Unmanned aerial vehicle authorization and geofence envelope determination

• US 9,256,994 B2
• Filed: 05/11/2015
• Issued: 02/09/2016
• Est. Priority Date: 05/12/2014
• Status: Active Grant

• Current Assignee: Skydio, Inc.
• Original Assignee: Unmanned Innovation Inc (Delair SAS)
• Inventors: Downey, Jonathan, Michini, Bernard J., Moster, Joseph, Weigel, Donald Curry, Ogden, James
• Primary Examiner(s): Amin, Bhavesh V
• Application Number:
  US14/709,364
• Publication Number:
  US 20150323931A1
• Time in Patent Office: 274 Days
• US Class Current: 1/1
• 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 2201/20 Remote controls
• CPC Class Codes: G01S 1/00 Beacons or beacon systems transmitting signals having a characteristic or characteristics capable of being detected by non-directional receivers and defining directions, positions, or position lines fixed relatively to the beacon transmitters; Receivers co-operating therewith position fixing by co-ordinating a plurality of determinations of direction or position lines G01S5/00
• CPC Class Codes: G01S 19/14 specially adapted for specific applications
• CPC Class Codes: G05D 1/0011 associated with a remote control arrangement
• CPC Class Codes: G05D 1/0022 characterised by the communication link data switching networks in general H04L12/00
• CPC Class Codes: G05D 1/0027 involving a plurality of vehicles, e.g. fleet or convoy travelling fleet control of land vehicles from a control room G05D1/0297; traffic control systems for road vehicles G08G1/00; for marine craft G08G3/00; for aircraft G08G5/00
• CPC Class Codes: G05D 1/0202 specially adapted to aircraft
• CPC Class Codes: G05D 1/101 specially adapted for aircraft
• CPC Class Codes: G07C 5/004 Indicating the operating range of the engine economical driving B60R16/0236, F02B77/084; measuring liquid fuel of an engine G01F9/00
• CPC Class Codes: G07C 5/008 communicating information to a remotely located station transmission systems for measured values G08C
• CPC Class Codes: G07C 5/02 Registering or indicating driving, working, idle, or waiting time only apparatus forming part of taximeters G07B13/00
• CPC Class Codes: G07C 5/0808 Diagnosing performance data testing of vehicles G01M17/00; testing of electrical installation on vehicles G01R31/005
• CPC Class Codes: G07C 5/0816 Indicating performance data, e.g. occurrence of a malfunction
• CPC Class Codes: G08G 5/0026 located on the ground
• CPC Class Codes: G08G 5/0039 Modification of a flight plan
• CPC Class Codes: G08G 5/0056 in an emergency situation, e.g. hijacking
• CPC Class Codes: G08G 5/006 in accordance with predefined flight zones, e.g. to avoid prohibited zones
• CPC Class Codes: G08G 5/0069 specially adapted for an unmanned aircraft
• CPC Class Codes: G08G 5/0091 : for monitoring atmospheric conditions radar or analogous systems specially adapted for meteorological use G01S13/95; meteorology G01W
• 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: H04W 12/06 : Authentication
• CPC Class Codes: H04W 4/021 : Services related to particular areas, e.g. point of interest [POI] services, venue services or geofences
• CPC Class Codes: H04W 4/029 : Location-based management or tracking services
• CPC Class Codes: H04W 48/02 : Access restriction performed under specific conditions

Abstract

Methods, systems, and apparatus, including computer programs encoded on computer storage media, for unmanned aerial vehicle authorization and geofence envelope determination. One of the methods includes maintaining, by a cloud system in wireless communication with Unmanned Aerial Vehicles (UAVs), allocated geofence envelopes for one or more of the UAVs, with each geofence envelope being a virtual barrier for a real-world geographic area. A request for approval of an updated geofence envelope is received from a first UAV in flight. The cloud system determines that the updated geofence envelope has not been allocated and/or the updated geofence envelope does not interfere with allocated geofence envelopes. In response to the determination, a response indicating approval of the request is generated. The generated response is provided to the first UAV.

Claims

1. A method comprising:

maintaining, by a cloud system, comprising one or more processing devices comprising hardware, in wireless communication with a first plurality of Unmanned Aerial Vehicles (UAVs), geofence envelopes respectively allocated, using the cloud system, for each UAV in the first plurality of UAVs,

wherein each allocated geofence envelope is a static virtual barrier for a real-world geographic area that limits allowable locations to the real-world geographic area for a respective UAV, and wherein each allocated geofence envelope does not interfere with any remaining allocated geofence envelopes;

receiving, by the cloud system, a request from a first UAV in flight for approval of an updated geofence envelope;

determining, by the cloud system, that;

the updated geofence envelope has not been allocated, or

the updated geofence envelope does not interfere with geofence envelopes respectively allocated to UAVs in the first plurality of UAVs, or

the updated geofence envelope has not been allocated and the updated geofence envelope does not interfere with geofence envelopes respectively allocated to UAVs in the first plurality of UAVs;

at least partly in response to the determination that;

the updated geofence envelope has not been allocated, or

the updated geofence envelope does not interfere with geofence envelopes respectively allocated to UAVs in the first plurality of UAVs, or

the updated geofence envelope has not been allocated and the updated geofence envelope does not interfere with geofence envelopes respectively allocated to UAVs in the first plurality of UAVs;

generating, by the cloud system, a response indicating approval of the request for the updated geofence envelope; and

providing, by the cloud system, the generated response to the first UAV indicating approval of the request for the updated geofence envelope.

2. The method of claim 1, further comprising:

associating information identifying the updated geofence envelope with information identifying the first UAV.

3. The method of claim 1, further comprising:

prior to providing the response to the first UAV indicating approval of the request for the updated geofence envelope;

providing information to a regulatory authority identifying the updated geofence envelope, and

receiving, from the regulatory authority, approval of the updated geofence envelope.

4. The method of claim 1, further comprising:

receiving, from the first UAV, information identifying that the first UAV is configured to enforce the updated geofence envelope.

5. The method of claim 1, further comprising:

receiving a request from a second UAV in flight for approval of a second updated geofence envelope;

determining that the second updated geofence envelope has been allocated, and/or interferes with geofence envelopes allocated to at least one of the first plurality of UAVs;

at least partly in response to the determination that the second updated geofence envelope has been allocated, and/or interferes with geofence envelopes allocated to the first plurality of UAVs, providing a response, to the second UAV, identifying denial of the request for approval of the second updated geofence envelope.

6. The method of claim 1, further comprising:

receiving a request from a second UAV in flight for approval of a second updated geofence envelope;

determining that the second updated geofence envelope has been allocated, and/or interferes with geofence envelopes allocated to at least one of the first plurality of UAVs;

at least partly in response to the determination that the second updated geofence envelope has been allocated, and/or interferes with geofence envelopes allocated to the first plurality of UAVs, providing a response, to the second UAV, identifying denial of the request;

determining a recommended geofence envelope to provide to the second UAV;

associating the recommended geofence envelope with the second UAV; and

providing information identifying the recommended geofence envelope to the second UAV.

7. The method of claim 1, further comprising:

receiving a request from a second UAV in flight for approval of a second updated geofence envelope, wherein the request from the second UAV identifies one or more waypoints;

determining that the second updated geofence envelope has been allocated, and/or interferes with geofence envelopes allocated to at least one of the first plurality of UAVs;

at least partly in response to the determination that the second updated geofence envelope has been allocated, and/or interferes with geofence envelopes allocated to the first plurality of UAVs, providing a response, to the second UAV, identifying denial of the request;

determining a recommended geofence envelope to provide to the second UAV using the one or more waypoints;

associating the recommended geofence envelope with the second UAV; and

providing information identifying the recommended geofence envelope to the second UAV.

8. The method of claim 1, receiving a request from a second UAV in flight for approval of a second updated geofence envelope;

determining that the second updated geofence envelope has been allocated, and/or interferes with geofence envelopes allocated to at least one of the first plurality of UAVs;

at least partly in response to the determination that the second updated geofence envelope has been allocated, and/or interferes with geofence envelopes allocated to the first plurality of UAVs, providing a response, to the second UAV, identifying denial of the request;

determining a recommended geofence envelope to provide to the second UAV;

associating the recommended geofence envelope with the second UAV; and

providing information identifying the recommended geofence envelope to the second UAV, wherein determining the recommended geofence envelope comprises;

obtaining information identifying a present allocated geofence envelope of the second UAV; and

determining the recommended geofence envelope using the present allocated geofence envelope.

9. The method of claim 1, wherein the request from the first UAV identifies contingency information including a flight critical error or failure associated with the first UAV.

10. A computer program product, encoded on one or more non-transitory computer storage media, comprising instructions that when executed by a cloud system, comprising one or more computers, in wireless communication with a first plurality of Unmanned Aerial Vehicles (UAVs), cause the cloud system to perform operations comprising:

maintaining, by the cloud system, geofence envelopes respectively allocating, using the cloud system, for each UAV in the first plurality of UAVs, wherein each allocated geofence envelope is a static virtual barrier for a real-world geographic area that limits allowable locations to the real-world geographic area for a respective UAV, and wherein each allocated geofence envelope does not interfere with any remaining allocated geofence envelope;

receiving a request from a first UAV in flight for approval of an updated geofence envelope;

determining that;

the updated geofence envelope has not been allocated, or

the updated geofence envelope does not interfere with geofence envelopes respectively allocated to UAVs in the first plurality of UAVs, or

the updated geofence envelope has not been allocated and the updated geofence envelope does not interfere with geofence envelopes respectively allocated to UAVs in the first plurality of UAVs;

at least partly in response to the determination that;

the updated geofence envelope has not been allocated, or

the updated geofence envelope does not interfere with geofence envelopes respectively allocated to UAVs in the first plurality of UAVs, or

the updated geofence envelope has not been allocated and the updated geofence envelope does not interfere with geofence envelopes respectively allocated to UAVs in the first plurality of UAVs;

providing a response, to the first UAV, indicating approval of the request for the updated geofence envelope.

11. The computer program product of claim 10, wherein the operations further comprise:

associating information identifying the updated geofence envelope with information identifying the first UAV.

12. The computer program product of claim 10, wherein the operations further comprise:

prior to providing the response to the first UAV indicating approval of the request for the updated geofence envelope;

providing information to a regulatory authority identifying the updated geofence envelope, and

receiving, from the regulatory authority, approval of the updated geofence envelope.

13. The computer program product of claim 10, wherein the operations further comprise:

receiving, from the first UAV, information identifying that the first UAV is configured to enforce the updated geofence envelope.

14. The computer program product of claim 10, wherein the operations further comprise:

receiving a request from a second UAV in flight for approval of a second updated geofence envelope;

determining that the updated geofence envelope has been allocated, and/or interferes with geofence envelopes allocated to at least one of the first plurality of UAVs;

at least partly in response to the determination that the second updated geofence envelope has been allocated, and/or interferes with geofence envelopes allocated to the first plurality of UAVs, providing a response, to the second UAV, identifying denial of the request.

15. The computer program product of claim 10, wherein the operations further comprise:

receiving a request from a second UAV in flight for approval of a second updated geofence envelope;

determining that the second updated geofence envelope has been allocated, and/or interferes with geofence envelopes allocated to at least one of the first plurality of UAVs;

at least partly in response to the determination that the second updated geofence envelope has been allocated, and/or interferes with geofence envelopes allocated to the first plurality of UAVs, providing a response, to the second UAV, identifying denial of the request;

determining a recommended geofence envelope to provide to the second UAV;

associating the recommended geofence envelope with the second UAV; and

providing information identifying the recommended geofence envelope to the second UAV.

16. The computer program product of claim 10, wherein the operations further comprise:

receiving a request from a second UAV in flight for approval of a second updated geofence envelope, wherein the request from the second UAV identifies one or more waypoints;

determining that the second updated geofence envelope has been allocated, and/or interferes with geofence envelopes allocated to at least one of the first plurality of UAVs;

at least partly in response to the determination that the second updated geofence envelope has been allocated, and/or interferes with geofence envelopes allocated to the first plurality of UAVs, providing a response, to the second UAV, identifying denial of the request;

determining a recommended geofence envelope to provide to the second UAV using the one or more waypoints;

associating the recommended geofence envelope with the second UAV; and

providing information identifying the recommended geofence envelope to the second UAV.

17. The computer program product of claim 10, receiving a request from a second UAV in flight for approval of a second updated geofence envelope;

determining that the second updated geofence envelope has been allocated, and/or interferes with geofence envelopes allocated to at least one of the first plurality of UAVs;

at least partly in response to the determination that the second updated geofence envelope has been allocated, and/or interferes with geofence envelopes allocated to the first plurality of UAVs, providing a response, to the second UAV, identifying denial of the request;

determining a recommended geofence envelope to provide to the second UAV;

associating the recommended geofence envelope with the second UAV; and

providing information identifying the recommended geofence envelope to the second UAV,

wherein determining the recommended geofence envelope comprises;

obtaining information identifying a present allocated geofence envelope of the second UAV; and

determining the recommended geofence envelope using the present allocated geofence envelope.

18. The computer program product of claim 10, wherein the request from the first UAV identifies contingency information including a flight critical error or failure associated with the first UAV.

19. A system comprising one or more processors comprising hardware, the one or more processors configured to at least:

communicate wirelessly with a first plurality of UAVs;

maintain, by the system, geofence envelopes respectively allocated, using the cloud system, for each UAV in the first plurality of UAVs, wherein each allocated geofence envelope is a virtual barrier for a real-world geographic area that limits allowable locations to the real-world geographic area for a respective UAV, and wherein each allocated geofence envelope does not interfere with any remaining allocated geofence envelope;

receive a request from a first UAV in flight for approval of an updated geofence envelope;

determine that;

the updated geofence envelope has not been allocated, or

the updated geofence envelope does not interfere with geofence envelopes respectively allocated to UAVs in the first plurality of UAVs, or

the updated geofence envelope has not been allocated and the updated geofence envelope does not interfere with geofence envelopes respectively allocated to UAVs in the first plurality of UAVs;

at least partly in response to the determination that;

the updated geofence envelope has not been allocated, or

the updated geofence envelope does not interfere with geofence envelopes respectively allocated to UAVs in the first plurality of UAVs, or

the updated geofence envelope has not been allocated and the updated geofence envelope does not interfere with geofence envelopes respectively allocated to UAVs in the first plurality of UAVs,

provide a response, to the first UAV, indicating approval of the request for the updated geofence envelope.

20. The system of claim 19, wherein the processors are further configured to:

associate information identifying the updated geofence envelope with information identifying the first UAV.

21. The system of claim 19, wherein the processors are further configured to:

prior to providing the response to the first UAV indicating approval of the request for the updated geofence envelope;

provide information to a regulatory authority identifying the updated geofence envelope, and

receive, from the regulatory authority, approval of the updated geofence envelope.

22. The system of claim 19, wherein the processors are further configured to:

receive, from the first UAV, information identifying that the first UAV is configured to enforce the updated geofence envelope.

23. The system of claim 19, wherein the processors are further configured to:

receive a request from a second UAV in flight for approval of a second updated geofence envelope;

determine that the second updated geofence envelope has been allocated, and/or interferes with geofence envelopes allocated at least one of the first plurality of UAVs; and

at least partly in response to the determination that the second updated geofence envelope has been allocated, and/or interferes with geofence envelopes allocated to the first plurality of UAVs, provide a response, to the second UAV, identifying denial of the request for approval of the second updated geofence envelope.

24. The system of claim 19, wherein the processors are further configured to:

receive a request from a second UAV in flight for approval of a second updated geofence envelope;

determine that the second updated geofence envelope has been allocated, and/or interferes with geofence envelopes allocated at least one of the first plurality of UAVs;

at least partly in response to the determination that the second updated geofence envelope has been allocated, and/or interferes with geofence envelopes allocated to the first plurality of UAVs, provide a response, to the second UAV, identifying denial of the request for approval of the second updated geofence envelope;

determine a recommended geofence envelope to provide to the second UAV;

associate the recommended geofence envelope with the second UAV; and

provide information identifying the recommended geofence envelope to the second UAV.

25. The system of claim 19, wherein the processors are further configured to:

receive a request from a second UAV in flight for approval of a second updated geofence envelope, wherein the request from the second UAV identifies one or more waypoints;

determine that the second updated geofence envelope has been allocated, and/or interferes with geofence envelopes allocated to at least one of the first plurality of UAVs;

at least partly in response to the determination that the second updated geofence envelope has been allocated, and/or interferes with geofence envelopes allocated to the first plurality of UAVs, provide a response, to the second UAV, identifying denial of the request;

determine a recommended geofence envelope to provide to the second UAV using the one or more waypoints;

associate the recommended geofence envelope with the second UAV; and

provide information identifying the recommended geofence envelope to the second UAV.

26. The system of claim 19, wherein the processors are further configured to:

receive a request from a second UAV in flight for approval of a second updated geofence envelope;

determine that the second updated geofence envelope has been allocated, and/or interferes with geofence envelopes allocated at least one of the first plurality of UAVs;

at least partly in response to the determination that the second updated geofence envelope has been allocated, and/or interferes with geofence envelopes allocated to the first plurality of UAVs, provide a response, to the second UAV, identifying denial of the request for approval of the second updated geofence envelope;

determine a recommended geofence envelope to provide to the second UAV;

associate the recommended geofence envelope with the second UAV; and

provide information identifying the recommended geofence envelope to the second UAV,

wherein determining the recommended geofence envelope causes the processors to;

obtain information identifying a present allocated geofence envelope of the second UAV; and

determine the recommended geofence envelope using the present allocated geofence envelope.

27. The system of claim 19, wherein the request from the first UAV identifies contingency information including a flight critical error or failure associated with the first UAV.