Automated hazard handling routine engagement

• US 10,279,906 B2
• Filed: 12/31/2012
• Issued: 05/07/2019
• Est. Priority Date: 12/19/2012
• Status: Active Grant

• Current Assignee: Elwha LLC (Intellectual Ventures LLC)
• Original Assignee: Elwha LLC (Intellectual Ventures LLC)
• Inventors: Levien, Royce A., Lord, Robert W., Lord, Richard T., Malamud, Mark A., Rinaldo, Jr., John D., Wood, Jr., Lowell L.
• Primary Examiner(s): Mustafa, Imran K
• Application Number:
  US13/731,363
• Publication Number:
  US 20140166816A1
• Time in Patent Office: 2,318 Days
• Field of Search: 701 3, 701300-302
• CPC Class Codes: B64U 10/14 with four distinct rotor axes, e.g. quadcopters
• 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 2201/102 adapted for flying in formations
• CPC Class Codes: B64U 2201/20 Remote controls
• CPC Class Codes: B64U 30/21 Rotary wings
• CPC Class Codes: G05D 1/0088 characterized by the autonomous decision making process, e.g. artificial intelligence, predefined behaviours using knowledge based models G06N5/00
• CPC Class Codes: G08G 5/0069 specially adapted for an unmanned aircraft

Abstract

Disclosed herein are example embodiments for automated hazard handling routine engagement. For certain example embodiments, at least one machine, such as an unoccupied flying vehicle (UFV), may: (i) detect at least one motivation to engage at least one automated hazard handling routine of the UFV; or (ii) engage at least one automated hazard handling routine of a UFV based at least partially on at least one motivation. However, claimed subject matter is not limited to any particular described embodiments, implementations, examples, or so forth.

Claims

1. A method for hazard handling for an unoccupied flying vehicle (UFV), the method being at least partially implemented by at least one machine, the method comprising:

autonomously controlling an unoccupied flying vehicle (UFV) including at least;

detecting at least one engagement indication to engage at least one automated hazard handling routine associated with at least one mission including the UFV;

autonomously analyzing the at least one engagement indication and selecting the at least one automated hazard handling routine associated with the at least one mission including the UFV from the analysis;

autonomously negotiating at least one flight path adjustment associated with the UFV and at least one remote UFV including at least transmitting at least one negotiation request requesting at least a maneuverability indication corresponding to at least one maneuverability criterion associated with the at least one remote UFV and receiving from the at least one remote UFV at least the maneuverability indication;

autonomously formulating at least one control command associated with the at least one automated hazard handling routine including at least analyzing at least the at least one engagement indication and the maneuverability indication in accordance with the at least one automated hazard handling routine, formulating the at least one flight path adjustment and at least one flight path adjustment offer based at least partly on the analysis of at least the at least one engagement indication and the maneuverability indication, and transmitting the at least one flight path adjustment offer to the at least one remote UFV; and

autonomously engaging the at least one automated hazard handling routine in accordance with the autonomously formulated at least one control command responsive to receiving at least one flight path adjustment acceptance from the at least one remote UFV including at least controlling the UFV to cause the at least one flight path adjustment.

2. An unoccupied flying vehicle (UFV) comprising:

at least one electronic device configured for autonomously controlling the UFV, the at least one electronic device including at least;

circuitry configured for detecting at least one engagement indication to engage at least one automated hazard handling routine associated with at least one mission including the UFV;

circuitry configured for autonomously analyzing the at least one engagement indication and selecting the at least one automated hazard handling routine associated with the at least one mission including the UFV from the analysis;

circuitry configured for autonomously negotiating at least one flight path adjustment associated with the UFV and at least one remote UFV including at least transmitting at least one negotiation request requesting at least a maneuverability indication corresponding to at least one maneuverability criterion associated with the at least one remote UFV and receiving from the at least one remote UFV at least the maneuverability indication;

circuitry configured for autonomously formulating at least one control command associated with the at least one automated hazard handling routine including at least analyzing at least the at least one engagement indication and the maneuverability indication in accordance with the at least one automated hazard handling routine, formulating the at least one flight path adjustment and at least one flight path adjustment offer based at least partly on the analysis of at least the at least one engagement indication and the maneuverability indication, and transmitting the at least one flight path adjustment offer to the at least one remote UFV; and

circuitry configured for autonomously engaging the at least one automated hazard handling routine in accordance with the autonomously formulated at least one control command responsive to receiving at least one flight path adjustment acceptance from the at least one remote UFV including at least controlling the UFV to cause the at least one flight path adjustment.

3. The UFV of claim 2 wherein the circuitry configured for detecting at least one engagement indication to engage at least one automated hazard handling routine associated with at least one mission including the UFV comprises:

at least one of;

circuitry configured for detecting at least an approach to a region with substantially unreliable wireless communication;

circuitry configured for ascertaining that the UFV is experiencing signal interference;

circuitry configured for ascertaining that the UFV has at least approached an area that is designated to be associated with substantially unreliable wireless communication;

circuitry configured for detecting that the UFV is unable to maintain wireless signal contact with a base station;

circuitry configured for detecting at least an approach to an area that is associated with at least a recommended engagement of the at least one automated hazard handling routine;

circuitry configured for detecting the at least an approach to a government-designated area in which UFVs are obligated to engage at least one automated hazard handling routine;

or

circuitry configured for identifying at least one hazard using the at least one automated hazard handling routine of the UFV.

4. The UFV of claim 2 wherein the circuitry configured for detecting at least one engagement indication to engage at least one automated hazard handling routine associated with at least one mission including the UFV comprises:

circuitry configured for receiving a command instructing the UFV to engage a local flight control that includes the at least one automated hazard handling routine.

5. The UFV of claim 2 wherein the circuitry configured for autonomously engaging the at least one automated hazard handling routine in accordance with the autonomously formulated at least one control command comprises:

circuitry configured for switching a control mode from remote control to at least partial local control.

6. The UFV of claim 2 wherein the circuitry configured for autonomously engaging the at least one automated hazard handling routine in accordance with the autonomously formulated at least one control command comprises:

circuitry configured for implementing a control command received from a remote source unless the received control command conflicts with a control command generated by a hazard handling module of the UFV.

7. The UFV of claim 2 wherein the circuitry configured for autonomously engaging the at least one automated hazard handling routine in accordance with the autonomously formulated at least one control command comprises:

circuitry configured for identifying at least one surface using the at least one automated hazard handling routine of the UFV; and

circuitry configured for ascending responsive at least partly to identification of the at least one surface.

8. The UFV of claim 2 wherein the circuitry configured for autonomously engaging the at least one automated hazard handling routine in accordance with the autonomously formulated at least one control command comprises:

circuitry configured for identifying at least one other UFV using the at least one automated hazard handling routine of the UFV; and

circuitry configured for turning in a predetermined direction responsive at least partly to identification of the at least one other UFV in accordance with the at least one automated hazard handling routine.

9. The UFV of claim 2 wherein the circuitry configured for autonomously engaging the at least one automated hazard handling routine in accordance with the autonomously formulated at least one control command comprises:

at least one of;

circuitry configured for externally reporting engagement of the automated hazard handling routine;

circuitry configured for repeatedly reporting the engagement of the automated hazard handling routine until an acknowledgment is received;

circuitry configured for broadcasting at least a portion of an expected flight path responsive at least partly to engagement of the at least one automated hazard handling routine of the UFV;

or

circuitry configured for broadcasting at least one position of the UFV.

10. The UFV of claim 2 further comprising:

circuitry configured for announcing identification associated with the UFV using at least one radio of the UFV responsive at least partly to engagement of the at least one automated hazard handling routine.

11. The UFV of claim 10 wherein the circuitry configured for announcing identification associated with the UFV using at least one radio of the UFV responsive at least partly to engagement of the at least one automated hazard handling routine comprises:

at least one of;

circuitry configured for announcing at least one of an operator or an owner of the UFV using the at least one radio of the UFV responsive at least partly to the engagement of the at least one automated hazard handling routine;

or

circuitry configured for announcing at least one out-of-band avenue-of-contact of at least one of an operator or an owner of the UFV using the at least one radio of the UFV responsive at least partly to the engagement of the at least one automated hazard handling routine.

12. The UFV of claim 2 further comprising:

circuitry configured for transmitting at least one purpose of flying the UFV responsive at least partly to engagement of the at least one automated hazard handling routine.

13. The UFV of claim 2 further comprising:

circuitry configured for broadcasting at least one indication of engagement of the at least one automated hazard handling routine in a manner interpretable by one or more unrelated UFVs.

14. The UFV of claim 2 wherein the circuitry configured for detecting at least one engagement indication to engage at least one automated hazard handling routine associated with at least one mission including the UFV comprises:

circuitry configured for ascertaining that another proximate UFV with which the UFV was previously communicating by wireless communication and to which the UFV was approaching is no longer participating in flight coordination communications.

15. The UFV of claim 2 wherein the circuitry configured for detecting at least one engagement indication to engage at least one automated hazard handling routine associated with at least one mission including the UFV comprises:

at least one of;

circuitry configured for determining that the UFV has entered at least one of a geographical area or an altitude that is known to have a substandard communication environment as indicated on a map in conjunction with the known current location of the UFV;

or

circuitry configured for determining that the UFV is experiencing signal interference resulting from another UFV communicating on the same channel.

16. The UFV of claim 2 wherein the circuitry configured for autonomously negotiating at least one flight path adjustment associated with the UFV and at least one remote UFV includes:

circuitry configured for autonomously negotiating a flight path adjustment with at least one remote UFV wherein the UFV descends and accelerates based at least partly on the UFV transmitting to the at least one remote UFV at least one remote UFV control command including at least one flight trajectory that is desired by the UFV and the UFV receiving from the at least one remote UFV an acknowledgment or a non-conflicting flight trajectory that is intended by the at least one remote UFV.

17. The UFV of claim 2 wherein the circuitry configured for detecting at least one engagement indication to engage at least one automated hazard handling routine associated with at least one mission including the UFV includes:

at least one of

circuitry configured for detecting at least one engagement indication to engage at least one automated hazard handling routine associated with at least one mission including the UFV;

one or more sensors configured for sensing at least one indication of at least one hazard associated with at least one mission including the UFV;

circuitry configured for receiving at least one indication of at least one hazard associated with at least one mission including the UFV from at least one of a base station or at least one remote UFV;

or

circuitry configured for obtaining at least one indication of at least one hazard associated with at least one mission including the UFV, the at least one hazard including at least one of other unoccupied flying vehicles, occupied flying vehicles, ground, buildings, structures on ground, moving objects, weather conditions, or stationary objects.

18. The UFV of claim 2 wherein the circuitry configured for autonomously negotiating at least one flight path adjustment associated with the UFV and at least one remote UFV includes:

circuitry configured for autonomously negotiating a flight path adjustment with at least one remote UFV wherein the UFV transmits to the at least one remote UFV at least one remote UFV control command including one or more flight path adjustment options.

19. The UFV of claim 2 wherein the circuitry configured for autonomously negotiating at least one flight path adjustment associated with the UFV and at least one remote UFV includes:

circuitry configured for autonomously negotiating a flight path adjustment with at least one remote UFV wherein the UFV sends at least one remote UFV control command including at least one prospective local flight path adjustment for the UFV to the at least one remote UFV, and the UFV receives from the at least one remote UFV a prospective remote flight path adjustment for the at least one remote UFV or a revised suggested prospective local fight path adjustment for the UFV that the at least one remote UFV would prefer.

20. The UFV of claim 2 wherein the circuitry configured for autonomously negotiating at least one flight path adjustment associated with the UFV and at least one remote UFV includes:

circuitry configured for autonomously negotiating a flight path adjustment with at least one remote UFV including preparing at least one of an offer and an acceptance, an offer and an acceptance, an acknowledgment, an offer and a rejection, an offer and a counter-offer, a suggestion for an alteration to a planned course, an exchange of signals, or a swapping of offers or intentions associated with adjusting the flight path based at least partially on the autonomously analyzing the one or more flight attributes received from the at least one remote UFV and the indication of at least one hazard associated with at least one mission including the UFV and the at least one remote UFV, transmitting at least one remote UFV control command including the at least one request to the at least one remote UFV, and receiving at least one response to the at least one request from the at least one remote UFV.

21. The UFV of claim 2 wherein the circuitry configured for autonomously analyzing the at least one engagement indication and selecting the at least one automated hazard handling routine associated with the at least one mission including the UFV from the analysis includes:

circuitry configured for autonomously determining one or more flight control decisions.

22. The UFV of claim 2 wherein the circuitry configured for autonomously negotiating at least one flight path adjustment associated with the UFV and at least one remote UFV includes:

circuitry configured for autonomously negotiating a flight path adjustment with at least one remote UFV wherein the UFV receives at least one current GPS coordinate of the at least one remote UFV from the at least one remote UFV after having sent at least one remote UFV control command including at least one request to the at least one remote UFV requesting the at least one current GPS coordinate.

23. The UFV of claim 2 wherein the circuitry configured for autonomously analyzing the at least one engagement indication and selecting the at least one automated hazard handling routine associated with the at least one mission including the UFV from the analysis includes:

circuitry configured for autonomously analyzing at least one indication of at least one hazard including at least one determination of at least one of an avoidance, a management, a mitigation, a coordination, a cooperation, an elimination, or a prediction associated with at least one hazard.

24. The UFV of claim 2 wherein the circuitry configured for autonomously formulating at least one control command associated with the at least one automated hazard handling routine includes:

circuitry configured for autonomously formulating at least one automated hazard handling routine associated with at least one mission including the UFV and at least one remote UFV based at least partly on analysis of one or more flight attributes of at least one of the UFV or the at least one remote UVF indicative of at least one of identification of craft or operator, indication of flight path, description of flight purpose, flight trajectory, description of flying state, a specified flight performance ability, an aircraft type, altitude restrictions, a safe acceleration level, acceleration, stability, payload, or destination of the at least one remote UFV.

25. The UFV of claim 2 wherein the circuitry configured for autonomously formulating at least one control command associated with the at least one automated hazard handling routine includes:

circuitry configured for autonomously formulating at least one automated hazard handling routine associated with at least one mission including the UFV and at least one remote UFV based at least partly on analysis of a rate at which the at least one remote UFV is able to reduce speed.

26. The UFV of claim 2 wherein the circuitry configured for autonomously engaging the at least one automated hazard handling routine in accordance with the autonomously formulated at least one control command includes:

circuitry configured for controlling at least one motility mechanism of the UFV for adjusting at least one flight path of at least the UFV based at least partially on the determined at least one flight path adjustment.

27. An unoccupied vehicle comprising:

at least one electronic device configured for autonomously controlling the unoccupied vehicle, the at least one electronic device including at least;

circuitry configured for detecting at least one engagement indication to engage at least one automated hazard handling routine associated with at least one mission including the unoccupied vehicle;

circuitry configured for autonomously analyzing the at least one engagement indication and selecting the at least one automated hazard handling routine associated with the at least one mission including the unoccupied vehicle from the analysis;

circuitry configured for autonomously negotiating at least one flight path adjustment associated with the unoccupied vehicle and at least one remote unoccupied vehicle including at least transmitting at least one negotiation request requesting at least a maneuverability indication corresponding to at least one maneuverability criterion associated with the at least one remote unoccupied vehicle and receiving from the at least one remote unoccupied vehicle at least the maneuverability indication;

circuitry configured for autonomously formulating at least one control command associated with the at least one automated hazard handling routine including at least analyzing at least the at least one engagement indication and the maneuverability indication in accordance with the at least one automated hazard handling routine, formulating at least one path adjustment and at least one path adjustment offer at least partly via the analysis of the at least one indication, and transmitting the at least one path adjustment offer to the at least one remote unoccupied vehicle; and

circuitry configured for autonomously engaging the at least one automated hazard handling routine in accordance with the autonomously formulated at least one control command responsive to receiving at least one path adjustment acceptance from the at least one remote unoccupied vehicle including at least controlling the unoccupied vehicle to cause the at least one path adjustment.