Autonomous infrastructure element survey systems and methods using UAV fleet deployment

• US 9,678,507 B1
• Filed: 06/25/2015
• Issued: 06/13/2017
• Est. Priority Date: 06/25/2015
• Status: Active Grant

• Current Assignee: L3 Technologies, Inc. (L3Harris Technologies, Inc.)
• Original Assignee: Latitude Engineering LLC (L3Harris Technologies, Inc.)
• Inventors: Douglas, Jason, Woodrow, Travis Alexander, Singh, Manu, Balthazar, Michael Aeko
• Primary Examiner(s): Badii, Behrang
• Assistant Examiner(s): Testardi, David
• Application Number:
  US14/751,072
• Time in Patent Office: 719 Days
• 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 1/104 involving a plurality of aircrafts, e.g. formation flying traffic control systems for aircraft G08G5/00
• CPC Class Codes: G08G 5/0013 with a ground station
• CPC Class Codes: G08G 5/0026 located on the ground
• CPC Class Codes: G08G 5/003 Flight plan management
• CPC Class Codes: G08G 5/0034 Assembly of a flight plan
• 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

An unmanned aerial vehicle (UAV) survey system and methods for surveying an area of interest are disclosed. The system can include a plurality of docking stations positioned at predetermined locations within the area of interest, each docking station comprising a platform to support a UAV while docked at the docking station; a battery charger; and a communications interface; a plurality of UAVs distributed among the plurality of docking stations, each UAV comprising a communications interface; and a system controller comprising a processor and transmitter communicatively coupled to the plurality of UAVs.

Claims

1. A method of surveying an area of interest with a fleet of UAVs deployed to a plurality of docking stations positioned at predetermined locations within the area of interest, the method comprising:

programming each of the plurality of UAVs with a survey mission comprising survey mission parameters and a flight path, wherein the area of interest is divided into a plurality of sectors that are smaller than the area of interest, and the programming comprises programming each UAV of the plurality of UAVs to follow a flight path to survey a first sector of the area of interest that is different from the sectors surveyed by the other UAVs of the plurality of UAVs;

each of the plurality of UAVs performing its programmed survey mission for its respective first sector, the programmed survey mission for each UAV comprising;

the UAV departing from a first docking station;

the UAV following its programmed flight path along its first sector of the area of interest;

the UAV using sensors to gather sensor data along the UAV'"'"'s programmed flight path;

the UAV landing at a terminating docking station, wherein the terminating docking station is not the first docking station; and

the UAV transferring sensor data gathered during the mission;

wherein, as a result of the plurality of UAVs each surveying a different sector of the area of interest, the area of interest is surveyed by the combined operations of the plurality of UAVs;

wherein, in deploying the UAVs to the plurality of docking stations and prior to performing the programmed survey mission of the first sector, the plurality of UAVs are delivered to a docking station configured as a system entry point that is capable of holding the plurality of UAVs, and the plurality of UAVs are distributed to their respective first docking stations by flying each of the plurality of UAVs from the system entry point to its respective first docking station.

2. The method of claim 1, further comprising each of the plurality of UAVs performing a subsequent survey mission in which each UAV of the plurality of UAVs surveys a second sector of the area of interest that is different from the sectors surveyed by the other UAVs of the plurality of UAVs in the subsequent survey mission, the subsequent survey mission for each UAV comprising:

the UAV departing from the docking station at which its prior survey mission terminated;

the UAV following a second programmed flight path along its second sector of the area of interest;

the UAV using sensors to gather sensor data along the UAV'"'"'s second programmed flight path;

the UAV landing at a second terminating docking station; and

the UAV transferring sensor data gathered during the mission.

3. The method of claim 1, wherein the area of interest comprises a linear infrastructure element and the docking stations are deployed along the linear infrastructure element in a sequential arrangement and the terminating docking station for each of the plurality of UAVs is the next docking station in that sequential arrangement relative to the docking station from which that UAV was deployed.

4. The method of claim 1, wherein the area of interest comprises an area infrastructure element and the docking stations are deployed in a matrix within the area of interest.

5. The method of claim 4, wherein the mission parameters identify a proper subset of docking stations within the plurality of docking stations.

6. The method of claim 1, wherein the UAV transferring sensor data comprises the UAV relaying sensor data via the docking station to a fleet controller while the UAV is docked at the docking station.

7. The method of claim 1, wherein the UAV transferring sensor data comprises the UAV transmitting sensor data to a fleet controller while the UAV is conducting the survey mission.

8. The method of claim 1, wherein the mission parameters for an identified survey mission comprise locations of the docking stations in a survey area, identification of a subset of docking stations included in a mission, flight paths between identified docking station pairs, flight altitude or speed along the flight paths, sensor utilization along the flight path, camera angles, mission start times or intervals, or data collection or communication requirements.

9. The method of claim 1, further comprising the terminating docking station recharging an energy storage cell of the UAV while the UAV is docked at the docking station.

10. The method of claim 1, further comprising a UAV of the plurality of UAVs performing subsequent survey missions such that the UAV traverses the area of interest from one docking station to a next docking station for each subsequent mission until the UAV reaches a system exit point.

11. The method of claim 1, further comprising defining an area of responsibility as a subset of the area of interest and wherein the mission parameters specify the docking stations within that area of responsibility and the programming comprises programming a UAV at each of the specified docking stations to follow a flight path to survey a first sector of the area of responsibility that is different from the sectors surveyed by the other UAVs at each of the specified docking stations.

12. The method of claim 1, wherein a single human operator is used to pilot the plurality of UAVs simultaneously for the survey mission.

13. The method of claim 1, further comprising a process for replacing a UAV of the fleet, the process comprising:

a system controller identifying a UAV of the fleet of UAVs that is lost, damaged or otherwise required to be replaced;

the system controller determining a current docking station for the identified UAV of the fleet; and

the system controller initiating one or more flights of operational UAVs in the fleet to shift existing operational UAVs along a replacement path to provide an operational UAV at the determined docking station.

14. The method of claim 13, further comprising the system controller determining the replacement path, wherein the replacement path comprises a series of docking stations between a system entry point and the determined docking station.

15. The method of claim 13, wherein a docking station at the beginning of the replacement path houses a plurality of UAVs and shifting existing operational UAVs along a replacement path comprises shifting one of the plurality of UAVs at the docking station at the beginning of the replacement path to a next docking station in the replacement path such that there is a remaining operational UAV at the docking station at the beginning of the replacement path.

16. The method of claim 13, further comprising the system controller determining the replacement path, wherein the replacement path is a path determined within a matrix of docking stations and its determination is based on an initial docking station having a source of operational UAVs and a minimum path length between that initial docking station and the determined docking station.

17. A method of surveying an area of interest with a fleet of UAVs, the method comprising:

deploying a plurality of UAVs to a plurality of docking stations positioned at predetermined locations within the area of interest;

programming each of the plurality of UAVs with a survey mission, the survey mission including mission parameters;

each UAV of the plurality of UAVs departing a respective first docking station at which it is deployed, following a flight path defined by the mission parameters, gathering sensor data along the flight path and landing at a respective terminating docking station, wherein the terminating docking station of each UAV is not the first docking station of the respective UAV;

and

the UAV transferring sensor data gathered during the mission;

wherein deploying the plurality of UAVs to the plurality of docking stations comprises, prior to performing the survey mission in an area of interest, delivering the plurality of UAVs to a docking station configured as a system entry point that is capable of holding the plurality of UAVs, and distributing the plurality of UAVs to their respective first docking stations by flying each of the plurality of UAVs from the system entry point to its respective first docking station.

18. A method of surveying an area of interest with a fleet of UAVs deployed to a plurality of docking stations positioned at predetermined locations within the area of interest, the method comprising:

programming each of the plurality of UAVs with a survey mission comprising survey mission parameters and a flight path, wherein the area of interest is divided into a plurality of sectors that are smaller than the area of interest, and the programming comprises programming each UAV of the plurality of UAVs to follow a flight path to survey a first sector of the area of interest that is different from the sectors surveyed by the other UAVs of the plurality of UAVs;

each of the plurality of UAVs performing its programmed survey mission for its respective first sector, the programmed survey mission for each UAV comprising;

the UAV departing from a first docking station;

the UAV following its programmed flight path along its first sector of the area of interest;

the UAV using sensors to gather sensor data along the UAV'"'"'s programmed flight path;

the UAV landing at a terminating docking station; and

the UAV transferring sensor data gathered during the mission;

wherein, as a result of the plurality of UAVs each surveying a different sector of the area of interest, the area of interest is surveyed by the combined operations of the plurality of UAVs;

wherein the method further comprises a process for replacing a UAV of the fleet, the process for replacing a UAV of the fleet comprising;

a system controller identifying a UAV of the fleet of UAVs that is lost, damaged or otherwise required to be replaced;

the system controller determining a current docking station for the identified UAV of the fleet;

the system controller determining a replacement path, wherein the replacement path comprises a series of docking stations between a system entry point and the determined docking station; and

the system controller initiating one or more flights of operational UAVs in the fleet to shift existing operational UAVs along the replacement path to provide an operational UAV at the determined docking station.

19. The method of claim 18, further comprising a UAV of the plurality of UAVs performing subsequent survey missions such that the UAV traverses the area of interest from one docking station to a next docking station for each subsequent mission until the UAV reaches a system exit point.

20. A method of surveying an area of interest with a fleet of UAVs deployed to a plurality of docking stations positioned at predetermined locations within the area of interest, the method comprising:

programming each of the plurality of UAVs with a survey mission comprising survey mission parameters and a flight path, wherein the area of interest is divided into a plurality of sectors that are smaller than the area of interest, and the programming comprises programming each UAV of the plurality of UAVs to follow a flight path to survey a first sector of the area of interest that is different from the sectors surveyed by the other UAVs of the plurality of UAVs;

each of the plurality of UAVs performing its programmed survey mission for its respective first sector, the programmed survey mission for each UAV comprising;

the UAV departing from a first docking station;

the UAV following its programmed flight path along its first sector of the area of interest;

the UAV using sensors to gather sensor data along the UAV'"'"'s programmed flight path;

the UAV landing at a terminating docking station; and

the UAV transferring sensor data gathered during the mission;

wherein, as a result of the plurality of UAVs each surveying a different sector of the area of interest, the area of interest is surveyed by the combined operations of the plurality of UAVs;

wherein the method further comprises a process for replacing a UAV of the fleet, the process for replacing a UAV of the fleet comprising;

a system controller identifying a UAV of the fleet of UAVs that is lost, damaged or otherwise required to be replaced;

the system controller determining a current docking station for the identified UAV of the fleet; and

the system controller initiating one or more flights of operational UAVs in the fleet to shift existing operational UAVs along a replacement path to provide an operational UAV at the determined docking station;

wherein a docking station at the beginning of the replacement path houses a plurality of UAVs and shifting existing operational UAVs along the replacement path comprises shifting one of the plurality of UAVs at the docking station at the beginning of the replacement path to a next docking station in the replacement path such that there is a remaining operational UAV at the docking station at the beginning of the replacement path.

21. The method of claim 20, further comprising a UAV of the plurality of UAVs performing subsequent survey missions such that the UAV traverses the area of interest from one docking station to a next docking station for each subsequent mission until the UAV reaches a system exit point.

22. A method of surveying an area of interest with a fleet of UAVs deployed to a plurality of docking stations positioned at predetermined locations within the area of interest, the method comprising:

programming each of the plurality of UAVs with a survey mission comprising survey mission parameters and a flight path, wherein the area of interest is divided into a plurality of sectors that are smaller than the area of interest, and the programming comprises programming each UAV of the plurality of UAVs to follow a flight path to survey a first sector of the area of interest that is different from the sectors surveyed by the other UAVs of the plurality of UAVs;

each of the plurality of UAVs performing its programmed survey mission for its respective first sector, the programmed survey mission for each UAV comprising;

the UAV departing from a first docking station;

the UAV following its programmed flight path along its first sector of the area of interest;

the UAV using sensors to gather sensor data along the UAV'"'"'s programmed flight path;

the UAV landing at a terminating docking station; and

the UAV transferring sensor data gathered during the mission;

wherein, as a result of the plurality of UAVs each surveying a different sector of the area of interest, the area of interest is surveyed by the combined operations of the plurality of UAVs;

wherein the method further comprises a process for replacing a UAV of the fleet, the process for replacing a UAV of the fleet comprising;

a system controller identifying a UAV of the fleet of UAVs that is lost, damaged or otherwise required to be replaced;

the system controller determining a current docking station for the identified UAV of the fleet;

the system controller determining a replacement path, wherein the replacement path is a path determined within a matrix of docking stations and its determination is based on an initial docking station having a source of operational UAVs and a minimum path length between that initial docking station and the determined docking station; and

the system controller initiating one or more flights of operational UAVs in the fleet to shift existing operational UAVs along the replacement path to provide an operational UAV at the determined docking station.

23. The method of claim 22, further comprising a UAV of the plurality of UAVs performing subsequent survey missions such that the UAV traverses the area of interest from one docking station to a next docking station for each subsequent mission until the UAV reaches a system exit point.