Unoccupied flying vehicle (UFV) inter-vehicle communication for hazard handling

• US 9,776,716 B2
• Filed: 12/20/2012
• Issued: 10/03/2017
• Est. Priority Date: 12/19/2012
• Status: Expired due to Fees

• Current Assignee: Elwha LLC (Intellectual Ventures LLC)
• Original Assignee: Elwah LLC
• Inventors: Levien, Royce A., Lord, Robert W., Lord, Richard T., Malamud, Mark A., Rinaldo, Jr., John D., Wood, Jr., Lowell L.
• Primary Examiner(s): Mustafa, Imran
• Application Number:
  US13/722,874
• Publication Number:
  US 20140249692A1
• Time in Patent Office: 1,748 Days
• Field of Search: 701 3, 701300-302
• CPC Class Codes: B64C 39/024 of the remote controlled vehicle type, i.e. RPV
• CPC Class Codes: B64U 10/13 Flying platforms
• CPC Class Codes: B64U 10/25 Fixed-wing aircraft VTOL aircraft B64U10/20
• CPC Class Codes: B64U 10/30 Lighter-than-air aircraft, e.g. aerostatic aircraft
• CPC Class Codes: B64U 10/40 Ornithopters
• CPC Class Codes: B64U 2201/102 adapted for flying in formations
• CPC Class Codes: G05D 1/104 involving a plurality of aircrafts, e.g. formation flying traffic control systems for aircraft G08G5/00

Abstract

Disclosed herein are example embodiments for unoccupied flying vehicle (UFV) inter-vehicle communication for hazard handling. For certain example embodiments, at least one machine may: (i) receive one or more flight attributes from a remote UFV, with the one or more flight attributes indicative of one or more flight capabilities of the remote UFV; or (ii) adjust a flight path of a UFV based at least partially on one or more flight attributes received from a remote UFV. However, claimed subject matter is not limited to any particular described embodiments, implementations, examples, or so forth.

Claims

1. An unoccupied flying vehicle (UFV) comprising:

one or more electronic devices configured for autonomously controlling the UFV, the one or more electronic devices including at least;

circuitry configured for obtaining at least one indication of at least one hazard associated with at least one mission including at least the UFV and at least one remote UFV;

circuitry configured for autonomously analyzing the at least one indication of at least one hazard associated with at least one mission including at least the UFV and at least one remote UFV;

circuitry configured for autonomously formulating at least one request for one or more flight attributes indicative of one or more flight capabilities of the at least one remote UFV based at least partially on the autonomous analysis of the at least one indication of at least one hazard associated with at least one mission including at least the UFV and at least one remote UFV;

circuitry configured for sending the autonomously formulated at least one request for one or more flight attributes indicative of one or more flight capabilities of the at least one remote UFV;

circuitry configured for receiving the one or more flight attributes indicative of one or more flight capabilities of the at least one remote UFV transmitted in response to the at least one request;

circuitry configured for determining at least one flight path adjustment corresponding to the at least one mission including the UFV and at least one remote UFV based at least partially on the received one or more flight attributes and based at least partially on the autonomous analysis of the at least one indication of at least one hazard associated with at least one mission including at least the UFV and at least one remote UFV; and

circuitry configured for adjusting at least one flight path of at least the UFV based at least partially on the determined at least one flight path adjustment.

2. The UFV of claim 1, wherein the circuitry configured for receiving the one or more flight attributes indicative of one or more flight capabilities of the at least one remote UFV transmitted in response to the at least one request comprises:

at least one of

circuitry configured for receiving from the at least one remote UFV the one or more flight attributes indicative of one or more flight capabilities of the at least one remote UFV at the UFV;

circuitry configured for receiving from at least one base station the one or more flight attributes indicative of one or more flight capabilities of the at least one remote UFV at the UFV;

circuitry configured for receiving the one or more flight attributes indicative of one or more flight capabilities of the at least one remote UFV at the UFV directly from the at least one remote UFV via at least one wireless signal;

or

circuitry configured for receiving the one or more flight attributes indicative of one or more flight capabilities of the at least one remote UFV at the UFV at least one of directly or indirectly from at least one base station via at least one wireless signal.

3. The UFV of claim 1, wherein the circuitry configured for receiving the one or more flight attributes indicative of one or more flight capabilities of the at least one remote UFV transmitted in response to the at least one request comprises:

at least one of

circuitry configured for receiving from the at least one remote UFV the one or more flight attributes indicative of one or more flight capabilities of the at least one remote UFV transmitted in response to a request for at least one flight attribute sent from the UFV to the at least one remote UFV;

or

circuitry configured for receiving from the at least one remote UFV the one or more flight attributes indicative of one or more flight capabilities of the at least one remote UFV transmitted in accordance with an expected performance specification announcement procedure.

4. The UFV of claim 1, wherein the circuitry configured for receiving the one or more flight attributes indicative of one or more flight capabilities of the at least one remote UFV transmitted in response to the at least one request comprises:

at least one of

circuitry configured for receiving from the at least one remote UFV at least one acceleration indicator representative of at least one performance specification associated with the at least one remote UFV;

circuitry configured for receiving from the at least one remote UFV at least one turning indicator representative of at least one performance specification associated with the at least one remote UFV;

circuitry configured for receiving from the at least one remote UFV at least one velocity indicator representative of at least one performance specification associated with the at least one remote UFV;

or

circuitry configured for receiving from the at least one remote UFV at least one hover indicator representative of at least one performance specification associated with the at least one remote UFV.

5. The UFV of claim 1, wherein the circuitry configured for receiving the one or more flight attributes indicative of one or more flight capabilities of the at least one remote UFV transmitted in response to the at least one request comprises:

at least one of

circuitry configured for receiving from the at least one remote UFV at least one maneuverability indicator representative of at least one performance specification associated with the at least one remote UFV;

circuitry configured for receiving from the at least one remote UFV at least one maneuverability class representative of at least one flight capability of the at least one remote UFV;

circuitry configured for receiving from the at least one remote UFV at least one maneuverability rating representative of at least one flight capability of the at least one remote UFV;

or

circuitry configured for receiving from the at least one remote UFV at least one maneuverability category representative of at least one flight capability of the at least one remote UFV.

6. The UFV of claim 1, wherein the circuitry configured for receiving the one or more flight attributes indicative of one or more flight capabilities of the at least one remote UFV transmitted in response to the at least one request comprises:

at least one of

circuitry configured for receiving from the at least one remote UFV at least one indication of at least one remaining available airtime for the at least one remote UFV;

circuitry configured for receiving from the at least one remote UFV at least one indication of at least one remaining available airtime for the at least one remote UFV prior to flight cessation;

or

circuitry configured for receiving from the at least one remote UFV at least one indication of at least one remaining available airtime for the at least one remote UFV prior to departure from an operational theater.

7. The UFV of claim 1, wherein the circuitry configured for determining at least one flight path adjustment corresponding to the at least one mission including at least the UFV and at least one remote UFV based at least partially on the received one or more flight attributes and based at least partially on the autonomous analysis of the at least one indication of at least one hazard associated with at least one mission including at least the UFV and at least one remote UFV comprises:

circuitry configured for determining at least one flight path adjustment corresponding to the at least one mission including at least the UFV and at least one remote UFV to avoid a collision of the UFV with the at least one remote UFV.

8. The UFV of claim 1, wherein the circuitry configured for determining at least one flight path adjustment corresponding to the at least one mission including at least the UFV and at least one remote UFV based at least partially on the received one or more flight attributes and based at least partially on the autonomous analysis of the at least one indication of at least one hazard associated with at least one mission including at least the UFV and at least one remote UFV comprises:

circuitry configured for determining at least one flight path adjustment corresponding to the at least one mission including at least the UFV and at least one remote UFV including at least descending the UFV to a particular altitude responsive at least partly to a minimum altitude flight capability associated with the at least one remote UFV, the particular altitude lower than the minimum altitude flight capability.

9. The UFV of claim 1, wherein the circuitry configured for determining at least one flight path adjustment corresponding to the at least one mission including at least the UFV and at least one remote UFV based at least partially on the received one or more flight attributes and based at least partially on the autonomous analysis of the at least one indication of at least one hazard associated with at least one mission including at least the UFV and at least one remote UFV comprises:

circuitry configured for determining at least one flight path adjustment corresponding to the at least one mission including at least the UFV and at least one remote UFV to avoid a flight bubble associated with the at least one remote UFV, at least one indication of the flight bubble received as at least a portion of the one or more flight attributes.

10. The UFV of claim 1, wherein the circuitry configured for determining at least one flight path adjustment corresponding to the at least one mission including at least the UFV and at least one remote UFV based at least partially on the received one or more flight attributes and based at least partially on the autonomous analysis of the at least one indication of at least one hazard associated with at least one mission including at least the UFV and at least one remote UFV comprises:

circuitry configured for determining at least one flight path adjustment corresponding to the at least one mission including at least the UFV and at least one remote UFV based at least partially on at least one comparison that includes at least one flight attribute of the one or more flight attributes.

11. The UFV of claim 10, wherein the circuitry configured for determining at least one flight path adjustment corresponding to the at least one mission including at least the UFV and at least one remote UFV based at least partially on at least one comparison that includes at least one flight attribute of the one or more flight attributes comprises:

circuitry configured for determining at least one flight path adjustment corresponding to the at least one mission including at least the UFV and at least one remote UFV based at least partially on at least one comparison that includes at least one flight capability associated with the at least one remote UFV and at least one flight capability of the UFV.

12. The UFV of claim 1, wherein the circuitry configured for determining at least one flight path adjustment corresponding to the at least one mission including at least the UFV and at least one remote UFV based at least partially on the received one or more flight attributes and based at least partially on the autonomous analysis of the at least one indication of at least one hazard associated with at least one mission including at least the UFV and at least one remote UFV comprises:

circuitry configured for determining at least one flight path adjustment corresponding to the at least one mission including at least the UFV and at least one remote UFV based at least partially on at least one negotiation that includes at least the UFV and the at least one remote UFV.

13. The UFV of claim 12, wherein the circuitry configured for determining at least one flight path adjustment corresponding to the at least one mission including at least the UFV and at least one remote UFV based at least partially on at least one negotiation that includes at least the UFV and the at least one remote UFV comprises:

at least one of

circuitry configured for transmitting to the at least one remote UFV at least one offer to make at least one adjustment to the flight path of the UFV to avoid a potential collision based at least partially on the one or more flight attributes;

or

circuitry configured for formulating the at least one offer to make the at least one adjustment to the flight path of the UFV responsive at least in part to a determination that the at least one remote UFV is less maneuverable than the UFV based at least partially on the one or more flight attributes.

14. The UFV of claim 12, wherein the circuitry configured for adjusting the flight path of the UFV based at least partially on at least one negotiation that includes at least the UFV and the at least one remote UFV comprises:

circuitry configured for transmitting to the at least one remote UFV at least one request to make at least one adjustment to a flight path of the at least one remote UFV based at least partially on the one or more flight attributes and at least one performance specification of the UFV.

15. The UFV of claim 1, wherein the circuitry configured for receiving the one or more flight attributes indicative of one or more flight capabilities of the at least one remote UFV transmitted in response to the at least one request comprises:

at least one of;

circuitry configured for receiving from the at least one remote UFV one or more performance specifications indicating at least one flight performance that is achievable beyond a currently occurring flight performance;

circuitry configured for receiving from the at least one remote UFV one or more performance specifications indicating at least one flight maneuverability that is achievable beyond a currently occurring flight maneuverability;

circuitry configured for receiving from the at least one remote UFV one or more performance specifications indicating at least one acceleration that is achievable beyond a currently occurring acceleration;

circuitry configured for receiving from the at least one remote UFV one or more performance specifications indicating at least a recommended sustained acceleration indicative of at least one sustained acceleration that is achievable beyond a currently occurring acceleration;

circuitry configured for receiving from the at least one remote UFV one or more performance specifications indicating at least a recommended turning ability indicative of at least one turning ability that is achievable beyond a currently occurring turning ability;

or

circuitry configured for receiving from the at least one remote UFV one or more performance specifications indicating at least a recommended sustained velocity indicative of at least one sustained velocity that is achievable beyond a currently occurring velocity.

16. The UFV of claim 1, wherein the circuitry configured for sending the autonomously formulated at least one request for one or more flight attributes indicative of one or more flight capabilities of the at least one remote UFV comprises:

circuitry configured for sending an offer to make an adjustment to the flight path of the UFV to avoid a potential collision based at least partially on one or more flight capabilities of the at least one remote UFV.

17. The UFV of claim 1, wherein the circuitry configured for sending the autonomously formulated at least one request for one or more flight attributes indicative of one or more flight capabilities of the at least one remote UFV comprises:

circuitry configured for sending a request to the at least one remote UFV asking for one or more of an indication of flying capabilities, an identification of craft or operator, an indication of flight path, a description of flight purpose, a flight trajectory, a description of flying state, a specified flight performance ability, an aircraft type, an altitude restriction, a safe acceleration level, an acceleration, a stability, a payload, or a destination.

18. The UFV of claim 1, wherein the circuitry configured for sending the autonomously formulated at least one request for one or more flight attributes indicative of one or more flight capabilities of the at least one remote UFV comprises:

circuitry configured for sending a request to the at least one remote UFV asking for a remaining available airtime including at least an indication of one or more of a time, a fuel level, a rate of fuel usage, an average rate of fuel usage, values usable to determine a time until flying operations are to cease due to insufficiency of fuel, an amount of jet fuel onboard, an amount of charge left in at least one battery, a rate of charge depletion, a total amount of time flight time remaining, a total amount of time remaining minus time to land safely for the at least one remote UFV prior to ceasing flight including at least one of prior to landing, before beginning to reach ground level, prior to starting a landing operation, or a number of minutes that may elapse until the remote UFV will begin to descend to a safe landing area.

19. The UFV of claim 1, wherein the circuitry configured for sending the autonomously formulated at least one request for one or more flight attributes indicative of one or more flight capabilities of the at least one remote UFV comprises:

circuitry configured for sending a request to the at least one remote UFV in at least one negotiation exchange of requests and responses between the UFV and the at least one remote UFV.

20. The UFV of claim 1, wherein the circuitry configured for sending the autonomously formulated at least one request for one or more flight attributes indicative of one or more flight capabilities of the at least one remote UFV comprises:

circuitry configured for sending a request to the at least one remote UFV in at least one negotiated exchange of requests and responses between the UFV and the at least one remote UFV including at least one of an offer and an acceptance, an offer to adjust a flight path and a rejection, an offer and a counter-offer, a suggestion for an alteration to a planned course, an exchange of signals, a request to adjust a flight path, a rejection of a request, an acceptance of a request, a swapping of offers, intentions or requests.

21. The UFV of claim 1, further comprising:

circuitry configured for autonomously formulating at least one request to adjust the flight path for transmission to the at least one remote UFV based at least partially on the determined at least one flight path adjustment; and

circuitry configured for transmitting to the at least one remote UFV the at least one request to adjust the flight path.

22. The UFV of claim 1, wherein the circuitry configured for obtaining at least one indication of at least one hazard associated with at least one mission including at least the UFV and at least one remote UFV includes:

circuitry configured for detecting at least one indication of at least one hazard associated with at least one mission including at least the UFV and at least one remote UFV.

23. The UFV of claim 1, wherein the circuitry configured for obtaining at least one indication of at least one hazard associated with at least one mission including at least the UFV and at least one remote UFV includes:

one or more sensors configured for sensing at least one indication of at least one hazard associated with at least one mission including at least the UFV and at least one remote UFV.

24. The UFV of claim 1, wherein the circuitry configured for obtaining at least one indication of at least one hazard associated with at least one mission including at least the UFV and at least one remote UFV includes:

circuitry configured for receiving at least one indication of at least one hazard associated with at least one mission including at least the UFV and at least one remote UFV from at least one of a base station or at least one remote UFV.

25. The UFV of claim 1, wherein the circuitry configured for obtaining at least one indication of at least one hazard associated with at least one mission including at least the UFV and at least one remote UFV includes:

circuitry configured for obtaining at least one indication of at least one hazard associated with at least one mission including at least the UFV and at least one remote UFV, the at least one hazard including at least one of other unoccupied flying vehicles, occupied flying vehicles, ground, buildings, structures on ground, moving objects, weather conditions, or stationary objects.

26. The UFV of claim 1, wherein the circuitry configured for autonomously analyzing the at least one indication of at least one hazard associated with at least one mission including at least the UFV and at least one remote UFV includes:

circuitry configured for autonomously determining one or more flight control decisions based at least partially on the at least one indication of at least one hazard associated with at least one mission including at least the UFV and at least one remote UFV.

27. The UFV of claim 1, wherein the circuitry configured for autonomously analyzing the at least one indication of at least one hazard associated with at least one mission including at least the UFV and at least one remote UFV includes:

circuitry configured for autonomously analyzing the at least one indication of at least one hazard including at least one determination of a prediction associated with at least one hazard based at least partially on the at least one indication of at least one hazard associated with at least one mission including at least the UFV and at least one remote UFV.

28. The UFV of claim 1, wherein the circuitry configured for autonomously analyzing the at least one indication of at least one hazard associated with at least one mission including at least the UFV and at least one remote UFV includes:

circuitry configured for autonomously analyzing the at least one indication of at least one hazard including at least one determination of at least one of an avoidance, a management, a mitigation, a coordination, a cooperation, or an elimination associated with at least one hazard based at least partially on the at least one indication of at least one hazard associated with at least one mission including at least the UFV and at least one remote UFV.

29. The UFV of claim 1, wherein the circuitry configured for autonomously formulating at least one request for one or more flight attributes indicative of one or more flight capabilities of the at least one remote UFV based at least partially on the autonomous analysis of the at least one indication of at least one hazard associated with at least one mission including at least the UFV and at least one remote UFV includes:

circuitry configured for autonomously formulating at least one request for one or more flight attributes indicative of at least one of identification of craft or operator, indication of flight path, description of flight purpose, flight trajectory, description of flying state, a specified flight performance ability, an aircraft type, altitude restrictions, a safe acceleration level, acceleration, stability, payload, or destination of the at least one remote UFV based at least partially on the autonomous analysis of the at least one indication of at least one hazard associated with at least one mission including at least the UFV and at least one remote UFV.

30. The UFV of claim 1, wherein the circuitry configured for autonomously formulating at least one request for one or more flight attributes indicative of one or more flight capabilities of the at least one remote UFV based at least partially on the autonomous analysis of the at least one indication of at least one hazard associated with at least one mission including at least the UFV and at least one remote UFV includes:

circuitry configured for autonomously formulating at least one request for a rate at which the at least one remote UFV is able to reduce speed based at least partially on the autonomous analysis of the at least one indication of at least one hazard associated with at least one mission including at least the UFV and at least one remote UFV.

31. The UFV of claim 1, wherein the circuitry configured for adjusting at least one flight path of at least the UFV based at least partially on the determined at least one flight path adjustment includes:

circuitry configured for controlling at least one motility mechanism of the UFV for adjusting at least one flight path of at least the UFV based at least partially on the determined at least one flight path adjustment.

32. A method at least partially implemented by at least one machine comprising:

autonomously controlling an unoccupied flying vehicle (UFV) including at least;

obtaining at least one indication of at least one hazard associated with at least one mission including at least the UFV and at least one remote UFV;

autonomously analyzing the at least one indication of at least one hazard associated with at least one mission including at least the UFV and at least one remote UFV;

autonomously formulating at least one request for one or more flight attributes indicative of one or more flight capabilities of the at least one remote UFV based at least partially on the autonomous analysis of the at least one indication of at least one hazard associated with at least one mission including at least the UFV and at least one remote UFV;

sending the autonomously formulated at least one request for one or more flight attributes indicative of one or more flight capabilities of the at least one remote UFV;

receiving the one or more flight attributes indicative of one or more flight capabilities of the at least one remote UFV transmitted in response to the at least one request;

determining at least one flight path adjustment corresponding to the at least one mission including the UFV and at least one remote UFV based at least partially on the received one or more flight attributes and based at least partially on the autonomous analysis of the at least one indication of at least one hazard associated with at least one mission including at least the UFV and at least one remote UFV; and

adjusting at least one flight path of at least the UFV based at least partially on the determined at least one flight path adjustment.

33. A system comprising:

means for autonomously controlling an unoccupied flying vehicle (UFV) including at least;

means for obtaining at least one indication of at least one hazard associated with at least one mission including at least the UFV and at least one remote UFV;

means for autonomously analyzing the at least one indication of at least one hazard associated with at least one mission including at least the UFV and at least one remote UFV;

means for autonomously formulating at least one request for one or more flight attributes indicative of one or more flight capabilities of the at least one remote UFV based at least partially on the autonomous analysis of the at least one indication of at least one hazard associated with at least one mission including at least the UFV and at least one remote UFV;

means for sending the autonomously formulated at least one request for one or more flight attributes indicative of one or more flight capabilities of the at least one remote UFV;

means for receiving the one or more flight attributes indicative of one or more flight capabilities of the at least one remote UFV transmitted in response to the at least one request;

means for determining at least one flight path adjustment corresponding to the at least one mission including the UFV and at least one remote UFV based at least partially on the received one or more flight attributes and based at least partially on the autonomous analysis of the at least one indication of at least one hazard associated with at least one mission including at least the UFV and at least one remote UFV; and

means for adjusting at least one flight path of at least the UFV based at least partially on the determined at least one flight path adjustment.