Underwater leading drone system

• US 10,317,904 B2
• Filed: 05/05/2017
• Issued: 06/11/2019
• Est. Priority Date: 05/05/2017
• Status: Active Grant

• Current Assignee: Shandong Dingfeng Aviation Technology Co., Ltd.
• Original Assignee: Pinnacle Vista, LLC
• Inventors: Tu, Haofeng
• Primary Examiner(s): Black, Thomas G
• Assistant Examiner(s): Lewandroski, Sara J
• Application Number:
  US15/588,302
• Publication Number:
  US 20180321680A1
• Time in Patent Office: 767 Days
• CPC Class Codes: B63B 2203/00 Communication means
• CPC Class Codes: B63G 2008/005 remotely controlled
• CPC Class Codes: B63G 8/001 Underwater vessels adapted for special purposes, e.g. unmanned underwater vessels; Equipment specially adapted therefor, e.g. docking stations self-propelled or direction controlled diving chambers with mechanical link to a base B63C11/42
• CPC Class Codes: B64C 39/024 of the remote controlled vehicle type, i.e. RPV
• CPC Class Codes: B64U 2101/00 UAVs specially adapted for particular uses or applications
• CPC Class Codes: B64U 2101/20 for use as communications relays, e.g. high-altitude platforms
• CPC Class Codes: B64U 2101/30 for imaging, photography or videography
• 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 2201/20 Remote controls
• CPC Class Codes: B64U 80/84 Waterborne vehicles
• CPC Class Codes: G05D 1/0011 associated with a remote control arrangement
• 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: G05D 1/0094 involving pointing a payload, e.g. camera, weapon, sensor, towards a fixed or moving target
• CPC Class Codes: G08C 17/02 using a radio link
• CPC Class Codes: H04W 24/02 Arrangements for optimising operational condition
• CPC Class Codes: H04W 64/003 locating network equipment
• CPC Class Codes: H04W 84/005 Moving wireless networks

Abstract

Systems and methods are provided for least one leading drone configured to move to a leading drone future location based on a future location of a base station. A set of base station future locations may form a base station path for the base station to traverse. Also, a set of leading drone future locations may form a leading drone path for the leading drone to traverse. The base station'"'"'s future location may be anticipated from a prediction or a predetermination. The leading drone, navigating along the leading drone path, may collect sensor data and/or perform tasks. The leading drone may interact with sensor drones while traversing the leading drone path. Accordingly, the leading drone may move ahead of the base station in motion, as opposed to following or remaining with the base station.

Claims

1. A system comprising:

a base station in the form of a watercraft having a pre-determined path of travel for the base station to traverse over water towards a target location;

an unmanned aerial drone is configured to receive an information on the pre-determined path of travel for the base station and autonomously calculate an aerial drone path that directly correlates with the pre-determined path of travel for the base station;

said unmanned aerial drone is configured to autonomously travel on said aerial drone path, and wherein the unmanned aerial drone is at a fixed distance from the base station during travel;

said unmanned aerial drone is configured to collect aerial sensor data from the target location; and

a submersed drone to traverse underwater and physically tethered to the aerial drone and is configured to collect underwater sensor data from the target location, the submersed drone is configured to send the underwater sensor data to the aerial drone, the aerial drone is configured to produce target location data from the aerial sensor data and the underwater sensor data.

2. The system of claim 1, wherein a cable connects the submersed drone with the unmanned aerial drone.

3. The system of claim 2, wherein the unmanned aerial drone tows the submersed drone via the cable.

4. The system of claim 1, the submersed drone is configured to move along a submersed drone path based on the aerial drone path.

5. The system of claim 4, wherein the submersed drone is configured to move along the submersed drone path behind the unmanned aerial drone.

6. The system of claim 1, wherein the submersed drone is self-propelled.

7. The system of claim 1, wherein the unmanned aerial drone is configured to send the target location data to the base station.

8. The system of claim 1, wherein the submersed drone is configured to move along a submersed drone path based on a movement of the unmanned aerial drone.

9. The system of claim 1, wherein the submersed drone is configured to move to the target location.

10. The system of claim 1, wherein the unmanned aerial drone is configured to

identify a base station configured to move from a current location;

determine a future location of the base station; and

move to an aerial drone location relative to the future location.

11. The system of claim 10, wherein the aerial drone location is at the future location.

12. The system of claim 10, wherein the unmanned aerial drone is configured to receive a control signal from the base station comprising the future location.

13. The system of claim 10, wherein the unmanned aerial drone is configured to determine the future location based on the current location.