AUGMENTED COMMUNICATION AND POSITIONING USING UNMANNED AERIAL VEHICLES

• US 20170146990A1
• Filed: 11/19/2015
• Published: 05/25/2017
• Est. Priority Date: 11/19/2015
• Status: Abandoned Application

• Current Assignee: Caterpillar Incorporated
• Original Assignee: Caterpillar Incorporated
• Inventors: WANG, Qi, RYBSKI, Paul Edmund
• Application Number:
  US14/945,659
• Publication Number:
  US 20170146990A1
• Time in Patent Office: Days
• CPC Class Codes: B64U 10/14 with four distinct rotor axes, e.g. quadcopters
• CPC Class Codes: B64U 2101/20 for use as communications relays, e.g. high-altitude platforms
• CPC Class Codes: G01S 19/03 Cooperating elements; Interaction or communication between different cooperating elements or between cooperating elements and receivers
• CPC Class Codes: G01S 19/14 specially adapted for specific applications
• CPC Class Codes: G01S 19/21 Interference related issues ; Issues related to cross-correlation, spoofing or other methods of denial of service
• CPC Class Codes: G01S 19/43 using carrier phase measurements, e.g. kinematic positioning; using long or short baseline interferometry
• CPC Class Codes: G05D 1/0011 associated with a remote control arrangement
• CPC Class Codes: G05D 1/102 specially adapted for vertical take-off of aircraft
• CPC Class Codes: H04B 7/18504 Aircraft used as relay or high altitude atmospheric platform

Abstract

A system for augmenting wireless communication and satellite positioning for machines at a worksite includes one or more unmanned aerial vehicles (UAV) configured to be remotely operated above an area encompassing the worksite. Each of the UAV includes a real time kinematic (RTK) global positioning system (GPS) onboard the UAV for determining the position of the UAV relative to a base station located at a known location, and a machine vision module for detecting an object on the ground at the worksite. The RTK GPS onboard each UAV determines the global coordinates of the detected object in 3D space using the position of the UAV. A flight control module receives information on current position of one or more machines operating at the worksite, and machine wireless communication and satellite positioning requirements in real-time from the one or more machines, and controls flight of at least one UAV to a position where the at least one UAV can augment wireless communication signal and GPS satellite signal connectivity to meet the machine wireless communication and satellite positioning requirements.

Claims

1. A system for augmenting wireless communication and satellite positioning for machines at a worksite, the system comprising:

one or more unmanned aerial vehicles (UAV) configured to be remotely operated above an area encompassing the worksite, wherein each of the UAV includes;

a real time kinematic (RTK) global positioning system (GPS) onboard the UAV configured for determining the position of the UAV relative to a base station located at a known location;

a machine vision module configured for detecting an object on the ground at the worksite; and

the RTK GPS onboard each UAV being configured for determining the global coordinates of the detected object in 3D space using the position of the UAV; and

a flight control module configured to receive information on current position of one or more machines operating at the worksite, and machine wireless communication and satellite positioning requirements in real-time from the one or more machines, and control flight of at least one UAV to a position where the at least one UAV can augment wireless communication signal and GPS satellite signal connectivity to meet the machine wireless communication and satellite positioning requirements.

2. The system of claim 1, wherein at least one of the one or more UAV is further configured to determine and save a wireless communication coverage map identifying wireless communication problem areas at the worksite where a machine is likely to experience at least one of unreliable wireless communication with another machine at a different location of the worksite and unreliable wireless communication with a base station at the worksite.

3. The system of claim 2, wherein the at least one UAV is configured to identify the areas at the worksite where a machine is likely to experience unreliable wireless communication with another machine at a different location of the worksite based on at least one of an evaluation of current terrain or other obstacles positioned in between the two machines and information relating to real-time or historical wireless communication problems between machines located in the areas.

4. The system of claim 2, wherein the at least one UAV is configured to identify the areas at the worksite where a machine is likely to experience unreliable wireless communication with a base station at the worksite based on at least one of an evaluation of current terrain or other obstacles positioned in between the machine and the base station and information relating to real-time or historical wireless communication problems between one or more machines located in the areas and the base station.

5. The system of claim 2, wherein the flight control module is further configured to control flight of the at least one UAV to a position over an area identified as an area with unreliable wireless communication when at least one of:

the machine vision module detects a machine as being one of positioned in the area or moving toward the area; and

the at least one UAV receives information relating to a real-time communication problem being experienced by a machine operating in the area.

6. The system of claim 1, wherein at least one of the one or more UAV is further configured to determine and save a satellite visibility map identifying areas at the worksite where a machine is likely to experience unreliable connectivity with a GPS satellite.

7. The system of claim 6, wherein the at least one UAV is configured to identify the areas at the worksite where a machine is likely to experience unreliable connectivity with a GPS satellite based on at least one of an evaluation of any terrain or other obstacles in the way of a clear line-of-sight between each of the areas and current known positions of GPS satellites at different times of day, and information relating to real-time or historical problems with satellite connectivity for machines located in the areas.

8. The system of claim 6, wherein the flight control module is further configured to control flight of the at least one UAV to a position over an area identified as an area where a machine is likely to experience unreliable connectivity with a GPS satellite when at least one of:

the machine vision module detects a machine as being one of positioned in the area or moving toward the area; and

the at least one UAV receives information relating to a real-time satellite connectivity problem being experienced by a machine operating in the area.

9. The system of claim 1, wherein at least one of the one or more UAV is configured to provide a communication relay between two machines at the worksite and between a machine and a base station at the worksite.

10. A method for augmenting wireless communication and satellite positioning for machines at a worksite, the method comprising:

remotely operating one or more unmanned aerial vehicles (UAV) above an area encompassing the worksite;

determining the position of each of the one or more UAV relative to a base station in a known location using a real-time kinematic (RTK) global positioning system (GPS) located onboard the UAV;

detecting a mobile machine on the ground at the worksite using a machine vision module included onboard at least one of the one or more UAV;

determining the global coordinates of the detected mobile machine in 3D space relative to the position of the at least one UAV;

receiving at one or more of the UAV information on current machine position and machine wireless communication and satellite positioning requirements in real-time from one or more detected machines operating at the worksite; and

controlling flight of at least one UAV to one or more positions where the at least one UAV can augment wireless communication signal and GPS satellite signal connectivity to meet the machine wireless communication and satellite positioning requirements.

11. The method of claim 10, further including:

determining and saving a wireless communication coverage map identifying areas at the worksite where a machine is likely to experience at least one of unreliable wireless communication with another machine at a different location of the worksite and unreliable wireless communication with a base station at the worksite.

12. The method of claim 11, further including:

identifying the areas at the worksite where a machine is likely to experience unreliable wireless communication with another machine at a different location of the worksite based on at least one of an evaluation of current terrain or other obstacles positioned in between the two machines and information relating to real-time or historical wireless communication problems between machines located in the areas.

13. The method of claim 11, further including:

identifying the areas within the worksite where a machine is likely to experience unreliable wireless communication with a base station at the worksite based on at least one of an evaluation of current terrain or other obstacles positioned in between the machine and the base station and information relating to real-time or historical wireless communication problems between one or more machines located in the areas and the base station.

14. The method of claim 11, further including:

controlling flight of the at least one UAV to a position over an area identified as an area with unreliable wireless communication when at least one of;

the machine vision module detects a machine as being one of positioned in the area or moving toward the area; and

the at least one UAV receives information relating to a real-time communication problem being experienced by a machine operating in the area.

15. The method of claim 10, further including:

determining and saving a satellite visibility map identifying areas within the worksite where a machine is likely to experience unreliable connectivity with a GPS satellite.

16. The method of claim 15, further including:

identifying the areas within the worksite where a machine is likely to experience unreliable connectivity with a GPS satellite based on at least one of an evaluation of any terrain or other obstacles in the way of a clear line-of-sight between each of the areas and current known positions of GPS satellites at different times of day, and information relating to real-time or historical problems with satellite connectivity for machines located in the areas.

17. The method of claim 15, further including:

controlling flight of the at least one UAV to a position over an area identified as an area where a machine is likely to experience unreliable connectivity with a GPS satellite when at least one of;

the machine vision module detects a machine as being one of positioned in the area or moving toward the area; and

the at least one UAV receives information relating to a real-time satellite connectivity problem being experienced by a machine operating in the area.

18. A non-transitory computer-readable medium for use in augmenting wireless communication and satellite positioning for machines at a worksite, the computer-readable medium comprising computer-executable instructions that, when executed by one or more computer processors, perform a method comprising:

remotely operating one or more unmanned aerial vehicles (UAV) above an area encompassing the worksite;

determining the position of each of the one or more UAV relative to a base station in a known location using a real-time kinematic (RTK) global positioning system (GPS) onboard the UAV;

detecting a mobile machine on the ground at the worksite using a machine vision module included onboard at least one of the UAV;

determining the global coordinates of the detected mobile machine in 3D space relative to the position of the at least one UAV;

receiving at one or more of the UAV information on current machine position and machine wireless communication and satellite positioning requirements in real-time from one or more detected machines operating at the worksite; and

controlling flight of the at least one UAV to one or more positions where the at least one UAV can augment wireless communication signal and GPS satellite signal connectivity to meet the machine wireless communication and satellite positioning requirements.

19. The non-transitory computer-readable medium of claim 18, wherein the method further includes:

determining and saving a wireless communication coverage map identifying areas at the worksite where a machine is likely to experience at least one of unreliable wireless communication with another machine at a different location of the worksite and unreliable wireless communication with a base station at the worksite.

20. The non-transitory computer-readable medium of claim 19, wherein the method further includes:

identifying areas within the worksite where a machine is likely to experience unreliable connectivity with a GPS satellite based on at least one of an evaluation of any terrain or other obstacles in the way of a clear line-of-sight between each of the areas and current known positions of GPS satellites at different times of day, and information relating to real-time or historical problems with satellite connectivity for machines located in the areas; and

controlling flight of the at least one UAV to a position over an area identified as an area where a machine is likely to experience unreliable connectivity with a GPS satellite when at least one of;

the machine vision module detects a machine as being one of positioned in the area or moving toward the area; and

the at least one UAV receives information relating to a real-time satellite connectivity problem being experienced by a machine operating in the area.