Near-flight Testing Maneuvers for Autonomous Aircraft

• US 20160246304A1
• Filed: 03/10/2015
• Published: 08/25/2016
• Est. Priority Date: 02/24/2015
• Status: Active Grant

• Current Assignee: Qualcomm, Inc.
• Original Assignee: Qualcomm, Inc.
• Inventors: Canoy, Michael-David Nakayoshi, Chau, Kiet Tuan, Sprigg, Stephen Alton
• Granted Patent: US 9,501,061 B2
• Time in Patent Office: Days
• US Class Current: 1/1
• 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 2101/60 for transporting passengers; for transporting goods other than weapons
• CPC Class Codes: B64U 2201/104 using satellite radio beacon positioning systems, e.g. GPS
• CPC Class Codes: B64U 50/19 using electrically powered motors
• CPC Class Codes: G01M 17/00 Testing of vehicles testing fluid tightness G01M3/00; testing elastic properties of bodies or chassis, e.g. torsion-testing, G01M5/00; testing alignment of vehicle headlight devices G01M11/06; testing of engines G01M15/00
• CPC Class Codes: G05D 1/0011 associated with a remote control arrangement
• CPC Class Codes: G05D 1/0816 to ensure stability
• CPC Class Codes: G05D 1/0858 specially adapted for vertical take-off of aircraft

Abstract

Methods, devices, systems, and non-transitory process-readable media for evaluating operating conditions of an autonomous aircraft before performing a mission by executing brief near-flight testing maneuvers at a low elevation. A processor of the autonomous aircraft may receive near-flight testing maneuver instructions that indicate a near-flight testing maneuver to be executed by the autonomous aircraft. The processor may control motors to cause the aircraft to execute a near-flight testing maneuver within a testing area, obtain data indicating stability and performance information while executing the near-flight testing maneuvers, and take an action in response to the obtained data. Actions may include adjusting a position of a payload, a weight or a portion of the aircraft based, and adjusting a flight plan. The near-flight testing maneuvers may include a sequence of moves for testing stability of the aircraft and payload executing a flight path under anticipated flying conditions.

Claims

1. A method for operating an autonomous aircraft, comprising:

controlling, via a processor of the autonomous aircraft, motors of the autonomous aircraft to cause the autonomous aircraft to execute an airborne near-flight testing maneuver within a testing area;

obtaining, via the processor, data indicating performance information while executing the near-flight testing maneuver; and

taking, via the processor, an action responsive to the obtained data.

2. The method of claim 1, further comprising obtaining, via the processor, near-flight testing maneuver instructions that indicate the near-flight testing maneuver to be executed by the autonomous aircraft.

3. The method of claim 2, wherein obtaining, via the processor, the near-flight testing maneuver instructions comprises downloading, via the processor, the near-flight testing maneuver instructions from a remote server.

4. The method of claim 2, wherein obtaining, via the processor, the near-flight testing maneuver instructions comprises receiving, via the processor, the near-flight testing maneuver instructions based on a user input from a human operator.

5. The method of claim 1, wherein the near-flight testing maneuver is a sequence of airborne maneuvers comprising one or more of a tilt, a turn, a jerk, a change in altitude, a rotation, a shake, or a test path.

6. The method of claim 1, wherein obtaining, via the processor, data indicating the performance information while executing the near-flight testing maneuver comprises receiving and processing, via the processor, sensor data from on-board sensors of the autonomous aircraft.

7. The method of claim 6, wherein the on-board sensors include one or more of a gyroscope, an accelerometer, a camera, and an altimeter.

8. The method of claim 1, wherein:

the autonomous aircraft is configured to carry a payload; and

taking the action responsive to the obtained data comprises controlling, via the processor, a payload mechanism to adjust a position of the payload based on the obtained data.

9. The method of claim 8, wherein controlling, via the processor, the payload mechanism to adjust the position of the payload based on the obtained data comprises sending, via the processor, a signal to a component of the autonomous aircraft to move ballast, a weight, or the payload.

10. The method of claim 1, wherein taking the action responsive to the obtained data comprises re-configuring, via the processor, a flight parameter of the autonomous aircraft based on the obtained data.

11. The method of claim 10, wherein the flight parameter is one or more of a speed, an altitude, and a power usage.

12. The method of claim 1, wherein taking the action responsive to the obtained data comprises transmitting, via the processor, a message reporting the obtained data to a remote computing device.

13. The method of claim 12, wherein the message to the remote computing device requests permission for the autonomous aircraft to conduct a flight plan.

14. The method of claim 1, further comprising:

obtaining, via the processor, data indicating a flight plan and flight conditions associated with the flight plan; and

determining, via the processor, whether the autonomous aircraft is airworthy or stable enough for the flight plan and the flight conditions based on the obtained data.

15. The method of claim 14, wherein the autonomous aircraft is configured to carry a payload, and

wherein taking the action responsive to the obtained data comprises:

re-configuring, via the processor, a flight parameter of the autonomous aircraft in response to determining that the autonomous aircraft is not airworthy or stable enough for the flight plan and the flight conditions; and

controlling, via the processor, a payload mechanism to adjust a position of the payload in response to determining that the autonomous aircraft with the payload is not airworthy or stable enough for the flight plan and the flight conditions.

16. The method of claim 14, wherein taking the action responsive to the obtained data comprises:

controlling, via the processor, the motors of the autonomous aircraft to cause the autonomous aircraft to execute a landing in response to determining that the autonomous aircraft is not airworthy or stable enough for the flight plan and the flight conditions based on the obtained data; and

controlling, via the processor, the motors of the autonomous aircraft to cause the autonomous aircraft to execute the flight plan in response to determining that the autonomous aircraft is airworthy and stable enough for the flight plan and the flight conditions based on the obtained data.

17. The method of claim 14, wherein the flight plan includes information about characteristics of a payload, wherein the characteristics include one or more of a payload type, dimensions, a weight, and a priority.

18. The method of claim 14, wherein the flight conditions include real-time data or historic data of one or more of weather, traffic, and geography.

19. The method of claim 14, further comprising adjusting, via the processor, the near-flight testing maneuver based on the obtained data indicating the flight plan and the flight conditions.

20. The method of claim 19, wherein adjusting, via the processor, the near-flight testing maneuver based on the obtained data indicating the flight plan and the flight conditions comprises adding an airborne maneuver to, removing the airborne maneuver from, or modifying the airborne maneuver within a sequence of airborne maneuvers.

21. The method of claim 14, wherein taking the action responsive to the obtained data comprises:

re-configuring, via the processor, the flight plan in response to determining that the autonomous aircraft is not airworthy or stable enough for the flight plan and the flight conditions, wherein re-configuring the flight plan comprises adding, removing, or modifying a waypoint in the flight plan.

22. The method of claim 1, wherein controlling, via the processor, the motors of the autonomous aircraft to cause the autonomous aircraft to execute the airborne near-flight testing maneuver within the testing area comprises controlling, via the processor, the motors of the autonomous aircraft to cause the autonomous aircraft to execute the airborne near-flight testing maneuver within the testing area at an elevation that will avoid damage to a human or equipment if the autonomous aircraft becomes unstable.

23. An autonomous aircraft, comprising:

a processor configured with processor-executable instructions to;

control motors of the autonomous aircraft to cause the autonomous aircraft to execute an airborne near-flight testing maneuver within a testing area;

obtain data indicating performance information while executing the near-flight testing maneuver; and

take an action responsive to the obtained data.

24. The autonomous aircraft of claim 23, wherein the processor is further configured with processor-executable instructions to obtain near-flight testing maneuver instructions that indicate the near-flight testing maneuver to be executed by the autonomous aircraft.

25. The autonomous aircraft of claim 24, wherein the processor is further configured with processor-executable instructions to obtain the near-flight testing maneuver instructions by downloading the near-flight testing maneuver instructions from a remote server.

26. The autonomous aircraft of claim 24, wherein the processor is further configured with processor-executable instructions to obtain the near-flight testing maneuver instructions comprises by receiving the near-flight testing maneuver instructions based on a user input from a human operator.

27. The autonomous aircraft of claim 23, wherein the near-flight testing maneuver is a sequence of airborne maneuvers comprising one or more of a tilt, a turn, a jerk, a change in altitude, a rotation, a shake, or a test path.

28. The autonomous aircraft of claim 23, wherein the processor is further configured with processor-executable instructions to obtain data indicating the performance information while executing the near-flight testing maneuver by receiving and processing sensor data from on-board sensors of the autonomous aircraft.

29. The autonomous aircraft of claim 28, wherein the on-board sensors include one or more of a gyroscope, an accelerometer, a camera, and an altimeter.

30. The autonomous aircraft of claim 23, wherein the autonomous aircraft is configured to carry a payload, and

wherein the processor is further configured with processor-executable instructions to take an action responsive to the obtained data to adjust a position of the payload based on the obtained data by controlling a payload mechanism.

31. The autonomous aircraft of claim 30, wherein the processor is further configured with processor-executable instructions to adjust the position of the payload by sending a signal to a component of the autonomous aircraft to move ballast, a weight, or the payload.

32. The autonomous aircraft of claim 23, wherein the processor is further configured with processor-executable instructions to perform operations such that taking the action responsive to the obtained data comprises re-configuring a flight parameter of the autonomous aircraft based on the obtained data.

33. The autonomous aircraft of claim 32, wherein the flight parameter is one or more of a speed, an altitude, and a power usage.

34. The autonomous aircraft of claim 23, wherein the processor is further configured with processor-executable instructions to perform operations such that taking the action responsive to the obtained data comprises transmitting a message reporting the obtained data to a remote computing device.

35. The autonomous aircraft of claim 34, wherein the message to the remote computing device requests permission for the autonomous aircraft to conduct a flight plan.

36. The autonomous aircraft of claim 23, wherein the processor is further configured with processor-executable instructions to perform operations further comprising:

obtaining data indicating a flight plan and flight conditions associated with the flight plan; and

determining whether the autonomous aircraft is airworthy or stable enough for the flight plan and the flight conditions based on the obtained data.

37. The autonomous aircraft of claim 36, wherein the autonomous aircraft is configured to carry a payload, and

wherein the processor is further configured with processor-executable instructions to perform operations such that taking the action responsive to the obtained data comprises:

re-configuring a flight parameter of the autonomous aircraft in response to determining that the autonomous aircraft is not airworthy or stable enough for the flight plan and the flight conditions; and

controlling a payload mechanism to adjust a position of the payload in response to determining that the autonomous aircraft with the payload is not airworthy or stable enough for the flight plan and the flight conditions.

38. The autonomous aircraft of claim 36, wherein the processor is further configured with processor-executable instructions to perform operations such that taking the action responsive to the obtained data comprises:

controlling the motors of the autonomous aircraft to cause the autonomous aircraft to execute a landing in response to determining that the autonomous aircraft is not airworthy or stable enough for the flight plan and the flight conditions based on the obtained data; and

controlling the motors of the autonomous aircraft to cause the autonomous aircraft to execute the flight plan in response to determining that the autonomous aircraft is airworthy and stable enough for the flight plan and the flight conditions based on the obtained data.

39. The autonomous aircraft of claim 36, wherein the flight plan includes information about characteristics of a payload, wherein the characteristics include one or more of a payload type, dimensions, a weight, and a priority.

40. The autonomous aircraft of claim 36, wherein the flight conditions include real-time data or historic data of one or more of weather, traffic, and geography.

41. The autonomous aircraft of claim 36, wherein the processor is further configured with processor-executable instructions to perform operations further comprising adjusting the near-flight testing maneuver based on the obtained data indicating the flight plan and the flight conditions.

42. The autonomous aircraft of claim 41, wherein the processor is further configured with processor-executable instructions to perform operations such that adjusting the near-flight testing maneuver based on the obtained data indicating the flight plan and the flight conditions comprises adding an airborne maneuver to, removing the airborne maneuver from, or modifying the airborne maneuver within a sequence of airborne maneuvers.

43. The autonomous aircraft of claim 36, wherein the processor is further configured with processor-executable instructions to perform operations such that taking the action responsive to the obtained data comprises:

re-configuring the flight plan in response to determining that the autonomous aircraft is not airworthy or stable enough for the flight plan and the flight conditions, wherein re-configuring comprises adding, removing, or modifying a waypoint in the flight plan.

44. The autonomous aircraft of claim 23, wherein the processor is further configured with processor-executable instructions to perform operations such that controlling the motors of the autonomous aircraft to cause the autonomous aircraft to execute the airborne near-flight testing maneuver within the testing area comprises controlling the motors of the autonomous aircraft to cause the autonomous aircraft to execute the airborne near-flight testing maneuver within the testing area at an elevation that will avoid damage to a human or equipment if the autonomous aircraft becomes unstable.

45. An autonomous aircraft, comprising:

means for controlling motors of the autonomous aircraft to cause the autonomous aircraft to execute an airborne near-flight testing maneuver within a testing area;

means for obtaining data indicating performance information while executing the near-flight testing maneuver; and

means for taking an action responsive to the obtained data.

46. A non-transitory processor-readable storage medium having stored thereon processor-executable instructions configured to cause a processor of an autonomous aircraft to perform operations comprising:

controlling motors of the autonomous aircraft to cause the autonomous aircraft to execute an airborne near-flight testing maneuver within a testing area;

obtaining data indicating performance information while executing the near-flight testing maneuver; and

taking an action responsive to the obtained data.