System and method for managing unmanned aerial vehicles

• US 9,623,760 B2
• Filed: 06/23/2015
• Issued: 04/18/2017
• Est. Priority Date: 11/21/2014
• Status: Active Grant

• Current Assignee: SZ DJI Technology Co., Ltd. (d/b/a DJI) (iFlight Technology Company Limited)
• Original Assignee: SZ DJI Technology Co., Ltd. (d/b/a DJI) (iFlight Technology Company Limited)
• Inventors: Wang, Mingxi, Chen, Xiangyu
• Primary Examiner(s): BUTLER, RODNEY ALLEN
• Application Number:
  US14/747,989
• Publication Number:
  US 20160144734A1
• Time in Patent Office: 665 Days
• CPC Class Codes: B60L 2200/10 Air crafts
• CPC Class Codes: B60L 53/124 Detection or removal of foreign bodies
• CPC Class Codes: B60L 53/126 Methods for pairing a vehicle and a charging station, e.g. establishing a one-to-one relation between a wireless power transmitter and a wireless power receiver
• CPC Class Codes: B60L 53/36 by positioning the vehicle
• CPC Class Codes: B60L 53/66 Data transfer between charging stations and vehicles
• CPC Class Codes: B60L 53/67 Controlling two or more charging stations
• CPC Class Codes: B60L 53/68 Off-site monitoring or control, e.g. remote control
• CPC Class Codes: B60L 53/80 Exchanging energy storage elements, e.g. removable batteries
• CPC Class Codes: B64C 29/0016 the lift during taking-off being created by free or ducted propellers or by blowers
• CPC Class Codes: B64D 45/04 Landing aids; Safety measures to prevent collision with earth's surface
• CPC Class Codes: B64U 10/13 Flying platforms
• CPC Class Codes: B64U 50/19 using electrically powered motors
• CPC Class Codes: B64U 50/34 In-flight charging photovoltaics B64U50/31
• CPC Class Codes: B64U 50/39 Battery swapping
• CPC Class Codes: B64U 70/90 Launching from or landing on platforms
• CPC Class Codes: B64U 80/25 for recharging batteries; for refuelling
• CPC Class Codes: G05D 1/0011 associated with a remote control arrangement
• CPC Class Codes: Y02T 10/70 Energy storage systems for electromobility, e.g. batteries
• CPC Class Codes: Y02T 10/7072 Electromobility specific charging systems or methods for batteries, ultracapacitors, supercapacitors or double-layer capacitors
• CPC Class Codes: Y02T 90/12 Electric charging stations
• CPC Class Codes: Y02T 90/14 : Plug-in electric vehicles
• CPC Class Codes: Y02T 90/16 : Information or communication technologies improving the operation of electric vehicles

Abstract

A base station for automated battery pack or payload exchange and methods for using the same. The base station provides a landing surface for receiving a mobile platform and includes a manipulator controlled by a manipulator compartment for accessing resource storage. The base station is operable to ascertain a location of the mobile platform on the landing surface and move the manipulator to the mobile platform. Thereby, the base station system advantageously accommodates low-accuracy landing of the mobile platform and further enables extended and autonomous operation of the mobile platform without the need for user intervention for exchanging battery packs and payloads.

Claims

1. A method of managing a payload of a mobile platform positioned on a landing surface, comprising:

ascertaining a location of the mobile platform after landing on the landing surface;

moving a mechanical manipulator of a maintenance system to the mobile platform based on the ascertained location of the mobile platform;

interacting with a selected replacement payload for the mobile platform at the ascertained location of the mobile platform via the mechanical manipulator of the maintenance system; and

actuating a power switch of the mobile platform using the mechanical manipulator,

wherein said interacting occurs automatically and without user interaction.

2. The method of claim 1, wherein said moving the mechanical manipulator comprises:

moving the mechanical manipulator translationally along an X-axis, a Y-axis, a Z-axis, or a combination thereof;

moving the mechanical manipulator rotationally to the mobile platform based on the ascertained location of the mobile platform;

or

a combination thereof.

3. The method of claim 1, further comprising connecting a physical cable assembly to the mobile platform using the mechanical manipulator, wherein said connecting the physical cable assembly comprises:

connecting a data communication cable assembly for exchanging data between the base station and the mobile platform;

connecting a power cable for providing electrical power from the base station to the mobile platform;

connecting a fuel line for refueling the mobile platform from the base station;

or

a combination thereof.

4. The method of claim 1, wherein said ascertaining the location of the mobile platform comprises receiving position information from one or more sensors comprising an optical sensor, a contact image sensor, an electro-optical sensor, an infra-red sensor, a kinetic inductance detector, a light-emitting diode (LED) as light sensor, a fiber optic sensor, an optical position sensor, a photodetector, a pressure sensor, a photoresistor, a phototransistor, a thermal sensor, a temperature sensor, a proximity sensor, an electric current sensor, a magnetic sensor, a radio sensor, or a combination thereof.

5. The method of claim 1, wherein the mobile platform remains stationary on the landing surface.

6. The method of claim 1, further comprising moving the mobile platform from the ascertained location to a predetermined location on the landing surface resulting in one or more landing legs of the mobile platform each engaging a corresponding receiving cavity defined on a predetermined surface of the landing surface.

7. The method of claim 1, wherein the mobile platform is an unmanned aerial vehicle (UAV).

26. The method of claim 1, further comprising guiding a landing orientation of the mobile platform onto the landing surface using a receiving cavity defined on the landing surface.

27. The method of claim 26, wherein said guiding comprises guiding the landing orientation of the mobile platform by receiving a landing leg on the mobile platform into the receiving cavity.

29. The method of claim 1, wherein said moving the mechanical manipulator comprises moving the mechanical manipulator along a rail system.

8. A base station for a mobile platform having a payload, comprising:

a landing surface configured for the mobile platform to land thereon; and

a maintenance system comprising;

a sensor apparatus for ascertaining a location of the mobile platform after landing on the landing surface;

a resource supply for defining a plurality of resource-slots each configured to removably hold a replacement payload; and

one or more mechanical manipulators for moving to the ascertained location of the mobile platform, interacting with a selected replacement payload, the payload, or a combination thereof, and actuating a power switch of the mobile platform,

wherein the mobile platform remains stationary on the landing surface.

9. The base station of claim 8, wherein the mechanical manipulators are operable to:

move along an X-axis and Y-axis to the selected replacement payload positioned in a selected resource-slot;

extend a resource-carriage along a Z-axis;

grasp the selected replacement payload via said resource-carriage;

retract said resource-carriage along the Z-axis to remove the replacement payload from the resource-slot;

move the removed replacement payload proximate to the ascertained location of the mobile platform;

insert the replacement payload into a mobile platform resource-slot provided on the mobile platform; and

decouple from the replacement payload.

10. The base station of claim 8, wherein said sensor apparatus comprises first and second optical sensors respectively located on first and second location arms of the maintenance system, each of said first and second location arms is extending perpendicularly to a respective axis, said first and second optical sensors being operable to respectively locate the mobile platform along respective perpendicular axes, and wherein the sensor apparatus is configured to operate automatically and without user interaction.

11. The base station of claim 8, wherein the payload or the replacement payload comprises a battery, a data storage unit, a predetermined quantity of fuel, a predetermined quantity of fertilizer, a predetermined quantity of water, a parcel, cargo, a predetermined quantity of pesticides, or a combination thereof.

12. The base station of claim 8, wherein said landing surface comprises a charging pad for wirelessly providing power to the mobile platform.

13. The base station of claim 8, wherein the maintenance system is configured to maintain the mobile platform automatically and without user interaction.

14. The base station of claim 8, wherein at least one of said resource-slots is operable to receive a battery of the mobile platform to charge the received battery.

15. The base station of claim 8, wherein said mechanical manipulators are operable to assist the mobile platform in a landing cavity on the landing surface to orient the mobile platform.

16. The base station of claim 8, wherein the maintenance system is further operable to ascertain a distance between the mobile platform and a second base station located on a travel path of the mobile platform.

17. The base station of claim 16, wherein the maintenance system is further operable to provide a signal to the mobile platform, the signal instructing the mobile platform to land on the landing surface or to travel to the second base station.

18. The base station of claim 8, wherein the mobile platform is an unmanned aerial vehicle (UAV).

19. A maintenance system of a base station for a mobile platform having a payload, comprising:

a sensor apparatus for ascertaining a location of the mobile platform after landing on a landing surface;

a resource supply for defining a plurality of resource-slots each configured to removably hold a replacement payload; and

one or more mechanical manipulators for moving to the mobile platform based on the ascertained location of the mobile platform on the landing surface and interacting with a selected replacement payload, the payload, or a combination thereof,

wherein the mobile platform remains stationary on the landing surface, and

wherein said mechanical manipulators are operable to actuate a power switch of the mobile platform.

20. The maintenance system of claim 19, wherein said maintenance system is operable to move translationally along an X-axis, a Y-axis, a Z-axis or a combination thereof, to move rotationally to the ascertained location of the mobile platform, or a combination thereof.

21. The maintenance system of claim 19, wherein said sensor apparatus comprises first and second optical sensors operable to respectively locate the mobile platform along respective perpendicular axes, and wherein the sensor apparatus is configured to operate automatically and without user interaction.

22. The maintenance system of claim 19, wherein said mechanical manipulators are operable to connect a physical cable assembly to the mobile platform or wirelessly provide power to the mobile platform.

23. A method of managing a payload of a mobile platform, comprising:

determining a first distance between the mobile platform and a first base station;

determining a second distance between the mobile platform and a second base station;

signaling to the mobile platform to land on a selected the first or second base station based on the determined first and second distances;

landing the mobile platform on a landing surface of the selected base station;

ascertaining a location of the mobile platform on the landing surface; and

moving a mechanical manipulator of a maintenance system to the ascertained location of the mobile platform.

24. The method of claim 23, wherein said moving the mechanical manipulator comprises:

moving the mechanical manipulator translationally along an X-axis, a Y-axis, a Z-axis, or a combination thereof;

moving the mechanical manipulator rotationally to the mobile platform based on the ascertained location of the mobile platform;

or a combination thereof.

25. The method of claim 23, further comprising interacting with a selected payload of the mobile platform via the maintenance system, wherein said interacting occurs automatically and without user interaction.

28. A method of managing a payload of a mobile platform positioned on a landing surface, comprising:

ascertaining a location of the mobile platform after landing on the landing surface;

moving a mechanical manipulator of a maintenance system to the mobile platform based on the ascertained location of the mobile platform;

identifying a service marker on the mobile platform indicative of the position of the payload; and

interacting with a selected payload based on a location of the service marker.