SYSTEMS AND METHODS FOR DRONE NAVIGATION

• US 20160140851A1
• Filed: 10/14/2015
• Published: 05/19/2016
• Est. Priority Date: 11/18/2014
• Status: Abandoned Application

• Current Assignee: Ran Levy, Ziv Levy
• Original Assignee: Ran Levy
• Inventors: LEVY, Ziv, LEVY, Ran
• Application Number:
  US14/882,575
• Publication Number:
  US 20160140851A1
• Time in Patent Office: Days
• US Class Current: 1/1
• CPC Class Codes: B64U 2201/104 using satellite radio beacon positioning systems, e.g. GPS
• CPC Class Codes: G05D 1/106 Change initiated in response to external conditions, e.g. avoidance of elevated terrain or of no-fly zones
• CPC Class Codes: G08G 5/0013 with a ground station
• CPC Class Codes: G08G 5/0026 located on the ground
• 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 5/0056 in an emergency situation, e.g. hijacking
• 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
• CPC Class Codes: G08G 5/025 Navigation or guidance aids radar or analogous systems specially adapted for landing purposes G01S13/913
• CPC Class Codes: G08G 5/045 Navigation or guidance aids, e.g. determination of anti-collision manoeuvers radar or analogous systems specially adapted for anti-collision between aircraft G01S13/933

Abstract

There is provided a method for navigation of a drone through a geographical air space, comprising: identifying a drone within or in proximity to a geographical air space; receiving flight data representing a certain flight path through the geographical air space; evaluating the flight data based on a flight risk map to determine the flight risk through the geographical air space, wherein the flight risk map includes zones, each zone being associated with a certain flight safety score; and one or more of: approving the certain flight path when the flight risk of the drone is within an acceptable risk threshold, blocking the certain flight path when the flight risk of the drone is outside the acceptable risk threshold, and obtaining external control of navigation of the drone to navigate the drone through at least one zone having the acceptable risk threshold.

Claims

1. A computer implemented method for navigation of a drone through a geographical air space, the method comprising:

identifying a drone within or in proximity to a geographical air space;

receiving from the drone, flight data representing a certain flight path of the drone through the geographical air space;

evaluating the flight data based on a flight risk map to determine the flight risk of the certain flight path of the drone through the geographical air space, wherein the flight risk map of the geographical air space includes a plurality of zones, each zone being associated with a certain flight safety score; and

at least one member of the group consisting of;

approving the certain flight path when the flight risk of the drone is within an acceptable risk threshold,

blocking the certain flight path when the flight risk of the drone is outside the acceptable risk threshold, and

obtaining external control of navigation of the drone to navigate the drone through at least one zone having the acceptable risk threshold.

2. The method of claim 1, further comprising:

acquiring automatic or manual control of the drone by a local drone control server; and

navigating the drone within the geographical air space based on the evaluated flight path.

3. The method of claim 1, further comprising generating a flight plan for the drone within the acceptable risk threshold based on the evaluated flight data, and navigating the drone within the geographical air space based on the generated flight plan.

4. The method of claim 1, further comprising monitoring flight data of the drone during flight within the geographical air space, and iterating the evaluation based on dynamic changes of at least one of the flight data and the flight risk map.

5. The method of claim 1, further comprising restricting navigation of the drone to within certain regions of the geographical air space based on the flight risk map, to maintain the drone within zones of the geographical air space having an acceptable flight risk defined by a risk threshold.

6. The method of claim 1, further comprising:

receiving details of a requested route from at least one of the drone and a ground based drone operator;

calculating at least one flight route through the geographical air space based on the flight risk map, the at least one flight route calculated to have a total low risk of flight based on the flight safety scores of respective zones of the geographical air space;

comparing the total low risk of flight to a predefined total risk threshold to designate a subset of at least one flight route with acceptable total flight risk; and

selecting an optimal route from the subset based on a optimization of total flight risk and total flight length.

7. The method of claim 1, further comprising:

receiving details of a flight plan from at least one of the drone and a ground based drone operator;

calculating a total risk of flight of the flight plan through the geographical air space based on the flight risk map, the total risk of flight calculated based on the flight safety scores of respective zones of the geographical air space within the flight plan;

comparing the total low risk of the flight plan to a predefined total risk threshold to approve or deny the flight plan; and

providing an alternative calculated flight route having a total risk below the threshold, when the flight plan is denied.

8. A system for navigation of a drone through a geographical air space, the system comprising:

a drone communication interface configured to transmit data to at least one drone and receive data transmitted by the at least one drone;

a central drone control server in communication with the drone interface, the server configured to;

identify a drone within or in proximity to a geographical air space;

receive from the drone, flight data representing a certain flight path of the drone through the geographical air space;

evaluate the flight data based on a flight risk map to determine the flight risk of the certain flight path of the drone through the geographical air space, wherein the flight risk map of the geographical air space includes a plurality of zones, each zone being associated with a certain flight safety score; and

performing at least one member of the group consisting of;

send a message to the drone indicating approval of the certain flight path when the flight risk of the drone is within an acceptable risk threshold,

send the message to the drone indicating blockage of the certain flight path when the flight risk of the drone is outside the acceptable risk threshold, and

obtain external control of navigation of the drone to navigate the drone through at least one zone having the acceptable risk threshold.

9. The system of claim 8, further comprising:

a server interface configured for installation on the at least one drone and to transmit data to the server and receive data transmitted by the server;

a drone module configured for installation on the at least one drone, the drone module in communication with the server interface, the drone module configured to generate flight data of the drone through the geographical air space.

10. The system of claim 9, wherein the drone module is configured to relinquish navigation of the drone to the central server.

11. The system of claim 10, wherein the central server controls the navigation of the drone by transmitting and receiving within a predefined frequency band.

12. The system of claim 8, wherein the central drone control server further comprises a registration module configured to receive registration data of a new drone and store the registration data, the registration data including at least one of:

a unique identifier and drone performance data.

13. The system of claim 8, further comprising a flight monitoring module in communication with the control server, the flight monitoring module configured to:

calculate a flight vector path of the drone based on the flight data;

estimate the flight of the drone based on the flight vector to determine when the drone is estimated to fly into a certain zone having an unacceptable risk level above a threshold; and

send a command to the drone to at least one of;

hover in place, perform an emergency landing, and to change direction to remain within at least one zone having an acceptable risk level below the threshold.

14. The system of claim 8, further comprising a communication loss module for installation on the drone, the communication loss module configured to:

receive a communication-loss flight plan to execute when communication has been lost;

monitor for messages transmitted by the control server; and

execute the communication-loss flight plan when messages transmitted by the control server have not been received after a predefined period of time.

15. The system of claim 8, further comprising a collision prevention module in communication with the control server, the collision prevention module configured to:

receive a plurality of flight plans of a plurality of drones;

identify a risk of collision between at least two of the plurality of drones; and

generate a message indicating the risk of collision and trigger adjustment of at least one of the flight plans of the at least two of the plurality of drones to reduce or prevent the risk of collision.

16. The system of claim 15, wherein the collision prevent module is further configured to calculate an estimated drone location when communication with one or more drones has been lost, the estimated drone location including a margin of safety around the predicted location.

17. The system of claim 8, further comprising a damage reduction module in communication with the control server, the data reduction module configured to:

identify a scenario of unavoidable drone loss;

plan a reduced damage route to land the drone while minimizing damage based on navigating the drone through low risk zones; and

navigate the drone through the reduced damage route until the drone lands.

18. A computer implemented method for generating a flight risk map of a geographical air space for navigation of a drone through the geographical air space, the method comprising:

generating a model dividing a geographical air space into a plurality of zones;

assigning a certain flight safety score to each respective zone of the plurality of zones in the model, the certain flight safety score designated from a plurality of flight safety scores based on at least one object within the respective zone and a set of rules mapping the at least one object to the certain flight safety score;

monitoring for dynamic changes to at least one of the set of rules and the at least one object;

updating at least one of the set of rules and the at least one object;

repeating the generating and the assigning; and

outputting a dynamically updated flight map based on the model.

19. The method of claim 18, wherein the set of rules includes:

designating respective zones containing at least one object impermeable to flight as an impossible flight score.

20. The method of claim 19, wherein the set of rules includes:

designating respective zones containing prohibited drone flight regions as the impossible flight score.

21. The method of claim 18, wherein the set of rules includes:

designating respective zones containing at least one dynamic object based on respective risk of flying introduced by the at least one dynamic object.

22. The method of claim 21, wherein the at least one dynamic object is selected from the group consisting of:

weather conditions, air traffic, changes in flight policy, event in a park, a construction zone, and a hot air balloon flying zone.

23. The method of claim 18, wherein the set of rules includes:

designating respective zones containing at least one static object based on respective risk of flying into the at least one static object.

24. The method of claim 23, wherein the at least one static object includes at least one member selected from the group consisting of:

high rise buildings, flammable commercial warehouse, and power lines.

25. The method of claim 18, further comprising designating at least one as a camera prohibited zone based on the set of rules defining the at least one object as a photography prohibited object.

26. The method of claim 18, wherein the dynamically changed is based on time of day.