Base station control for an unoccupied flying vehicle (UFV)

• US 9,567,074 B2
• Filed: 12/28/2012
• Issued: 02/14/2017
• Est. Priority Date: 12/19/2012
• Status: Expired due to Fees

• Current Assignee: Elwha LLC (Intellectual Ventures LLC)
• Original Assignee: Elwha LLC (Intellectual Ventures LLC)
• Inventors: Levien, Royce A., Lord, Robert W., Lord, Richard T., Malamud, Mark A., Rinaldo, John D. Jr., Wood, Lowell L. Jr.
• Primary Examiner(s): Antonucci, Anne M
• Application Number:
  US13/730,202
• Publication Number:
  US 20140172193A1
• Time in Patent Office: 1,509 Days
• Field of Search: 701/2
• US Class Current: 1/1
• CPC Class Codes: B64C 39/024 of the remote controlled vehicle type, i.e. RPV
• 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 2201/102 adapted for flying in formations
• CPC Class Codes: B64U 2201/20 Remote controls
• CPC Class Codes: B64U 80/25 for recharging batteries; for refuelling
• CPC Class Codes: G08G 5/0069 specially adapted for an unmanned aircraft
• CPC Class Codes: G08G 5/0082 for monitoring traffic from a ground station radar or analogous systems specially adapted for traffic control G01S13/91

Abstract

Disclosed herein are example embodiments for base station control for an unoccupied flying vehicle (UFV). For certain example embodiments, at least one machine, such as a base station, may: (i) obtain at least one indicator of at least one flight attribute corresponding to a first UFV; or (ii) transmit to a second UFV at least one indicator of at least one flight attribute corresponding to a first UFV. However, claimed subject matter is not limited to any particular described embodiments, implementations, examples, or so forth.

Claims

1. A process comprising:

controlling at least one unoccupied flying vehicle (UFV) from a base station including at least;

obtaining at least one indicator of at least one flight attribute corresponding to a first UFV;

receiving at least one message from a second UFV, the at least one message autonomously formulated by the second UFV and including at least one flight adjustment request for adjusting a flight path of at least one of the first UFV or the second UFV;

autonomously formulating at least one command directing one or more flight control decisions for at least the second UFV including at least analyzing the at least one indicator of at least one flight attribute corresponding to the first UFV and the autonomously formulated at least one flight adjustment request for adjusting a flight path of at least one of the first UFV or the second UFV, determining one or more flight control decisions based at least partially on the analysis, and formulating the at least one command based at least partially on the determined one or more flight control decisions; and

transmitting the at least one command to the second UFV, wherein at least one of the obtaining at least one indicator, the receiving at least one message, the autonomously formulating at least one command directing one or more flight control decisions, or the transmitting the at least one command is at least partially implemented using one or more processing devices.

2. A base station comprising:

at least one electronic device including at least;

circuitry configured for obtaining at least one indicator of at least one flight attribute corresponding to a first unoccupied flying vehicle (UFV);

circuitry configured for receiving at least one message from a second UFV, the at least one message autonomously formulated by the second UFV and including at least one flight adjustment request for adjusting a flight path of at least one of the first UFV or the second UFV;

circuitry configured for autonomously formulating at least one command directing one or more flight control decisions for at least the second UFV including at least analyzing the at least one indicator of at least one flight attribute corresponding to the first UFV and the autonomously formulated at least one flight adjustment request for adjusting a flight path of at least one of the first UFV or the second UFV, determining one or more flight control decisions based at least partially on the analysis, and formulating the at least one command based at least partially on the determined one or more flight control decisions; and

circuitry configured for transmitting the at least one command to the second UFV.

3. The base station of claim 2, wherein the circuitry configured for obtaining at least one indicator of at least one flight attribute corresponding to a first UFV comprises:

circuitry configured for obtaining the at least one indicator of the at least one flight attribute corresponding to the first UFV, the first UFV being at least partially responsive to one or more flight control commands received from the base station.

4. The base station of claim 2, wherein the circuitry configured for obtaining at least one indicator of at least one flight attribute corresponding to a first UFV comprises:

circuitry configured for obtaining the at least one indicator of the at least one flight attribute corresponding to the first UFV, the first UFV being unresponsive to flight control commands originating from the base station.

5. The base station of claim 2, wherein the circuitry configured for obtaining at least one indicator of at least one flight attribute corresponding to a first UFV comprises:

circuitry configured for receiving from the first UFV the at least one indicator of the at least one flight attribute corresponding to the first UFV.

6. The base station of claim 2, wherein the circuitry configured for obtaining at least one indicator of at least one flight attribute corresponding to a first UFV comprises:

circuitry configured for determining the at least one indicator of the at least one flight attribute corresponding to the first UFV based at least partially on one or more values.

7. The base station of claim 2, wherein the circuitry configured for obtaining at least one indicator of at least one flight attribute corresponding to a first UFV comprises:

circuitry configured for transmitting to the second UFV the at least one indicator of the at least one flight attribute corresponding to the first UFV, the base station having at least partial flight control authority over the first UFV but not over the second UFV.

8. The base station of claim 2, wherein the circuitry configured for autonomously formulating at least one command directing one or more flight control decisions for at least the second UFV includes:

circuitry configured for analyzing the at least one indicator of at least one flight attribute corresponding to the first UFV and the autonomously formulated at least one flight adjustment request for adjusting a flight path of at least one of the first UFV or the second UFV wherein the at least one indicator of at least one flight attribute corresponding to the first UFV includes at least one flight characteristic representative of at least one flight attribute that is changeable by the first UFV to adjust a flight path of the first UFV, determining one or more flight control decisions based at least partially on the analysis, and formulating the at least one command based at least partially on the determined one or more flight control decisions.

9. The base station of claim 2, wherein the circuitry configured for autonomously formulating at least one command directing one or more flight control decisions for at least the second UFV includes:

circuitry configured for analyzing the at least one indicator of at least one flight attribute corresponding to the first UFV and the autonomously formulated at least one flight adjustment request for adjusting a flight path of at least one of the first UFV or the second UFV, determining flight control authority over at least the first UFV and the second UFV wherein the base station is allocated at least partial flight control authority over the second UFV but not over the first UFV based at least partially on the analysis, and formulating the at least one command based at least partially on the determined flight control authority.

10. The base station of claim 2, wherein the circuitry configured for autonomously formulating at least one command directing one or more flight control decisions for at least the second UFV includes:

circuitry configured for analyzing the at least one indicator of at least one flight attribute corresponding to the first UFV and the autonomously formulated at least one flight adjustment request for adjusting a flight path of at least one of the first UFV or the second UFV wherein the at least one indicator of at least one flight attribute corresponding to the first UFV includes at least one indicator of a position of the first UFV, determining one or more flight control decisions based at least partially on the analysis, and formulating the at least one command based at least partially on the determined one or more flight control decisions wherein the at least one command includes the at least one indicator of a position of the first UFV.

11. The base station of claim 2, wherein the circuitry configured for autonomously formulating at least one command directing one or more flight control decisions for at least the second UFV includes:

circuitry configured for analyzing the at least one indicator of at least one flight attribute corresponding to the first UFV and the autonomously formulated at least one flight adjustment request for adjusting a flight path of at least one of the first UFV or the second UFV wherein the at least one indicator of at least one flight attribute corresponding to the first UFV includes at least one indicator of an altitude of the first UFV, determining one or more flight control decisions based at least partially on the analysis, and formulating the at least one command based at least partially on the determined one or more flight control decisions wherein the at least one command includes the at least one indicator of an altitude of the first UFV.

12. The base station of claim 2, wherein the circuitry configured for autonomously formulating at least one command directing one or more flight control decisions for at least the second UFV includes:

circuitry configured for analyzing the at least one indicator of at least one flight attribute corresponding to the first UFV and the autonomously formulated at least one flight adjustment request for adjusting a flight path of at least one of the first UFV or the second UFV wherein the at least one indicator of at least one flight attribute corresponding to the first UFV includes at least one indicator of an expected future flight characteristic of the first UFV, determining one or more flight control decisions based at least partially on the analysis, and formulating the at least one command based at least partially on the determined one or more flight control decisions wherein the at least one command includes the at least one indicator of an expected future flight characteristic of the first UFV.

13. The base station of claim 2, wherein the circuitry configured for autonomously formulating at least one command directing one or more flight control decisions for at least the second UFV includes:

circuitry configured for analyzing the at least one indicator of at least one flight attribute corresponding to the first UFV and the autonomously formulated at least one flight adjustment request for adjusting a flight path of at least one of the first UFV or the second UFV wherein the at least one indicator of at least one flight attribute corresponding to the first UFV includes at least one indicator of an acceleration identified in a specification corresponding to the first, determining one or more flight control decisions based at least partially on the analysis, and formulating the at least one command based at least partially on the determined one or more flight control decisions wherein the at least one command includes the at least one indicator of an acceleration identified in a specification corresponding to the first UFV.

14. The base station of claim 2, wherein the circuitry configured for autonomously formulating at least one command directing one or more flight control decisions for at least the second UFV includes:

circuitry configured for analyzing the at least one indicator of at least one flight attribute corresponding to the first UFV and the autonomously formulated at least one flight adjustment request for adjusting a flight path of at least one of the first UFV or the second UFV wherein the at least one indicator of at least one flight attribute corresponding to the first UFV includes at least one indicator of a maximum recommended speed corresponding to the first UFV, determining one or more flight control decisions based at least partially on the analysis, and formulating the at least one command based at least partially on the determined one or more flight control decisions wherein the at least one command includes the at least one indicator of a maximum recommended speed corresponding to the first UFV.

15. The base station of claim 2, wherein the circuitry configured for autonomously formulating at least one command directing one or more flight control decisions for at least the second UFV includes:

circuitry configured for analyzing the at least one indicator of at least one flight attribute corresponding to the first UFV and the autonomously formulated at least one flight adjustment request for adjusting a flight path of at least one of the first UFV or the second UFV wherein the at least one indicator of at least one flight attribute corresponding to the first UFV includes at least one indicator of a turning ability corresponding to the first UFV, determining one or more flight control decisions based at least partially on the analysis, and formulating the at least one command based at least partially on the determined one or more flight control decisions wherein the at least one command includes the at least one indicator of a turning ability corresponding to the first UFV.

16. The base station of claim 2, wherein the circuitry configured for autonomously formulating at least one command directing one or more flight control decisions for at least the second UFV includes:

circuitry configured for analyzing the at least one indicator of at least one flight attribute corresponding to the first UFV and the autonomously formulated at least one flight adjustment request for adjusting a flight path of at least one of the first UFV or the second UFV wherein the at least one indicator of at least one flight attribute corresponding to the first UFV includes at least one indicator of a hovering ability corresponding to the first UFV, determining one or more flight control decisions based at least partially on the analysis, and formulating the at least one command based at least partially on the determined one or more flight control decisions wherein the at least one command includes the at least one indicator of a hovering ability corresponding to the first UFV.

17. The base station of claim 2, wherein the circuitry configured for autonomously formulating at least one command directing one or more flight control decisions for at least the second UFV includes:

circuitry configured for analyzing the at least one indicator of at least one flight attribute corresponding to the first UFV and the autonomously formulated at least one flight adjustment request for adjusting a flight path of at least one of the first UFV or the second UFV wherein the at least one indicator of at least one flight attribute corresponding to the first UFV includes at least one indicator of a maneuverability quality corresponding to the first UFV, determining one or more flight control decisions based at least partially on the analysis, and formulating the at least one command based at least partially on the determined one or more flight control decisions wherein the at least one command includes the at least one indicator of a maneuverability quality corresponding to the first UFV.

18. The base station of claim 2, wherein the circuitry configured for autonomously formulating at least one command directing one or more flight control decisions for at least the second UFV includes:

circuitry configured for analyzing the at least one indicator of at least one flight attribute corresponding to the first UFV and the autonomously formulated at least one flight adjustment request for adjusting a flight path of at least one of the first UFV or the second UFV, determining at least a portion of at least one flight attribute update procedure that includes at least one plan for imparting one or more flight characteristics, and formulating the at least one command based at least partially on the at least a portion of at least one flight attribute update procedure that includes at least one plan for imparting one or more flight characteristics.

19. The base station of claim 2, wherein the circuitry configured for autonomously formulating at least one command directing one or more flight control decisions for at least the second UFV includes:

circuitry configured for analyzing the at least one indicator of at least one flight attribute corresponding to the first UFV and the autonomously formulated at least one flight adjustment request for adjusting a flight path of at least one of the first UFV or the second UFV, determining at least a portion of at least one flight attribute announcement procedure that includes at least one plan for imparting one or more flight capabilities, and formulating the at least one command based at least partially on the at least a portion of at least one flight attribute announcement procedure that includes at least one plan for imparting one or more flight capabilities.

20. The base station of claim 2, wherein the circuitry configured for autonomously formulating at least one command directing one or more flight control decisions for at least the second UFV includes:

circuitry configured for analyzing the at least one indicator of at least one flight attribute corresponding to the first UFV and the autonomously formulated at least one flight adjustment request for adjusting a flight path of at least one of the first UFV or the second UFV, determining a flight control command based at least partially on at least one flight attribute indicator received from and corresponding to the second UFV, and formulating at least one flight control command to adjust a flight path corresponding to the first UFV.

21. The base station of claim 2, wherein the circuitry configured for transmitting the at least one command to the second UFV comprises:

circuitry configured for transmitting the at least one command to the second UFV via at least one internet linkage.

22. The base station of claim 2, wherein the circuitry configured for transmitting the at least one command to the second UFV comprises:

circuitry configured for transmitting the at least one command to the second UFV via another base station.

23. The base station of claim 2, wherein the circuitry configured for receiving at least one message from a second UFV includes:

circuitry configured for receiving at least one flight attribute inquiry autonomously formulated by the second UFV.

24. The base station of claim 2, wherein the circuitry configured for receiving at least one message from a second UFV includes:

circuitry configured for receiving from the second UFV at least one negotiation request for a flight path adjustment autonomously formulated by the second UFV.

25. The base station of claim 2, wherein the circuitry configured for autonomously formulating at least one command directing one or more flight control decisions for at least the second UFV includes:

circuitry configured for negotiating with the second UFV for at least one flight path adjustment.

26. The base station of claim 25, wherein the circuitry configured for negotiating with the second UFV for at least one flight path adjustment comprises:

circuitry configured for transmitting to the second UFV an offer to make at least one adjustment to a flight path corresponding to the first UFV.

27. The base station of claim 25, wherein the circuitry configured for negotiating with the second UFV for at least one flight path adjustment comprises:

circuitry configured for receiving from the second UFV a request to make at least one adjustment to a flight path corresponding to the first UFV, with the request associated with a reference to a previous offer by the base station to make a flight path adjustment corresponding to the first UFV and with the request differing from the previous offer.

28. The base station of claim 2, wherein the circuitry configured for receiving at least one message from a second UFV includes:

circuitry configured for receiving a request autonomously formulated by the second UFV from the second UFV.

29. The base station of claim 28, wherein the circuitry configured for receiving a request from the second UFV comprises:

circuitry configured for receiving at least one flight attribute inquiry from the second UFV.

30. The base station of claim 28, wherein the circuitry configured for receiving a request from the second UFV comprises:

circuitry configured for receiving at least one negotiation request for a flight path adjustment from the second UFV.

31. The base station of claim 2, wherein the circuitry configured for autonomously formulating at least one command directing one or more flight control decisions for at least the second UFV includes:

circuitry configured for formulating a flight adjustment request in an effort to reach an agreement on at least one adjustment to the flight path of the first UFV based at least partially on receipt of a flight adjustment offer from the second UFV.

32. A system comprising:

means for controlling at least one unoccupied flying vehicle (UFV) from a base station including at least;

means for obtaining at least one indicator of at least one flight attribute corresponding to a first UFV;

means for receiving at least one message from a second UFV, the at least one message autonomously formulated by the second UFV and including at least one flight adjustment request for adjusting a flight path of at least one of the first UFV or the second UFV;

means for autonomously formulating at least one command directing one or more flight control decisions for at least the second UFV including at least analyzing the at least one indicator of at least one flight attribute corresponding to the first UFV and the autonomously formulated at least one flight adjustment request for adjusting a flight path of at least one of the first UFV or the second UFV, determining one or more flight control decisions based at least partially on the analysis, and formulating the at least one command based at least partially on the determined one or more flight control decisions; and

means for transmitting the at least one command to the second UFV, wherein at least one of the means for obtaining, the means for autonomously formulating, or the means for transmitting is at least partially implemented using one or more machines.