Richard M
• Application Number:
  US14/836,097
• Publication Number:
  US 20170061802A1
• Time in Patent Office: 1,077 Days
• CPC Class Codes: B64C 39/02 characterised by special use
• CPC Class Codes: B64C 39/024 of the remote controlled vehicle type, i.e. RPV
• CPC Class Codes: B64U 10/13 Flying platforms
• CPC Class Codes: B64U 10/14 with four distinct rotor axes, e.g. quadcopters
• CPC Class Codes: B64U 10/17 Helicopters flying platforms B64U10/13
• CPC Class Codes: B64U 10/25 Fixed-wing aircraft VTOL aircraft B64U10/20
• 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 50/19 using electrically powered motors
• CPC Class Codes: G08G 5/0034 Assembly of a flight plan
• CPC Class Codes: G08G 5/0039 Modification of a flight plan
• CPC Class Codes: G08G 5/006 in accordance with predefined flight zones, e.g. to avoid prohibited zones
• CPC Class Codes: G08G 5/0069 specially adapted for an unmanned aircraft

Abstract

Method and apparatus for planning and modifying a vehicle operation plan. A vehicle operation plan for a vehicle schedule is determined based on performance constraints of the vehicle and an operational rule file that defines operational restrictions on the vehicle based on states of the vehicle. In the event a state changes from a planned state, the vehicle automatically and autonomously recalculates the vehicle operation plan in a manner that satisfies the performance constraints and the operational restrictions.

Claims

1. A computer-implemented method, comprising:

receiving a procedure description for a vehicle, the procedure description defining performance constraints of the vehicle;

receiving at least one operational rule defining vehicle operating restrictions based on states of the vehicle;

receiving a vehicle operation schedule for the vehicle that includes one or more planned states of the vehicle during the vehicle operation schedule;

extracting one or more vehicle operating restrictions from the at least one operational rule for the vehicle based on the one or more planned states of the vehicle;

generating a vehicle operation plan, based on the vehicle operation schedule, that satisfies the performance constraints and extracted vehicle operating restrictions; and

providing instructions to the vehicle such that the vehicle executes the vehicle operation plan.

2. The method of claim 1, further comprising:

during operation of the vehicle, receiving an indication of a change to a performance constraint of the vehicle from a planned performance constraint;

generating a revised vehicle operation plan that satisfies the changed performance constraint; and

providing revised instructions to the vehicle such that the vehicle executes the revised vehicle operation plan.

3. The method of claim 2, further comprising:

during operation of the vehicle, receiving an indication of a change to a state of the vehicle from the one or more planned states for the vehicle operation schedule;

extracting a different one or more vehicle operating restrictions from the at least one operational rule based on the change to the state;

generating a second revised vehicle operation plan that satisfies the different one or more vehicle operating restrictions from the operational rule; and

providing second revised instructions to the vehicle such that the vehicle executes the second revised vehicle operation plan.

4. The method of claim 1, further comprising:

during operation of the vehicle, receiving an indication of a change to a state of the vehicle from the one or more planned states for the vehicle operation schedule;

extracting a different one or more vehicle operating restrictions from the at least one operational rule based on the change to the state;

generating a revised vehicle operation plan that satisfies the different one or more vehicle operating restrictions from the at least one operational rule and

providing revised instructions to the vehicle such that the vehicle executes the revised vehicle operation plan.

5. The method of claim 1, wherein the states of the vehicle include at least one of:

whether a payload is being carried;

whether a payload being carried is hazardous;

whether a payload being carried is toxic or poisonous;

whether a payload being carried is a fire hazard; and

whether the vehicle is in communication with a human operator.

6. The method of claim 5, wherein the vehicle is an unmanned aerial vehicle (UAV), and wherein the vehicle operating restrictions include regions through which the UAV cannot fly based on a state of the UAV.

7. The method of claim 5, wherein the performance constraints includes at least one of:

a range of the vehicle;

a turning radius of the vehicle;

a maximum speed of the vehicle; and

a maximum altitude of the vehicle.

8. A system, comprising:

an unmanned aerial vehicle (UAV) with flight components;

a computer-readable storage medium arranged on board the UAV and adapted to store;

procedure description data for the UAV, wherein the procedure description data defines performance constraints of the UAV;

operational rule data, wherein the operational rule data defines vehicle operating restrictions based on states of the UAV; and

a vehicle operation plan for the UAV that includes one or more planned states of the UAV during the vehicle operation plan, wherein the vehicle operation plan satisfies the performance constraints and the vehicle operating restrictions; and

a computer processor on board the UAV and operable to;

generate control commands for the flight components such that the UAV executes the vehicle operation plan; and

output the control commands to the flight components.

9. The system of claim 8, wherein the computer processor is further operable to generate the vehicle operation plan by:

receiving a vehicle operation schedule that includes one or more planned states of the UAV during the vehicle operation schedule;

extracting one or more vehicle operating restrictions from the operational rule data for the UAV based on the one or more planned states of the UAV; and

generating the vehicle operation plan, based on the vehicle operation schedule, that satisfies the performance constraints and the extracted vehicle operating restrictions.

10. The system of claim 9, wherein the computer processor is further operable to:

during operation of the UAV, receive an indication of a change to a performance constraint of the UAV from a planned performance constraint;

generate a revised vehicle operation plan that satisfies the changed performance constraint;

generate revised control commands such that the vehicle executes the revised vehicle operation plan; and

output the revised control commands to the at least one of a propulsion system and control surfaces.

11. The system of claim 10, wherein the computer processor is further operable to:

during operation of the UAV, receive an indication of a change to a state of the UAV from the one or more planned states for the vehicle operation schedule;

extract a different one or more vehicle operating restrictions from the operational rule data based on the change to the state;

generate a second revised vehicle operation plan that satisfies the different one or more vehicle operating restrictions from the operational rule data;

generate second revised control commands such that the vehicle executes the second revised vehicle operation plan; and

output the second revised control commands to the at least one of the propulsion system and the control surfaces.

12. The system of claim 8, wherein the computer processor is further operable to:

during operation of the UAV, receive an indication of a change to a state of the UAV from the one or more planned states for a vehicle operation schedule;

extract a different one or more vehicle operating restrictions from the operational rule data based on the change to the state;

generate a revised vehicle operation plan that satisfies the different one or more vehicle operating restrictions from the operational rule data;

generate revised control commands such that the vehicle executes the revised vehicle operation plan; and

output the revised control commands to the at least one of a propulsion system and control surfaces.

13. The system of claim 8, wherein the states of the vehicle include at least one of:

whether a payload is being carried;

whether a payload being carried is hazardous;

whether a payload being carried is toxic or poisonous;

whether a payload being carried is a fire hazard; and

whether the vehicle is in communication with a human operator.

14. The system of claim 13, wherein the vehicle operating restrictions include regions through which the UAV cannot fly based on a state of the UAV.

15. The system of claim 8, wherein the performance constraints includes at least one of:

a range of the vehicle;

a turning radius of the vehicle;

a maximum speed of the vehicle; and

a maximum altitude of the vehicle.

16. A computer program product for planning a vehicle operation, the computer program product comprising:

a non-transitory computer-readable medium having computer-readable program code embodied therewith, the computer-readable program code executable by one or more computer processors to;

receive a vehicle operation schedule for the vehicle that includes one or more planned states of the vehicle during the vehicle operation schedule;

retrieve performance constraints for the vehicle from procedure description data;

retrieve vehicle operating restrictions for the vehicle, based on the planned states of the vehicle, from operational rule data;

generate a vehicle operation plan, based on the received vehicle operation schedule, that satisfies the performance constraints and extracted vehicle operating restrictions; and

output instructions to the vehicle such that the vehicle executes the vehicle operation plan.

17. The computer program product of claim 16, wherein the computer-readable program code is further executable to:

during operation of the vehicle, receive an indication of a change to a performance constraint of the vehicle from a planned performance constraint;

generate a revised vehicle operation plan that satisfies the changed performance constraint; and

provide revised instructions to the vehicle such that the vehicle executes the revised vehicle operation plan.

18. The computer program product of claim 17, wherein the computer-readable program code is further executable to:

during operation of the vehicle, receive an indication of a change to a state of the vehicle from the one or more planned states for the vehicle operation schedule;

extract a different one or more vehicle operating restrictions from the operational rule data based on the change to the state;

generate a second revised vehicle operation plan that satisfies the different one or more vehicle operating restrictions from the operational rule data; and

provide second revised instructions to the vehicle such that the vehicle executes the second revised vehicle operation plan.

19. The computer program product of claim 16, wherein the computer-readable program code is further executable to:

during operation of the vehicle, receiving an indication of a change to a state of the vehicle from the one or more planned states for the vehicle operation schedule;

extracting a different one or more vehicle operating restrictions from the operational rule data based on the change to the state;

generating a revised vehicle operation plan that satisfies the different one or more vehicle operating restrictions from the operational rule data; and

providing revised instructions to the vehicle such that the vehicle executes the revised vehicle operation plan.

20. The computer program product of claim 16, wherein the states of the vehicle include at least one of:

whether a payload is being carried;

whether a payload being carried is hazardous;

whether a payload being carried is toxic or poisonous;

whether a payload being carried is a fire hazard; and

whether the vehicle is in communication with a human operator.