SUPERVISORY SAFETY SYSTEM FOR CONTROLLING AND LIMITING UNMANNED AERIAL SYSTEM (UAS) OPERATIONS

• US 20160189548A1
• Filed: 12/18/2015
• Published: 06/30/2016
• Est. Priority Date: 12/19/2014
• Status: Active Grant

• Current Assignee: Aerovironment
• Original Assignee: Aerovironment
• Inventors: Thurling, Andrew Joseph, Mohos, Joseph Frank
• Granted Patent: US 10,621,876 B2
• Time in Patent Office: Days
• US Class Current: 1/1
• CPC Class Codes: G08G 5/0013 with a ground station
• CPC Class Codes: G08G 5/0021 located in the aircraft
• 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

Systems, devices, and methods for determining, by a processor, an unmanned aerial system (UAS) position relative to at least one flight boundary; and effecting, by the processor, at least one flight limitation of a UAS if the determined UAS position crosses the at least one flight boundary.

Claims

1. A method comprising:

determining, by a processor, an unmanned aerial system (UAS) position relative to at least one flight boundary; and

effecting, by the processor, at least one flight limitation of a UAS if the determined UAS position crosses the at least one flight boundary.

2. The method claim 1 wherein the at least one flight boundary comprises a prohibited flight area.

3. The method of claim 2 wherein the at least one flight limitation has a reliability of at least 1*10⁻

7 of preventing the UAS from crossing the prohibited flight area.

4. The method of claim 2 wherein the received at least one flight boundary further comprises a user defined flight boundary, wherein the user defined flight boundary is smaller than the prohibited flight area.

5. The method of claim 2 wherein the at least one flight boundary further comprises at least one boundary based on an input from a sense and avoid system of the UAS.

6. The method of claim 5 wherein the sense and avoid system comprises at least one of:

a radar, a sonar, an optical sensor, and a LIDAR.

7. The method of claim 1 wherein the at least one flight boundary is updated by a user from a third-party database prior to a flight.

8. The method of claim 1 wherein the at least one flight boundary is updated during flight by at least one of:

a sense and avoid system and a third-party database.

9. The method of claim 1 wherein the UAS position is determined via a global positioning system (GPS), an inertial measurement unit (IMU), and an altimeter.

10. The method of claim 1 further comprising:

effecting, by the processor, at least one flight limitation of the UAS if the UAS encounters an error and the UAS is in a trajectory that will cross at least one flight boundary within a set time.

11. The method of claim 10 wherein the error is at least one of:

a battery failure, a propulsion device failure, a sense and avoid system failure, a global positioning system (GPS) failure, and a connection failure between the UAS and an operator.

12. The method of claim 1 wherein a first flight limitation of the at least one flight limitation comprises:

sending, by the processor, a warning to a user when a first boundary of the at least one flight boundary is crossed by the UAS.

13. The method of claim 12 wherein a second flight limitation of the at least one flight limitation comprises grounding the UAS.

14. The method of claim 1 wherein the at least one flight limitation of the UAS comprises at least one of:

deploying a parachute;

cutting a power source to one or more propulsion devices of the UAS;

separating one or more components of the UAS;

an explosive charge; and

reversing a throttle to one or more propulsion devices of the UAS.

15. The method of claim 1 wherein the at least one flight limitation of the UAS comprises at least one of:

actuating an actuator to a maximum deflection; and

actuating an actuator to effect a turn of the UAS away from the received one or more flight boundaries.

16. A system comprising:

a flight limiting controller (FLC) comprising;

a processor having addressable memory, the processor configured to;

determine an unmanned aerial system (UAS) position relative to at least one flight boundary; and

effect at least one flight limitation of a UAS if the determined UAS position crosses the at least one flight boundary.

17. The system of claim 16 wherein the UAS further comprises:

a UAS controller;

a UAS navigation device, the UAS navigation device in communication with the UAS controller;

a UAS radio, the UAS radio in communication with the UAS controller; and

at least one propulsion device, the at least one propulsion device in communication with the UAS controller; and

a UAS power source, the UAS power source providing power to at least one of;

the UAS controller, the UAS navigation device, the UAS radio, and the at least one propulsion device;

wherein the FLC is in communication with the UAS controller to effect the at least one flight limitation.

18. The system of claim 17 wherein the UAS navigation device further comprises a global positioning system (GPS), an inertial measurement unit (IMU), and an altimeter.

19. The system of claim 17 wherein the UAS radio comprises a transceiver.

20. The system of claim 17 wherein the UAS further comprises:

at least one control surface; and

at least one actuator attached to the at least one control surface;

wherein at least one flight limitation of the UAS is an actuation of the at least one actuator to a maximum deflection.

21. The system of claim 17 wherein the processor of the flight limiting controller is configured to receive an input from at least one of:

the UAS power source, the UAS controller, the UAS navigation device, the UAS radio, and the at least one propulsion device.

22. The system of claim 17 further comprising:

a UAS operator controller comprising;

a UAS operator controller processor having addressable memory, the UAS controller processor configured to;

receive a status of the UAS, wherein the status includes data on at least one of;

the UAS power source, the UAS controller, the UAS navigation device, the UAS radio, and the at least one propulsion device; and

receive a warning if the determined UAS position crosses the at least one flight boundary.

23. The system of claim 16 wherein the FLC further comprises:

a FLC controller;

a FLC navigation device, the FLC navigation device in communication with the FLC controller;

a FLC radio, the FLC radio in communication with the FLC controller; and

a FLC power source, the FLC power source providing power to at least one of;

the FLC controller, the FLC navigation device, and the FLC radio.

24. The system of claim 23 wherein the FLC further comprises a FLC memory store, wherein the FLC memory store records a flight data of a UAS, wherein the flight data comprises an input from at least one of:

the FLC power source;

the FLC controller;

the FLC navigation device; and

the FLC radio.

25. The system of claim 16 wherein the at least one flight limitation of the UAS comprises at least one of:

deploy a parachute;

cut a power source to one or more propulsion devices of the UAS;

separate one or more components of the UAS;

an explosive charge; and

reverse power to one or more propulsion devices of the UAS.

27. The system of claim 16 wherein the at least one flight limitation of the UAS comprises at least one of:

actuate an actuator to a maximum deflection; and

actuate an actuator to effect a turn of the UAS away from the received one or more flight boundaries.