UNMANNED AERIAL VEHICLE AND METHODS FOR CONTROLLING SAME

• US 20170131717A1
• Filed: 12/05/2016
• Published: 05/11/2017
• Est. Priority Date: 03/11/2013
• Status: Active Grant

• Current Assignee: Airphrame, Inc.
• Original Assignee: Airphrame, Inc.
• Inventors: Kugelmass, Bret
• Granted Patent: US 9,851,716 B2
• Time in Patent Office: Days
• CPC Class Codes: B64C 39/024 of the remote controlled vehicle type, i.e. RPV
• CPC Class Codes: B64U 10/25 Fixed-wing aircraft VTOL aircraft B64U10/20
• CPC Class Codes: B64U 10/80 UAVs characterised by their small size, e.g. micro air vehicles [MAV]
• CPC Class Codes: B64U 20/65 Composite materials
• CPC Class Codes: B64U 2101/30 for imaging, photography or videography
• CPC Class Codes: B64U 2101/32 for cartography or topography
• 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 2201/104 using satellite radio beacon positioning systems, e.g. GPS
• CPC Class Codes: B64U 50/13 using external fans or propellers
• CPC Class Codes: B64U 50/19 using electrically powered motors
• 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: G05D 1/042 specially adapted for aircraft
• CPC Class Codes: G05D 1/104 involving a plurality of aircrafts, e.g. formation flying traffic control systems for aircraft G08G5/00
• CPC Class Codes: G06T 1/0014 Image feed-back for automatic industrial control, e.g. robot with camera robots B25J19/023
• CPC Class Codes: G06T 11/206 Drawing of charts or graphs
• CPC Class Codes: G06T 11/60 Editing figures and text; Combining figures or text
• CPC Class Codes: G08G 5/0013 with a ground station
• CPC Class Codes: G08G 5/0039 Modification of a flight plan
• CPC Class Codes: G08G 5/0069 specially adapted for an unmanned aircraft
• CPC Class Codes: H04L 67/12 : specially adapted for proprietary or special-purpose networking environments, e.g. medical networks, sensor networks, networks in vehicles or remote metering networks
• CPC Class Codes: H04N 7/181 : for receiving images from a plurality of remote sources
• CPC Class Codes: H04Q 2209/40 : using a wireless architecture
• CPC Class Codes: H04Q 9/00 : Arrangements in telecontrol or telemetry systems for selectively calling a substation from a main station, in which substation desired apparatus is selected for applying a control signal thereto or for obtaining measured values therefrom
• CPC Class Codes: H04W 28/065 : using assembly or disassembly of packets
• CPC Class Codes: H04W 4/025 : using location based information parameters

Abstract

One variation of a method for imaging an area of interest includes: within a user interface, receiving a selection for a set of interest points on a digital map of a physical area and receiving a selection for a resolution of a geospatial map; identifying a ground area corresponding to the set of interest points for imaging during a mission; generating a flight path over the ground area for execution by an unmanned aerial vehicle during the mission; setting an altitude for the unmanned aerial vehicle along the flight path based on the selection for the resolution of the geospatial map and an optical system arranged within the unmanned aerial vehicle; setting a geospatial accuracy requirement for the mission based on the selection for the mission type; and assembling a set of images captured by the unmanned aerial vehicle during the mission into the geospatial map.

Claims

1. A method comprising:

at a mobile computing device installed in a first unmanned aerial vehicle;

downloading a first flight data from a remote computer system;

uploading the first flight data to an autopilot module arranged in the first unmanned aerial vehicle for execution by the unmanned aerial vehicle during a mission;

during the mission, collecting environmental data proximal to the first flight data at a first time;

during the mission, collecting telemetry data comprising a set of geospatial coordinates of the first unmanned aerial vehicle at the first time;

coupling the environmental data to the telemetry data within a first data packet; and

transmitting the first data packet to the remote computer system.

2. The method of claim 1, wherein downloading the first flight data from the remote computer system comprises downloading the first flight data from the remote computer system via a cellular network implementing a long-term evolution (LTE) wireless network standard.

3. The method of claim 1, wherein downloading the first flight data from the remote computer system comprises downloading the first flight data from the remote computer system via a wireless network implementing one of:

a third generation (3G) wireless network standard, a fourth generation (4G) wireless network standard, a fifth generation (5G) wireless network standard, and a WiMAX wireless network standard.

4. The method of claim 1, wherein collecting environmental data comprises collecting environmental data comprising a data type selected from a group consisting of:

altitude, local barometric pressure, ambient lighting, wind speed, air temperature, atmospheric moisture data, and signal strength of a wireless signal received from a ground-based cellular tower.

5. The method of claim 1, wherein collecting telemetry data comprises collecting telemetry data comprising a data type selected from a group consisting of:

an altitude, a battery state of charge, a motor speed, a velocity, a power draw, and an orientation of the first unmanned aerial vehicle.

6. The method of claim 1, wherein collecting telemetry data comprises collecting identification data and geospatial coordinates of each aerial vehicle in a set of aerial vehicles proximal the first unmanned aerial vehicle.

7. The method of claim 1, further comprising:

at the remote computer system;

receiving the data packet from the first unmanned aerial vehicle;

during the mission, generating a second flight data, for execution by the first unmanned aerial vehicle, based on the environmental data and the telemetry data; and

during the mission, transmitting the second flight data to the first unmanned aerial vehicle; and

at the mobile computing device installed in the first unmanned aerial vehicle;

during the mission, downloading the second flight data from the remote computer system; and

during the mission, uploading data from the second flight data, in replacement of the first flight data, to the autopilot module for execution by the first unmanned aerial vehicle.

8. The method of claim 1, further comprising:

during the mission, recording a signal strength of a wireless network at a location occupied by the first unmanned aerial vehicle at the first time; and

coupling the signal strength to environmental data and telemetry data, recorded by the first unmanned aerial vehicle at substantially the first time, within the first data packet.

9. A method comprising:

at a first mobile computing device installed in a first unmanned aerial vehicle;

downloading a first flight data from a remote computer system;

uploading the first flight data to an autopilot module arranged in the first unmanned aerial vehicle for execution by the unmanned aerial vehicle during a mission;

during the mission, recording a first signal strength of a first wireless signal received from the remote computer system via a wireless network at a first time;

in response to a first threshold value exceeding the first signal strength;

collecting telemetry data comprising a set of geospatial coordinates of the first unmanned aerial vehicle at the first time; and

coupling the first signal strength to the telemetry data within a first data packet; and

transmitting the first data packet to the remote computer system.

10. The method of claim 9, wherein recording the first signal strength comprises recording the first signal strength of a first wireless signal received from the remote computer system via a cellular network implementing a long-term evolution (LTE) wireless network standard.

11. The method of claim 9, wherein transmitting the first data packet to the remote computer system comprises:

during the mission, sampling a second signal strength of a second wireless signal received from the remote computer system at a second time; and

in response to the second signal strength exceeding the first threshold value, transmitting the first data packet to the remote computer.

12. The method of claim 9, further comprising:

in response to a second threshold value exceeding the first signal strength, wherein the second threshold value is less than the first threshold value;

identifying a second unmanned aerial vehicle within communicative range of the first unmanned aerial vehicle and in communication with the remote computer system via the wireless network; and

transmitting the first data packet to the second unmanned aerial vehicle.

13. The method of claim 9, wherein collecting the telemetry data comprises collecting an identification and a position of each aerial vehicle in a set of aerial vehicles proximal the first flight data of the first unmanned aerial vehicle.

14. The method of claim 12, wherein transmitting the first data packet to the second unmanned aerial vehicle comprises broadcasting a repair status and a battery state of charge of the first unmanned aerial vehicle to the second unmanned aerial vehicle.

15. The method of claim 12, wherein transmitting the first data packet to the remote computer system comprises:

at a second mobile computing device installed in the second unmanned aerial vehicle;

receiving the first data packet from the first unmanned aerial vehicle; and

transmitting the first data packet to the remote computer system.

16. The method of claim 12, further comprising, at a second mobile computing device installed in the second unmanned aerial vehicle:

receiving the first data packet from the first unmanned aerial vehicle;

identifying, in the first data packet, receipt by the first unmanned aerial vehicle of the first wireless signal having the first signal strength, wherein the second threshold value exceeds the first signal strength;

confirming a communicative link between the second unmanned aerial vehicle and the remote computer system via the wireless network;

assuming a master setting to control the first unmanned aerial vehicle during execution of the mission; and

transmitting a confirmation, via the wireless network, to the remote computer system indicating assumption of the master setting by the second unmanned aerial vehicle over the first unmanned aerial vehicle.

17. The method of claim 16, further comprising:

at the mobile computing device installed in the second unmanned aerial vehicle;

during execution of the first flight data by the first unmanned aerial vehicle, generating a second flight data for execution by the first unmanned aerial vehicle based on the first data packet; and

during execution of the first flight data by the first unmanned aerial vehicle, transmitting the second flight data to the first unmanned aerial vehicle; and

at the mobile computing device installed in the first unmanned aerial vehicle;

during execution of the first flight data by the first unmanned aerial vehicle, receiving a second flight data from the second unmanned aerial vehicle; and

during execution of the first flight data by the first unmanned aerial vehicle, uploading data from the second flight data, in replacement of the first flight data, to the autopilot module for execution by the first unmanned aerial vehicle.

18. The method of claim 16, further comprising:

at the remote computer system;

receiving the first data packet, via the wireless network, from the second unmanned aerial vehicle;

receiving the confirmation, via the wireless network, from the second unmanned aerial vehicle, indicating assumption of the master setting by the second unmanned aerial vehicle;

during execution of the first flight data by the first unmanned aerial vehicle;

generating a second flight data for execution by the first unmanned aerial vehicle based on the first data packet; and

transmitting the second flight data to the second unmanned aerial vehicle via the wireless network;

at the mobile computing device installed in the second unmanned aerial vehicle;

during execution of the first flight data by the first unmanned aerial vehicle, receiving, via the wireless network, the second flight data; and

during execution of the first flight data by the first unmanned aerial vehicle, transmitting the second flight data to the first unmanned aerial vehicle; and

at the mobile computing device installed in the first unmanned aerial vehicle;

during execution of the first flight data by the first unmanned aerial vehicle, receiving a second flight data from the second unmanned aerial vehicle; and

during execution of the first flight data by the first unmanned aerial vehicle, uploading data from the second flight data, in replacement of the first flight data, to the autopilot module for execution by the first unmanned aerial vehicle.

19. The method of claim 18, wherein generating the second flight data for execution by the first unmanned aerial vehicle comprises selecting a landing path for the second flight data based on the first data packet.

20. The method of claim 18, further comprising:

at the remote computer system;

identifying a third unmanned aerial vehicle executing a third flight data simultaneously with execution of the first flight data by the first unmanned aerial vehicle, the third flight data crossing within a threshold distance of the second flight data;

generating a fourth flight data for execution by the third unmanned aerial vehicle based on the third flight data; and

transmitting the fourth flight data for execution by the third unmanned aerial vehicle, via the wireless network, to the second unmanned aerial vehicle;

at the mobile computing system installed in the second unmanned aerial vehicle;

during execution of the third flight data by the third unmanned aerial vehicle, receiving, via the wireless network, the fourth flight data; and

during execution of the third flight data by the third unmanned aerial vehicle, transmitting the fourth flight data to the third unmanned aerial vehicle; and

at a mobile computing device installed in the third unmanned aerial vehicle;

during execution of the third flight data by the third unmanned aerial vehicle, receiving the fourth flight plan from the second unmanned aerial vehicle; and

during execution of the third flight plan by the third unmanned aerial vehicle, uploading data from the fourth flight plan, in replacement of the third flight plan, to a second autopilot module arranged in the third unmanned aerial vehicle for execution by the third unmanned aerial vehicle.