Unmanned Aerial Vehicle Low-Power Operation

• US 20170075360A1
• Filed: 09/16/2015
• Published: 03/16/2017
• Est. Priority Date: 09/16/2015
• Status: Active Grant

• Current Assignee: Qualcomm, Inc.
• Original Assignee: Qualcomm, Inc.
• Inventors: Von Novak, William Henry
• Granted Patent: US 9,778,660 B2
• Time in Patent Office: Days
• US Class Current: 1/1
• CPC Class Codes: B64U 10/14 with four distinct rotor axes, e.g. quadcopters
• CPC Class Codes: B64U 2201/00 UAVs characterised by their flight controls
• 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 30/20 Rotors; Rotor supports
• CPC Class Codes: B64U 50/34 In-flight charging photovoltaics B64U50/31
• CPC Class Codes: B64U 70/00 Launching, take-off or landing arrangements
• CPC Class Codes: G05D 1/0005 with arrangements to save energy
• 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 1/042 specially adapted for aircraft

Abstract

Methods, devices, and systems of various embodiments are disclosed for operating a UAV having insufficient power to operate normally. Various embodiments include determining whether an emergency-recovery state of a battery of the UAV has been reached while the UAV is flying. An emergency recovery mode may be activated in response to determining that the emergency-recovery state has been reached. The emergency recovery mode may switch the rotors from drawing energy from the battery to generate propulsion to harvesting energy from airflow that is used to recharge a battery of the UAV. A braking mode may be activated in response to determining that a braking altitude has been reached. The braking mode may switch the rotors from energy harvesting to drawing energy from the battery to generate propulsion in order to reduce a descent rate of the UAV.

Claims

1. A method of operating an unmanned aerial vehicle (UAV) using rotors for propulsion, the method comprising:

determining, in a processor while the UAV is flying, whether an emergency-recovery state of a battery of the UAV has been reached;

activating an emergency recovery mode in response to determining that the emergency-recovery state has been reached, wherein the emergency recovery mode switches the rotors from drawing power from the battery for generating propulsion to harvesting energy from airflow that is used to recharge the battery;

determining, in the processor, whether a braking altitude has been reached; and

activating a braking mode in response to determining the braking altitude has been reached, wherein the braking mode switches the rotors from energy harvesting to drawing power from the battery to generate propulsion in order to reduce a descent rate of the UAV.

2. The method of claim 1, wherein the emergency-recovery state is a battery charge state in which the battery has insufficient energy stored therein to enable the UAV to conduct a normal landing from a current altitude.

3. The method of claim 2, wherein the emergency-recovery state is defined by a total amount of stored energy needed to land the UAV minus an amount of energy estimated to be harvested by the rotors during the emergency recovery mode before reaching the braking altitude.

4. The method of claim 1, wherein the emergency-recovery state is a battery charge state in which the battery has insufficient energy stored therein to enable the UAV to maintain level flight.

5. The method of claim 1, wherein the emergency-recovery state is measured from a voltage level of the battery.

6. The method of claim 1, wherein the emergency-recovery state is a predetermined rate of change of a stored energy capacity of the battery.

7. The method of claim 1, further comprising:

determining, in the processor while the UAV is flying, whether a warning state of the UAV has been reached, wherein the warning state is a battery charge state in which the battery has stored a predetermined percentage of a maximum stored energy of the battery and provides an indication that the UAV should initiate a landing;

detecting whether the UAV should use an extended flight protocol in response to determining that the warning state of the UAV has been reached; and

maintaining the rotors in an energy consumption mode for propulsion in response to determining that the UAV should use the extended flight protocol.

8. The method of claim 1, wherein the emergency recovery mode comprises using at least one motor controlling at least one of the rotors to maintain a stable attitude by regulating an amount of energy generated by the at least one motor in order to adjust an amount of drag generated by the rotors.

9. The method of claim 1, further comprising:

receiving, in the processor, a signal commanding the UAV to use an extended flight protocol that includes the emergency recovery mode.

10. The method of claim 1, wherein the braking mode includes regulating an amount of energy generated by the rotors an amount of drag generated by each rotor in order to control UAV attitude.

11. An unmanned aerial vehicle (UAV), comprising:

a rotor;

a motor configured to drive the rotor for propulsion;

a battery configured to supply power to the motor; and

a processor couple to the battery and configured with processor-executable instructions to;

determine whether an emergency-recovery state of the battery has been reached while the UAV is flying;

activate an emergency recovery mode in response to determining that the emergency-recovery state has been reached, wherein the emergency recovery mode switches the rotor from drawing power from the battery for generating propulsion to harvesting energy from airflow that is used to recharge the battery;

determining whether a braking altitude has been reached; and

activating a braking mode in response to determining the braking altitude has been reached, wherein the braking mode switches the rotor from energy harvesting to drawing power from the battery to generate propulsion in order to reduce a descent rate of the UAV.

12. The UAV of claim 11, wherein the processor is configured with the processor-executable instructions such that the emergency-recovery state is a battery charge state in which the battery has insufficient energy stored therein to enable the UAV to conduct a normal landing from a current altitude.

13. The UAV of claim 12, wherein the processor is configured with the processor-executable instructions such that the emergency-recovery state is defined by a total amount of stored energy needed to land the UAV minus an amount of energy estimated to be harvested by the rotor during the emergency recovery mode before reaching the braking altitude.

14. The UAV of claim 11, wherein the processor is configured with the processor-executable instructions such that the emergency-recovery state is a battery charge state in which the battery has insufficient energy stored therein to enable the UAV to maintain level flight.

15. The UAV of claim 11, wherein the processor is configured with the processor-executable instructions such that the emergency-recovery state is measured from a voltage level of the battery.

16. The UAV of claim 11, wherein the processor is configured with the processor-executable instructions such that the emergency-recovery state is a predetermined rate of change of a stored energy capacity of the battery.

17. The UAV of claim 11, wherein the processor is further configured with the processor-executable instructions to:

determine whether a warning state of the UAV has been reached while the UAV is flying, wherein the warning state is a battery charge state in which the battery has stored a predetermined percentage of a maximum stored energy of the battery and provides an indication that the UAV should initiate a landing;

detect whether the UAV should use an extended flight protocol in response to determining that the warning state of the UAV has been reached; and

maintain the rotor in an energy consumption mode for propulsion in response to determining that the UAV should use the extended flight protocol.

18. The UAV of claim 11, wherein the processor is configured with the processor-executable instructions such that the emergency recovery mode comprises using at least one motor controlling at least one of the rotor to maintain a stable attitude by regulating an amount of energy generated by the at least one motor in order to adjust an amount of drag generated by the rotor.

19. The UAV of claim 11, wherein the processor is further configured with the processor-executable instructions to:

receive a signal commanding the UAV to use an extended flight protocol that includes the emergency recovery mode.

20. The UAV of claim 11, wherein the processor is configured with the processor-executable instructions such that the braking mode includes regulating an amount of energy generated by the rotor in order to adjust an amount of drag generated by the rotor in order to control UAV attitude.

21. An unmanned aerial vehicle (UAV), comprising:

a battery;

a rotor configured to be able to draw power from the battery to generate propulsion and to harvest energy from airflow to recharge the battery;

means for determining whether an emergency-recovery state of a battery of the UAV has been reached while the UAV is flying;

means for activating an emergency recovery mode in response to determining that the emergency-recovery state has been reached, wherein the emergency recovery mode switches the rotor from drawing power from the battery for generating propulsion to harvesting energy from airflow that is used to recharge the battery;

means for determining whether a braking altitude has been reached; and

means for activating a braking mode in response to determining the braking altitude has been reached, wherein the braking mode switches the rotor from energy harvesting to drawing power from the battery to generate propulsion in order to reduce a descent rate of the UAV.

22. A non-transitory processor-readable storage medium having stored thereon processor-executable instructions configured to cause a processor of an unmanned autonomous vehicle (UAV) to perform operations comprising:

determining whether an emergency-recovery state of a battery of the UAV has been reached while the UAV is flying;

activating an emergency recovery mode in response to determining that the emergency-recovery state has been reached, wherein the emergency recovery mode switches a rotor of the UAV from drawing power from the battery for generating propulsion to harvesting energy from airflow that is used to recharge the battery;

determining whether a braking altitude has been reached; and

activating a braking mode in response to determining the braking altitude has been reached, wherein the braking mode switches the rotor from energy harvesting to drawing power from the battery to generate propulsion in order to reduce a descent rate of the UAV.

23. The non-transitory processor-readable storage medium of claim 22, wherein the stored processor-executable instructions are configured to cause the processor to perform operations such that the emergency-recovery state is a battery charge state in which the battery has insufficient energy stored therein to enable the UAV to conduct a normal landing from a current altitude.

24. The non-transitory processor-readable storage medium of claim 23, wherein the stored processor-executable instructions are configured to cause the processor to perform operations such that the emergency-recovery state is defined by a total amount of stored energy needed to land the UAV minus an amount of energy estimated to be harvested by the rotor during the emergency recovery mode before reaching the braking altitude.

25. The non-transitory processor-readable storage medium of claim 22, wherein the stored processor-executable instructions are configured to cause the processor to perform operations such that the emergency-recovery state is a battery charge state in which the battery has insufficient energy stored therein to enable the UAV to maintain level flight.

26. The non-transitory processor-readable storage medium of claim 22, wherein the stored processor-executable instructions are configured to cause the processor to perform operations such that the emergency-recovery state is selected from a group consisting of:

a battery charge state in which the battery has insufficient energy stored therein to enable the UAV to maintain level flight;

measured from a voltage level of the battery; and

a predetermined rate of change of a stored energy capacity of the battery.

27. The non-transitory processor-readable storage medium of claim 22, wherein the stored processor-executable instructions are configured to cause the processor to perform operations further comprising:

determining whether a warning state of the UAV has been reached while the UAV is flying, wherein the warning state is a battery charge state in which the battery has stored a predetermined percentage of a maximum stored energy of the battery and provides an indication that the UAV should initiate a landing;

detecting whether the UAV should use an extended flight protocol in response to determining that the warning state of the UAV has been reached; and

maintaining the rotor in an energy consumption mode for propulsion in response to determining that the UAV should use the extended flight protocol.

28. The non-transitory processor-readable storage medium of claim 22, wherein the stored processor-executable instructions are configured to cause the processor to perform operations such that the emergency recovery mode comprises using a motor controlling the rotor to maintain a stable attitude by regulating an amount of energy generated by the motor in order to adjust an amount of drag generated by the rotor.

29. The non-transitory processor-readable storage medium of claim 22, wherein the stored processor-executable instructions are configured to cause the processor to perform operations further comprising:

receiving a signal commanding the UAV to use an extended flight protocol that includes the emergency recovery mode.

30. The non-transitory processor-readable storage medium of claim 22, wherein the stored processor-executable instructions are configured to cause the processor to perform operations such that the braking mode includes regulating an amount of energy generated by the rotor in order to adjust an amount of drag generated by the rotor in order to control UAV attitude.