INDOOR MAPPING AND MODULAR CONTROL FOR UAVS AND OTHER AUTONOMOUS VEHICLES, AND ASSOCIATED SYSTEMS AND METHODS

• US 20180217614A1
• Filed: 01/19/2018
• Published: 08/02/2018
• Est. Priority Date: 01/19/2017
• Status: Active Grant

• Current Assignee: Vtrus, Inc.
• Original Assignee: Vtrus, Inc.
• Inventors: Salas-Moreno, Renato Fernando, Sanchez, Carlos Rafael, Lenoff, Jonathan David
• Granted Patent: US 10,649,469 B2
• Time in Patent Office: Days
• CPC Class Codes: B64C 39/024 of the remote controlled vehicle type, i.e. RPV
• CPC Class Codes: B64D 47/08 Arrangements of cameras
• 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 20/40 Modular UAVs
• CPC Class Codes: B64U 2101/30 for imaging, photography or videography
• 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 30/26 Ducted or shrouded rotors
• CPC Class Codes: B64U 50/19 using electrically powered motors
• CPC Class Codes: B64U 60/40 foldable or retractable
• CPC Class Codes: G01C 21/206 specially adapted for indoor navigation
• CPC Class Codes: G01C 21/383 Indoor data
• CPC Class Codes: G01C 21/3848 Data obtained from both position sensors and additional sensors
• 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 1/102 specially adapted for vertical take-off of aircraft

Abstract

Indoor mapping and modular control for UAVs and other autonomous vehicles, and associated systems and methods. A representative unmanned aerial vehicle system includes a body, a propulsion system carried by the body, a sensor system carried by the body, and a controller carried at least in part by the body and operatively coupled to the propulsion system and the sensor system. The controller is programmed with instructions that, when executed, operate in a first autonomous mode and a second autonomous mode. In the first autonomous mode, the instructions autonomously direct the propulsion system to convey the body along a first route within an indoor environment. While the body travels along the first route, the instructions receive inputs from the sensor system corresponding to features of the indoor environment. The features are stored as part of a 3-D map. In the second autonomous mode, the instructions direct the propulsion system to convey the body along a second route within the indoor environment, based at least in part on the 3-D map, and direct performance of an operation on the second route.

Claims

1. A unmanned aerial vehicle system, comprising:

a body;

a propulsion system carried by the body;

a sensor system carried by the body; and

a controller carried at least in part by the body, and operatively coupled to the propulsion system and the sensor system, the controller being programmed with instructions that, when executed;

operate in a first autonomous mode, during which the instructions;

autonomously direct the propulsion system to convey the body along a first route within an indoor environment;

while the body travels along the first route, receive inputs from the sensor system corresponding to features of the indoor environment; and

store the features of the indoor environment as part of a 3-D map; and

operate in a second autonomous mode during which the instructions;

direct the propulsion system to convey the body along a second route within the indoor environment, based at least in part on the 3-D map; and

direct performance of an operation on the second route.

2. The unmanned aerial vehicle system of claim 1 wherein the sensor system and the controller are contained in a modular unit that is removable, as a unit, from the body.

3. The unmanned aerial vehicle system of claim 1 wherein the propulsion system includes a plurality of propellers.

4. The unmanned aerial vehicle system of claim 1 wherein the sensor system includes at least one of a color camera, a depth sensor, an inertial measurement unit, or a GPS unit.

5. The unmanned aerial vehicle system of claim 1, further comprising a touchscreen display carried by the body.

6. The unmanned aerial vehicle system of claim 1, further comprising a display screen carried by the body, and wherein the instructions, when executed, present an image at the display screen indicative of an upcoming travel direction of the body.

7. The unmanned aerial vehicle system of claim 6 wherein the indication includes a depiction of an eye.

8. The unmanned aerial vehicle system of claim 1, further comprising a microphone carried by the body.

9. The unmanned aerial vehicle system of claim 1 wherein the sensor system includes a microphone.

11. The unmanned aerial vehicle system of claim 1 wherein the controller is a first controller and wherein the system further includes a second controller configured to operably couple to the propulsion system and the sensor system via a wireless communication link.

12. The unmanned aerial vehicle system of claim 1 wherein the controller is configured to autonomously override a user input.

13. The unmanned aerial vehicle system of claim 1 wherein the instructions, in the first autonomous mode:

denoise received inputs at multiple keyframes prior to updating the 3-D map with the data.

10. The unmanned vehicle system of claim wherein the sensor system includes a camera, and wherein the operation includes activating the camera.

14. A unmanned aerial vehicle system, comprising:

a body;

a propulsion system carried by the body, the propulsion system including a plurality of propellers;

a sensor system carried by the body; and

a controller carried at least in part by the body, and operatively coupled to the propulsion system and the sensor system, the controller being programmed with instructions that, when executed;

operate in a first autonomous mode, during which the instructions;

receive a destination within an indoor environment;

determine whether the destination is reachable;

if the destination is reachable;

autonomously direct the propulsion system to convey the body to the destination;

while enroute to the destination, receive inputs from the sensor system to identify an obstacle;

if an obstacle is detected, direct the propulsion system to convey the body so as to avoid the obstacle;

while enroute to the destination, receive inputs from the sensor corresponding to features of the indoor location; and

store the features of the indoor location as part of a 3-D map; and

operate in a second autonomous mode during which the instructions;

receive a series of waypoints;

serially and autonomously direct the propulsion system to convey the body to the waypoints; and

at individual waypoints, direct the sensor system to carry out an operation.

15. The system of claim 14 wherein the instruction direct a camera of the sensor system to capture a visual image.

16. A method for operating unmanned aerial vehicle (UAV), comprising:

in a first autonomous mode;

autonomously directing a propulsion system of the UAV to convey the UAV along a first route within an indoor environment;

while the UAV travels along the first route, receiving inputs from a sensor system of the UAV corresponding to features of the indoor environment; and

storing the features of the indoor location as part of a 3-D map;

in a second autonomous mode;

autonomously directing the propulsion system to convey the UAV along a second route within the indoor environment, based at least in part on the 3-D map; and

directing the UAV to perform an operation along the second route.

17. The method of claim 16 wherein autonomously directing the propulsion system includes directing the propulsion system in a manner to avoid obstacles.

18. The method of claim 16 wherein the indoor environment is a first environment, and wherein the method further comprises:

receiving instructions from an operator in a second environment different than the first, to operate the UAV in the first environment; and

directing motion of the UAV in the first environment, in accordance with the instructions and the 3-D map.

19. The method of claim 18 wherein the first indoor environment is in a first building and the second indoor environment is in a second building different than the first.

20. The method of claim 18 wherein the operator uses the UAV to provide two-way communication between the operator and a person in the first indoor environment.

21. The method of claim 18 wherein the operator is a second operator, and wherein the method further comprises receiving instructions from a first operator in the first indoor environment to operate in the UAV in the first indoor environment.

22. The method of claim 16 wherein the UAV is a first UAV, and wherein the method further comprises making the 3-D map accessible to a second UAV.

23. An unmanned vehicle system, comprising:

a modular control unit removably and mechanically connectable to and carryable by, multiple types of unmanned vehicles, wherein the multiple types of unmanned vehicles include at least two from the group comprising unmanned aerial vehicles, unmanned land vehicles, and unmanned water vehicles, the control unit including;

a housing;

at least one sensor carried by the housing;

a controller carried by the housing and coupled to the at least one visual sensor; and

a communication link coupled to the processor and releasably coupleable to the multiple types of unmanned vehicles;

wherein the controller is programmed with instructions that, when executed;

identify elements in an environment in which the multiple types of unmanned vehicles operate; and

direct motion of the multiple types of unmanned vehicles.

24. The unmanned vehicle system of claim 23 wherein the multiple types of unmanned vehicles include a multirotor aerial vehicle, and a skid steer ground vehicle.

25. The unmanned vehicle system of claim 23, further comprising an unmanned vehicle, and wherein the modular control unit is removably and mechanically connected to the unmanned vehicle.

26. The unmanned vehicle system of claim 23 wherein at least one sensor includes at least one camera.

27. The unmanned vehicle system of claim 23 wherein the at least one sensor includes a depth sensor.

29. The method of claim 26 wherein the at least one sensor includes a visual sensor.

28. A method for controlling multiple types of unmanned vehicle systems, comprising:

mechanically connecting a removable modular control unit to a first unmanned vehicle;

while the modular control unit is carried by the first unmanned vehicle, controlling motion of the first unmanned vehicle via at least one sensor carried by the modular control unit, at least one processor carried by the modular control unit and coupled to the at least one sensor, and a communication link coupled between the modular control unit and the first unmanned vehicle;

disconnecting the modular control unit from the first unmanned vehicle;

removing the modular control unit from the first unmanned vehicle;

mechanically connecting the modular control unit to a second unmanned vehicle, the second unmanned vehicle being of a type different than a type of the first unmanned vehicle, and wherein the types include at least two from the group comprising unmanned aerial vehicles, unmanned land vehicles, and unmanned water vehicles;

coupling the communication link to the second unmanned vehicle; and

while the modular control unit is carried by the second unmanned vehicle, controlling motion of the second unmanned vehicle via the at least one sensor, the at least one processor, and the communication link.