CA2881744C

CA2881744C - Unmanned vehicle (uv) control system and uv movement and data control system

Info

Publication number: CA2881744C
Application number: CA2881744A
Authority: CA
Inventors: Pramila Mullan; Walid Negm; Edy S. Liongosari; Paul Barsamian; Brian Richards; Sang-Ik Kim; Michael Mui; Robert Fenney
Original assignee: Accenture Global Services Ltd
Current assignee: Accenture Global Services Ltd
Priority date: 2014-02-14
Filing date: 2015-02-13
Publication date: 2017-03-07
Anticipated expiration: 2035-02-13
Also published as: CA2881744A1

Abstract

Unmanned vehicle (UV) control may include receiving a UV work order and generating a mission request based on the UV work order. The mission request may identify an objective of a mission, assign a UV and a sensor to the mission from a fleet of UVs and sensors, and assign a first movement plan to the mission based on the identified objective of the mission. The assigned UV may be controlled according to the assigned first movement plan, and communication data may be received from the assigned sensor. The communication data may be analyzed to identify an event related to the mission. The identified event and the first movement plan may be analyzed to assign a second movement plan to the mission based on the analysis of the identified event and the first movement plan to meet the identified objective of the mission.

Description

, , , D14-092-02678-00-US and US2 ' PATENT
UNMANNED VEHICLE (UV) CONTROL SYSTEM AND UV MOVEMENT AND
DATA CONTROL SYSTEM
BACKGROUND
[0001] Unmanned vehicles (UVs) such as aerial vehicles (e.g., Unmanned aerial vehicles (UAVs), or drones), land vehicles, or even collaborative robots are typically operated without a human aboard. UVs may include three types of platforms based on their ability to control their operation. For example, UVs may be categorized as remote controlled (RC), task following, and semi to fully autonomous.

[0002] RC platform based UVs typically do not include the capability to control the UV behavior, and rely on an external operator to perform tasks. For example, a RC platform based UV may be instructed by an operator who has a line-of-sight to the UV to implement every behavior change, and to guide the UV through each task that is to be performed.

[0003] A task following platform based UV may include the ability to receive instructions on how to perform a task, and then repeat the task until receiving instructions to stop performing the task, or based on the occurrence of an exception that the UV has been preprogrammed to respond to. An operator for a task following platform based UV may monitor the status of the UV, and then report the results of the task following platform based UV's execution. Task following , i D14-092-02678-00-US and US2 PATENT
platform based UVs may be operated without a line-of-sight to the UV, even when the UV is being manually controlled by an operator. For example, a video camera mounted on the UV and a wireless video link (e.g., a "first-person-view", or FPV) may allow an operator to control the UV without line of site.

[0004] A semi or fully autonomous platform (e.g., "smart platform") based UV
may receive instructions related to a task. Based on access to real-time sensor data on the UV and a set of objectives that are specified by the instructions, the semi or fully autonomous platform based UV may be deployed to follow the instructions.

SUMMARY
[0004a] In an aspect, there is provided an unmanned vehicle (UV) control system comprising: a fleet and mission operations controller, executed by at least one hardware processor, to receive a UV work order and to generate a mission request based on the UV work order, the mission request identifying an objective of a mission, assigning a UV and a sensor to the mission from a fleet of UVs and sensors, and assigning a first movement plan to the mission based on the identified objective of the mission; a mission controller, executed by the at least one hardware processor, to control the assigned UV according to the assigned first movement plan, and receive communication data from the assigned sensor, wherein the communication data includes telemetry data and video stream data; and an event detector, executed by the at least one hardware processor, to receive the communication data that includes the telemetry data and the video stream data, combine the telemetry data and the video stream data, analyze the combined telemetry data and the video stream data to identify an event related to the mission, and forward the identified event to the fleet and mission operations controller to analyze the identified event and the first movement plan, and assign a second movement plan to the mission based on the analysis of the identified event and the first movement plan to meet the identified objective of the mission, wherein the second movement plan is different than the first movement plan, wherein the mission controller is to control the assigned UV
according to the assigned second movement plan, and wherein the fleet and mission operations controller and the event detector are hosted in an off-site facility relative to the assigned UV.
2a [0004b] In another aspect, there is provided a method for unmanned vehicle (UV) control, the method comprising: generating, by a fleet and mission operations controller that is executed by at least one hardware processor, a mission request to identify an objective of a mission, assign a UV and a sensor to the mission from a fleet of UVs and sensors, and assign a first movement plan to the mission based on the identified objective of the mission; controlling, by a mission controller that is executed by the at least one hardware processor, the assigned UV according to the assigned first movement plan; receiving, by an event detector that is executed by the at least one hardware processor, communication data that includes telemetry data and video stream data; analyzing, by the event detector, the communication data from the assigned sensor by combining the telemetry data and the video stream data to identify an event related to the mission; analyzing, by the fleet and mission operations controller, the identified event and the first movement plan; assigning, by the fleet and mission operations controller, a second movement plan to the mission based on the analysis of the identified event and the first movement plan to meet the identified objective of the mission, wherein the second movement plan is different than the first movement plan; and controlling, by the mission controller, the assigned UV
according to the assigned second movement plan.
[0004c] In another aspect, there is provided a non-transitory computer readable medium having stored thereon machine readable instructions for UV control, the machine readable instructions when executed cause at least one hardware processor to: receive, at a mission controller that is executed by the at least one hardware processor, a mission request that identifies an objective of a mission, assigns a UV
2b and a sensor to the mission from a fleet of UVs and sensors, and assigns a first movement plan to the mission based on the identified objective of the mission;
control, by the mission controller, the assigned UV according to the assigned first movement plan; receive, by an event detector that is executed by the at least one hardware processor, communication data that includes telemetry data and video stream data;
analyze, by the event detector that is executed by the at least one hardware processor, the communication data from the assigned sensor by combining the telemetry data and the video stream data to identify an event related to the mission;
analyze, by a fleet and mission operations controller, the identified event and the first movement plan; and receive, at the mission controller, a second movement plan for the mission based on the analysis of the identified event and the first movement plan to meet the identified objective of the mission, wherein the second movement plan is different than the first movement plan.
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BRIEF DESCRIPTION OF DRAWINGS

[0005] Features of the present disclosure are illustrated by way of examples shown in the following figures. In the following figures, like numerals indicate like elements, in which:

[0006] Figure 1 illustrates a detailed architecture of a UV control system, according to an example of the present disclosure;

[0007] Figure 2 illustrates a mission console of the UV control system of Figure 1, according to an example of the present disclosure;

[0008] Figures 3A-3C illustrate an environment for operation of the UV
control system of Figure 1, according to an example of the present disclosure;

[0009] Figure 4 illustrates an output of an event detector of the UV
control system of Figure 1, according to an example of the present disclosure;

[0010] Figure 5 illustrates an architecture of a mission controller of the UV
control system of Figure 1 for processing data from sensors, according to an example of the present disclosure;

[0011] Figure 6 illustrates an architecture of an event detector of the UV control system of Figure 1, according to an example of the present disclosure;

[0012] Figure 7 illustrates a screenshot of an event detection analytics processing video of the UV control system of Figure 1, according to an example of the present disclosure;

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[0013] Figure 8 illustrates a screenshot of an event detection analytics processing video of the UV control system of Figure 1, according to an example of the present disclosure;

[0014] Figure 9 illustrates a method for UV control, according to an example of the present disclosure;

[0015] Figure 10 illustrates further details of the method for UV
control, according to an example of the present disclosure;

[0016] Figure 11 illustrates a computer system, according to an example of the present disclosure.

[0017] Figure 12 illustrates a detailed architecture of a UV movement and data control system, according to an example of the present disclosure;

[0018] Figure 13 illustrates a logic diagram of components of UV
movement and data control system of Figure 12 for event detection, according to an example of the present disclosure;

[0019] Figure 14 illustrates a method for UV movement and data control, according to an example of the present disclosure;

[0020] Figure 15 illustrates further details of the method for UV
movement and data control, according to an example of the present disclosure; and

[0021] Figure 16 illustrates a computer system, according to an example of the present disclosure.

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DETAILED DESCRIPTION

[0022] For simplicity and illustrative purposes, the present disclosure is described by referring mainly to examples thereof. In the following description, numerous specific details are set forth in order to provide a thorough understanding of the present disclosure. It will be readily apparent however, that the present disclosure may be practiced without limitation to these specific details. In other instances, some methods and structures have not been described in detail so as not to unnecessarily obscure the present disclosure.

[0023] Throughout the present disclosure, the terms "a" and "an"
are intended to denote at least one of a particular element. As used herein, the term "includes"
means includes but not limited to, the term "including" means including but not limited to. The term "based on" means based at least in part on.

[0024] Unmanned vehicles (UVs) such as aerial vehicles (e.g., Unmanned aerial vehicles (UAVs), or drones), land vehicles, or even collaborative robots are typically operated without a human aboard. With improvements in sensors, data analytics capabilities, and programmatic mechanization components, UVs may be used in a variety of ambiguous environments, and for performance of a variety of ambiguous tasks. For example, UVs may be used for package delivery, agriculture, emergency services, pipeline inspection, etc. However, integration of UVs in a workflow involving such areas is limited.

[0025] According to examples, a UV control system and a method for UV
control are disclosed herein. The system and method disclosed herein may D14-092-02678-00-US and US2 PATENT
generally utilize a hardware implemented mission manager and a hardware implemented event detector to assign and manage a mission upon receipt of a work order. The mission manager may maintain knowledge of a fleet of UVs, sensors, and crew, as well as information regarding work order status, and mission status. A hardware implemented fleet and mission operations controller may operate in conjunction with the mission manager to translate the work order into a mission request by assigning UVs, sensors, and crew to the mission request, identifying a movement plan, and an objective for the mission. Once the mission is launched, the event detector may analyze communication data received during the mission, and generate alarms to the mission manager when events that may result in potential problems are detected. The fleet and mission operations controller may operate in conjunction with the mission manager to modify the UV movement plan, and adjust, in real-time, movement plans of the UV based on the events.

[0026] With respect to the mission manager that tracks information regarding UVs, sensors, and UV operation crew, UVs may be tracked, for example, by type, availability, and ability to mount particular sensors. The mission manager may also track sensors by type, availability, and ability to be mounted on particular UVs. UV
operation crews may also be tracked by availability and ability to operate particular UVs.

[0027] The fleet and mission operations controller may receive a work order related to UV mission. According to an example, work orders may be received from various enterprises and cover a variety of applications of UVs. The fleet and D14-092-02678-00-US and US2 PATENT
mission operations controller may operate in conjunction with the mission manager to translate a work order into a mission request. A mission request may identify, for example, an operation for a UV, a type of a UV to complete the operation, at least one type of sensor to be mounted on the UV, a UV operation crew, a movement plan, and/or an objective for the mission. For example, a mission request may indicate that a fixed wing UAV or quadcopter (i.e., types of UAVs) may be equipped with a video camera, a gas detector, an infrared (IR) camera, and/or a pressure sensor to detect leaks in an oil pipeline.

[0028] After launching the mission, the UV may follow the movement plan autonomously, or with varying degrees of remote operator guidance from a hardware implemented movement planning controller operated by an operations crew. Sensors mounted onto the UV may transmit data in real-time to a ground station on the field, such as a portable device with a hardware implemented UV

data receiver, and the ground station may transmit the data to the event detector, which may be disposed off-site. The event detector may process the data to identify an event. When an event is identified, the event detector may transmit an alarm to the fleet and mission operations controller for further review by a mission operator. The alarm may include information such as an identification of the event, data associated with the event, a location of the event, etc. After reviewing the event, the mission manager may operate in conjunction with the fleet and mission operations controller to generate instructions in real-time with an updated movement plan for a UV operator.

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[0029] The system and method disclosed herein may be used in a variety of environments and for a variety of purposes. For example, the system and method disclosed herein may be used to monitor a pipeline in the oil and gas industry. In the oil and gas industry, the system and method disclosed herein may be used in other scenarios, including other types of exploration (e.g., site survey, site drilling, etc.), development (e.g., pad placement, facility rendering, capital project, surveillance, etc.), production (e.g., flare/vent inspection, oil sheen detection, disaster prevention, etc.), manufacturing (flute/chimney inspection, tank/gas inspection, gas detection, etc.), and transportation (e.g., right of way monitoring, theft monitoring, etc.).

[0030] The system and method disclosed herein may be used in package delivery (e.g., food, medicine, equipment, etc.), aerial surveillance (e.g., police/fire department, cartography, photography, film, journalism, real estate, etc.), exploration (e.g., mine detection, site survey, etc.), research (e.g., wildlife, atmosphere, ocean, etc.), remote sensing (e.g., telecommunications, weather, maritime, construction, etc.), disaster relief (e.g., survivors, explore contaminated areas, etc.), environment (e.g., forest fires, threats, etc.), and agriculture (e.g., spray pesticides, crop growth, disease, irrigation level, wild animals, etc.).

[0031] The system and method disclosed herein may be used for scheduling of predictive maintenance to provide asset inspection, diagnostics, repair, and maintenance work. Further, the system and method disclosed herein may be used, for example, to identify and schedule environmental (e.g., terrain, vegetation, , ' D14-092-02678-00-US and US2 PATENT
etc.) management. The system and method disclosed herein may also provide for enhancements in safety and environmental protection related to the various activities described herein. For example, with respect to the oil and gas industry, the system and method disclosed herein may be used to protect assets from sabotage, illegal tapping, and terrorist actions in an efficient and economical manner.

[0032] The system and method disclosed herein may be used to analyze data from a UV to determine tasks that may be both electronically and mechanically automated in a workflow, and to identify insights that may be obtained from the data. These insights may be used to drive operational decisions, such as shortening lead time to problem detection, or predictive maintenance with pipelines, for example, in the oil and gas industry. The system and method disclosed herein may provide for the reduction of exposure to hazardous environments, increase efficiency and effectiveness with respect to UV
control, and optimize operations.

[0033] Generally, the system and method disclosed herein may be envisioned in a broad range of applications where drones or UVs may be used to reduce cost, increase safety, and increase productivity.

[0034] The system and method disclosed herein may account for aspects related to the state of UV technology, regulation and compliance, readiness, and safety and privacy. With respect to UV technology, the system and method disclosed herein may provide the hardware and software platform and setup for UV

µ
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control. The system and method disclosed herein may also provide for implementation of aspects such as optimal movement planning operations and life cycle management, selection of specialized sensors, direct data transmission from a UV, UV infrastructure and availability management, task distribution among multiple UVs, and reprioritization of UV objectives. With respect to security, safety, and regulations, the system and method disclosed herein may provide for constraints based on local regulations and certification, UV certification and operator training, requirements regarding reporting of incidents to authorities, obstacle avoidance, authentication and authorization of missions, ensuring that a mission has not been compromised or sabotaged, and protection against misuse.
The system and method disclosed herein may also provide for secure transmission of data from the event detector that may be implemented in a cloud environment, end-to-end process integration, analytics requirements based on vertical industry, data storage and security, defining business rules, and redefining workflows to incorporate use of the UVs and availability of new insights into related processes.

[0035] For the system and method disclosed herein, a hardware implemented order generator may generate and/or submit work orders to the fleet and mission operations controller. The hardware implemented order generator may execute machine readable instructions to generate and/or submit the work orders, and/or be implemented to include and/or utilize a cloud based service to generate and/or submit the work orders.

D14-092-02678-00-US and US2 PATENT

[0036] For the system and method disclosed herein, the fleet and mission operations controller may perform various tasks, such as, specification of mission objectives and routes, scheduling of missions, assignment of a mission operator and assistant, assignment of UV equipment, monitoring of missions in progress, making adjustments to mission requirements. Further, the fleet and mission operations controller may operate in conjunction with the mission manager to generate a mission request from a work order.

[0037] For the system and method disclosed herein, the movement planning controller may plan and execute a mission. Further, the movement planning controller may monitor the FPV to ensure that mission objectives are being met, and adjust mission routes as needed.

[0038] For the system and method disclosed herein, a hardware implemented mission planning controller may manage, for example, a camera gimbal and a video camera, and monitor video capture to ensure quality.

[0039] According to examples disclosed herein, the UV control system may include the hardware implemented fleet and mission operations controller that is executed by at least one hardware processor to receive a UV work order and to generate a mission request based on the UV work order. According to an example, the mission request may include an identification of an objective of a mission, an assignment of a UV and a sensor to the mission from a fleet of UVs and sensors, and an assignment of a first movement plan to the mission based on the identified objective of the mission.

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[0040] According to an example, the hardware implemented mission controller that is executed by the at least one hardware processor may control the assigned UV according to the assigned first movement plan, and receive communication data from the assigned sensor.

[0041] According to an example, the hardware implemented event detector that is executed by the at least one hardware processor may analyze the communication data to identify an event related to the mission, and forward the identified event to the hardware implemented fleet and mission operations controller. The mission operations controller may analyze the identified event and the first movement plan, and assign a second movement plan to the mission based on the analysis of the identified event and the first movement plan to meet the identified objective of the mission. The second movement plan may be different than the first movement plan. The hardware implemented mission controller may control the assigned UV according to the assigned second movement plan.
According to an example, the first movement plan may include predefined way points and alternate points for the UV based on the identified objective of the mission, and the second movement plan may include one or more different predefined way points from the predefined way points and one or more different alternate points from the alternate points for the UV based on the analysis of the identified event to meet the identified objective of the mission.

[0042] According to an example, a hardware implemented compliance evaluator that is executed by the at least one hardware processor may determine whether D14-092-02678-00-US and US2 PATENT
the mission request is compliant with regulations. In response to a determination that the mission request is compliant with regulations, the hardware implemented compliance evaluator may forward the mission request to the hardware implemented mission controller. For example, the hardware implemented compliance evaluator may determine whether the assigned UV and a UV operation crew associated with the mission request is compliant with regulations. The hardware implemented compliance evaluator may also determine, on a continuous or semi-continuous basis, whether additional in-flight changes to a mission, based on sensor requests, deviate from the mission request.

[0043] According to an example, the sensor may include a video camera, and the hardware implemented mission controller may generate a real-time display from the video camera, receive instructions to modify movement of the UV based on an analysis of the real-time display from the video camera, and modify movement of the UV based on the received instructions.

[0044] According to an example, the hardware implemented event detector may analyze the communication data to identify the event that includes a potential leak or an intruder related to a pipeline.

[0045] According to an example, the hardware implemented event detector may analyze the communication data to identify the event related to a pipeline, and generate instructions for preventative actions with respect to the pipeline based on the identification of the event.

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[0046] According to an example, the hardware implemented mission controller may generate a real-time display related to the event, where the real-time display includes a characterization of a type and a severity level of the event.

[0047] The UV control system and the method for UV control disclosed herein provide a technical solution to technical problems related, for example, to UV
control. The system and method disclosed herein provide the technical solution of the hardware implemented fleet and mission operations controller that is executed by at least one hardware processor to receive a UV work order and to generate a mission request based on the UV work order. The mission request may include an identification of an objective of a mission, an assignment of a UV and a sensor to the mission from a fleet of UVs and sensors, and an assignment of a first movement plan to the mission based on the identified objective of the mission.

According to an example, the hardware implemented mission controller that is executed by the at least one hardware processor may control the assigned UV
according to the assigned first movement plan, and receive communication data from the assigned sensor. According to an example, the hardware implemented event detector that is executed by the at least one hardware processor may analyze the communication data to identify an event related to the mission, and forward the identified event to the hardware implemented fleet and mission operations controller. The mission operations controller may analyze the identified event and the first movement plan, and assign a second movement plan to the mission based on the analysis of the identified event and the first movement plan to , .
' D14-092-02678-00-US and US2 PATENT
meet the identified objective of the mission. The second movement plan may be different than the first movement plan. The hardware implemented mission controller may control the assigned UV according to the assigned second movement plan. According to an example, a hardware implemented compliance evaluator that is executed by the at least one hardware processor may determine whether the mission request is compliant with regulations. In response to a determination that the mission request is compliant with regulations, the hardware implemented compliance evaluator may forward the mission request to the hardware implemented mission controller. For example, the hardware implemented compliance evaluator may determine whether the assigned UV and a UV operation crew associated with the mission request is compliant with regulations.

[0048] The hardware implemented components described herein with respect to the system and method disclosed herein may execute machine readable instructions, and/or be implemented to provide and/or utilize a cloud based service.

[0049] Figure 1 illustrates a detailed architecture of a UV
control system 100, according to an example of the present disclosure. The UV control system 100 may include a hardware implemented mission controller 102 that is to perform various operations related, for example, to mission planning, movement planning, and receiving of data from a UV 104. The UV 104 may include a plurality of UVs.
The UV 104 may include a sensor 106. The sensor 106 may include a plurality of sensors. The UV 104 may encompass all types of UVs, including a variety of . .
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aerial, land, space, and marine UVs. The UV 104 may take off (e.g., for an aerial UV), navigate, capture data, transmit collected data, return, and land without human interaction.

[0050]
The sensor 106 may gather data associated with a mission. The sensor 106 may include a variety of types of sensors that may be categorized as sight sensors, sound sensors, touch sensors, smell sensors, position sensors, external communication sensors, proximity sensors, and other (e.g., miscellaneous sensors). The sight sensors may include sensors for ascertaining light intensity, color, distance (e.g., by infrared (IR), measuring angle of light bounce), video capture, rotation (e.g., optical encoders), and/or light signal read (e.g., infrared codes). The sound sensors may include sensors (e.g., a microphone) for ascertaining volume (e.g., decibel meter), frequency measurement, and/or distance (e.g., sonar, measuring time to echo). The touch sensors may include sensors for ascertaining position awareness (e.g., collision alert, contact confirmation, etc.), bend/strain, temperature, and/or pressure (e.g., barometric, grip strength, etc.).
The smell sensors may include sensors such as gas sensors, alcohol sensors, etc.
The position sensors may include sensors (e.g., accelerometer, digital compass, gyroscope) for ascertaining location (e.g., based on global positioning system (GPS), proximity to a beacon, etc.), and/or tilt. The external communication sensors may include sensors for ascertaining radio communication, and/or IR
codes. The proximity sensors may include sensors to ascertain nearness in space, time, and/or relationship. The miscellaneous sensors may include sensors for , , D14-092-02678-00-US and US2 PATENT
ascertaining date and time (e.g., ultra-low frequency (ULF) updates), network communication status, and/or voltage (e.g., low fuel, low battery).

[0051] The UV 104 may also include various components for processing, and generating outputs. For example, with respect to processing, the UV 104 may provide for sensor data processing for analog and digital input/output (I/O), kinematics (e.g., position and orientation of objects), proportional-integral-derivative (P1D) feedback control, rules application (e.g., if this, do that), navigation (e.g., move to a waypoint), mission execution (e.g., manage multiple waypoints), telemetry management (e.g., summarizing telemetry data), counter, audio/voice processing (e.g., speech to text, text to speech), manage date/time, and data management (e.g., memory, disk, etc.). With respect to processing, the UV 104 may provide for outputs such as movement, motors (e.g., servos, stepper, brushless), hydraulics, pneumatics, gravity release, visual indicators/feedback, LEDs, LCDs, displays, audio indicators/feedback, speaker, buzzer, etc., voltage change (e.g., not in use, go to low power mode), and external communication subsystems (e.g., radio, IR codes).

[0052] In the example of Figure 1, the UV 104 and the mission controller 102 may be disposed in a field (e.g., above dashed line 108), whereas the fleet and mission operations controller 110, the mission manager 112, the compliance evaluator 114, and the event detector 116 may be hosted in an off-site facility (e.g., below the dashed line 108), such as a cloud environment 118. In some examples, the cloud environment 118 may be a data center or another distributed network ' , .
D14-092-02678-00-US and US2 PATENT
capable of processing relatively large amounts of data in real time. In other examples, the components of the UV control system 100 that are located in an off-site facility may be based, for example, on the hardware capabilities of chips installed on the UV 104, a size and power associated with the UV 104, and processing requirements of a mission executed by the UV 104.

[0053] The mission planning controller 120 may enable the UV 104 to be programmed to run autonomously. The UV 104 may be equipped with the sensor 106 and intelligence to maintain altitude and a stabilized flight (e.g., for an aerial UV). The sensor 106 may be used to determine the position and altitude of the UV
104 at any given point in time. This enables the UV 104 to navigate between two points according to pre-defined waypoints, without any human interaction during the flight (e.g., for an aerial UV). The mission planning controller 120 may generate a display of the mission details that may be viewed by a UV operation crew (e.g., a pilot and/or assistant).

[0054] The movement planning controller 122 may be used to launch the UV
104, and control the UV flight path (e.g., for an aerial UV) and associated sensors.
Once the UV 104 begins its movement plan from the launch point, the mission planning controller 120 may communicate with the mission manager 112 to indicate the beginning of the mission. According to an example, the mission controller 102 may be stored on a tablet or another portable device.

[0055] A hardware implemented UV data receiver 124 may be used to receive various types of communication data from the UV 104. The communication data . .
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may be used, for example, by the event detector 116 to determine events related to an objective of the mission.

[0056] The fleet and mission operations controller 110 may receive a work order from the order generator 130. The work order may identify a problem detected, for example, at a particular location or region of a pipeline that requires further exploration. The mission manager 112 may maintain information regarding UVs and sensors in inventory. For example, the mission manager 112 may track UVs by type, availability, and an ability to mount particular sensors. The mission manager 112 may also track sensors by type, availability, and ability to be mounted on a particular UV.

[0057] The fleet and mission operations controller 110 may operate in conjunction with the mission manager 112 to convert the UV work order 126 to a mission request 128 (see Figure 3A). For an aerial UV, the mission request 128 may specify, for example, a flight time, a flight plan, equipment (e.g., the specific UV, sensors, and any UV operation crew). The flight plan may include a launch point, predefined way points, alternate rally points, payload requirements, video or other data gathering requirements, payload operation instructions, and/or mission objectives.

[0058] The compliance evaluator 114 may confirm whether the mission request complies with regulations (e.g., government regulations) governing the use of UVs, as well as with other policies related to UVs.

[0059] The mission manager 112 may schedule and assign the mission.

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Specifically the mission manager 112 may assign the UV 104 (or a plurality of UVs), the sensor 106 (or a plurality of sensors), and any UV operation crew to a location for completing the mission request.

[0060] The mission controller 102 may receive the mission request from the mission manager 112, and operate the assigned UV 104 according to the movement plan. The UV 104 may follow the movement plan autonomously or with varying degrees of remote operator guidance from the movement planning controller 122 that may be operated by a UV operation crew.

[0061] Data from the sensor 106 may be received at the UV data receiver 124, and forwarded (e.g., pushed) in real-time to the event detector 116.
Alternatively or additionally, data from the sensor 106 may be communicated directly to the event detector 116 based on the placement of hardware associated with the event detector 116 near the edge of the field (e.g., dashed line 108) or within the field.

[0062] The event detector 116 may interpret the data from the sensor 106 in real-time to detect any events or potential problems that warrant further exploration. The event detector 116 may include, for example, event processing, video stream playback, facial recognition, blob detection, and general inspection for the pipeline example described herein. However, those skilled in the art will appreciate in view of this disclosure that the processing capabilities of the event detector 116 may vary depending on the purpose of the mission and the types of sensors that are used for the UV 104.

[0063] If an event is detected, the event detector 116 may generate an alert . .
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and forward the alert to the fleet and mission operations controller 110.
Further, data associated with the event may be displayed in real-time at the fleet and mission operations controller 110. The data associated with the event may be analyzed by the fleet and mission operations controller 110 and the mission manager 112. Based on the analysis of the data, the fleet and mission operations controller 110 may operate in conjunction with the mission manager 112 to communicate to the mission controller 102 a change in movement plan or other further instructions, such as a notification that the mission is complete and an instruction to dismount the sensors from the UV 104 and leave the field.

[0064] Figure 2 illustrates a mission console 200 of the UV control system 100, according to an example of the present disclosure. The mission console 200 may be used to display various types of status related to a mission, such as, work order status, and mission status. The mission manager 112 may manage work orders.
For example, the mission manager 112 may track a total number of the work orders, as well as a status of each work order, such as under review, scheduled for mission, mission in progress, and mission completed. The mission manager 112 may also track the UVs and sensors in inventory. For example, for each UV 104 and sensor 106, the mission manager 112 may track a status (e.g., available, in maintenance, or assigned), a type (e.g., fixed wing or quadcopter for a vehicle, and pressure, gas, IR, or video for a sensor), and a location. The mission manager may also keep track of which type of UVs each sensor may be used on. For example, IR cameras and their associated gimbals may be mounted on a specific . , D14-092-02678-00-US and US2 PATENT
UV. The mission manager 112 may provide for the selection of a particular available UV and available sensors based on mission objectives.

[0065] Figures 3A-3C illustrate an environment for operation of the UV control system 100, according to an example of the present disclosure.

[0066] Referring to Figure 3A, at 300, a UV work order 126 may be received at the fleet and mission operations controller 110 from the order generator 130.
In the example of Figures 3A-3C, the UV work order 126 may be related to monitoring of pipeline conditions and other characteristics of interest. The UV work order may include, for example, a mission date, a mission time, and/or a mission objective (e.g., check pipeline sections A, B, and C for leaks). For example, the UV
work order 126 may include a request for inspection which states that a potential leak was detected in a certain region of the pipeline and warrants further exploration.

[0067] At 302, the fleet and mission operations controller 110 may convert the UV work order 126 to the mission request 128. The mission request 128 may be determined based on a time for a mission, and include aspects related to compliance requirements for the mission, selection of the UV 104 with specified equipment, selection of a mission operator and assistant, identification of an objective for the mission (e.g., to identify a potential leak), and specification of a required movement path. The mission request 128 may be sent to the mission manager 112 for further analysis.

[0068] At 304, the mission manager 112 may forward the mission request 128 ..
. , D14-092-02678-00-US and US2 PATENT
to the compliance evaluator 114 to determine whether the mission request 128 is in compliance with regulations (e.g., government, or other regulations). For example, the compliance evaluator 114 may determine whether equipment associated with the UV 104 as well as any UV operation crew are in compliance with regulations.

[0069] At 306, in response to a determination that the mission request 128 is not in compliance with regulations, the mission request 128 may be returned to the order generator 130, where a modified UV work order 126 may be re-submitted to the fleet and mission operations controller 110.

[0070] At 308, in response to a determination that the mission request 128 is in compliance with regulations, at 310, the mission request 128 may be forwarded to the mission controller 102. The mission request 128 may include information such as the UV identification (ID), the UV type, the specific sensor, the time of the mission request, and the movement plan information (e.g., for an aerial UV) which includes the launch point, predefined way points and alternate points, and defines payload requirements (e.g., video camera), payload operation instructions, and mission objectives. At the mission controller 102, the mission planning controller 120 may generate a display of the mission requirements. The mission planning controller 120 may further generate the display of the objectives for the mission, and a movement path for the mission.

[0071] Referring to Figures 3A and 3B, at 312, the mission controller 102 may launch the mission. With respect to launch of the mission, the mission controller 102 may define the mission movement plan, and operate the UV 104 using D14-092-02678-00-US and US2 PATENT
movement planning machine readable instructions and ground control. The UV
104 may be operated by a UV operation crew, and/or by the mission controller 102.
Further, the mission controller 102 may monitor the real-time movement and display a FPV to ensure the UV 104 completes the movement path and captures data specified in the mission objective. For example, the mission controller may control a camera mounted on the UV 104 for accurate video capture using movement planning machine readable instructions. The FPV may be monitored by a mission operator.

[0072] At 314, communication data including telemetry data 132 and video stream data 134 may be received at the mission controller 102 from the UV 104.
The telemetry data 132 and the video stream data 134 may include a video feed or other real-time data depending on the mission and data collected.

[0073] With respect to the aerial UV 104, as the flight is in progress, at 316, the telemetry data 132 and the video stream data 134 may be forwarded to the event detector 116. The event detector 116 may analyze the telemetry data 132 and the video stream data 134, detect any events 140 related to the UV 104, and notify the fleet and mission operations controller 110 of any problems related to the detected events (e.g., based on alerts). The mission and alerts may be displayed in a real time display at the fleet and mission operations controller 110. For example, with respect to pipeline monitoring, the alerts may be related to an intruder, pipeline maintenance, vegetation, etc. For example, with respect to pipeline monitoring, at 318, the event detector 116 may identify a potential leak at a location-X of a =
, .
D14-092-02678-00-US and US2 PATENT
section-Y of a pipeline. Further, at 320, the event detector 116 may generate a notification to the fleet and mission operations controller 110 of the potential leak, and forward an associated video of the leak. The event detector 116 may also generate a notification to the fleet and mission operations controller 110 with respect to any differences between where the leak was detected versus where the leak was actually seen during the mission.

[0074] At 322, if deemed appropriate, the fleet and mission operations controller 110 may send instructions to the mission controller 102 to change a movement path while the mission is in progress. Any change to a movement path (or other mission aspects generally) may be re-verified for compliance by the compliance evaluator 114. The mission planning controller 120 may display any adjustment to the movement plan. For example, the movement plan may be modified by directing the UV 104 to a new way point and awaiting instructions to complete the mission. The movement planning controller 122 may be used to complete the mission. For example, processing hardware such as an SD or another type of video card may be loaded to the mission planning controller 120, and upon completion of the mission, the processing hardware associated with the UV 104 may be shipped to an entity associated with the order generator 130 (e.g., the entity for which the UV work order 126 is generated). At the completion of the mission, the UV work order 126 may be processed as being completed, and the mission controller 102 may provide feedback on potential predictive maintenance to the entity associated with the order generator 130.

, , D14-092-02678-00-US and US2 PATENT

[0075] Upon completion of the mission, the mission manager 112 may document the results of the mission for further processing and analytics. The event detector 116 may also provide recommendations on predictive maintenance for use in future missions. The recommendations may be specified in a report format, which may be used for further preventive actions, such as, shutting off the upstream pipelines to avoid further leakage.

[0076] Figure 4 illustrates an output of an event detector of the UV control system 100, according to an example of the present disclosure. The fleet and mission operations controller 110 may generate a display of different types of events 140 as a function of time. According to an example, with respect to pipeline monitoring, a unique shape may be used to indicate a particular type of event.
For example, a potential leak may be represented as a star, a potential intruder may be represented as a square, and a land subside may be represented as a circle.
Similarly, color coding may be used to indicate a severity level of an event.
For example, a red color may indicate a critical severity, an orange color may indicate a major severity, and a blue color may indicate a minor severity. Any number of techniques may be used to graphically depict events and information relating to the events.

[0077] Referring to Figure 4, the y-axis may be separated into different graphs, each representing subsections of a pipeline, with the subsections being denoted as regions. Within each graph, a location of an event may reflect an overall risk score associated with the event. For example, a relatively high risk score may be D14-092-02678-00-US and US2 PATENT
represented as a higher location, and a relatively low risk score may be represented as a lower location. The risk score may be based upon the type of risk the problem presents as well as results of the analytics processing.

[0078] An event may be selected to generate a further view of a source video (e.g., the source video 400) that caused the event detector 116 to detect and classify the event. According to an example, analytics may be performed on the source video by the event detector 116 and displayed as an analytics processing video. For example, an analytics processing video may include voice over describing the analytics performed on source video. The event detector 116 may generate a notification that is sent to the fleet and mission operations controller 110, where the fleet and mission operations controller 110 may perform actions such as changing the movement plan in real-time to make further observations related to the potential threat. Any change to a movement plan may be re-verified for compliance by the compliance evaluator 114.

[0079] Figure 5 illustrates architecture of the mission controller 102 for processing data from sensors (e.g., including the sensor 106), according to an example of the present disclosure. As described herein with reference to Figure 6, the processed data may be transmitted to the event detector 116 for further analysis. Referring to Figure 5, data from the sensor 106 of the UV 104 may be received at the mission controller 102. For example, telemetry data 132 and video stream data 134 may be received at the mission controller 102. The telemetry data 132 may include information such as a UV location (e.g., to infer latitude, longitude, D14-092-02678-00-US and US2 PATENT
and height), attitude relative to earth, and an associated time stamp for the location measurement. The telemetry data 132 may be received from the sensor 106 on the UV 104 at the mission planning controller 120 as the UV 104 is operated by the movement planning controller 122. The telemetry data 132 may be processed by a telemetry data analyzer 136 of the UV data receiver 124. Similarly the video stream data 134 may be received, for example, from a camera installed on the UV
104, by the movement planning controller 122, and processed by a streaming data analyzer 138. Various other types of data may be received and pre-processed at the mission controller 102 for the event detector 116.

[0080] Referring to Figure 5, micro air vehicle link (MAVLINK) may represent an open source communications protocol used for telemetry communications between open source ground stations and UV flight controllers (e.g., the mission controller 102). MAVLINK may use a packet based communication that standardizes packets and types for communicating a large number of UV flight control, position, attitude, status, and other relevant data. The MAVLINK shim may be used to interrupt or inject MAVLINK packets into a current communications stream between a personal computer (PC) based ground control station and a UV
flight controller. The MAVLINK shim may provide for additional analytics and control machine readable instructions components described herein to send commands over long distance telemetry radios to the UV and vice versa.
Further, the MAVLINK shim may operate without interrupting the MAVLINK stream used for communication between a ground station and the UV, and bifurcate off the same D14-092-02678-00-US and US2 PATENT
information so that the information may be sent via a Transmission Control Protocol/Internet Protocol (TCP/IP) stream to the telemetry data analyzer 136.

Open Source Computer Vision (OPENCV) may represent an open source video analytics library used to read images as a video stream from the UV in real-time, and feed the images into the additional analytics components described herein.
Libdc1394 & 1394 may represent serial communications libraries used in programming. National Television System Committee (NTSC), Phase Alternating Line (PAL), and Sequential Color with Memory (SECAM) may refer to international standards for video transmission and decoding.

[0081] Referring to Figure 6, the event detector 116 may include a slice or container 602 and an event orchestrator 604. The slice 602 may include a hardware implemented data integrator 606 and a hardware implemented data analyzer 608. The data integrator 606 may fuse the various data types received from the sensor 106 through the mission controller 102. For example, the data integrator 606 may combine the video stream data 134 at 30 frames per second with the telemetry data 132 (e.g., time and location) one frame at a time.
After exiting the data integrator 606, each frame of video stream data 134 may include time and location information in a meta tag, and is passed to the data analyzer 608.
The data analyzer 608 may include various applications (i.e., machine readable instructions) for processing the various types of data for events. For example, with respect to an oil and gas detection application 610, the data analyzer 608 may include a blob detector for detecting oil leaks, vegetation or intruders, an oil D14-092-02678-00-US and US2 PATENT
detector, a face detector, an event detector, and/or other sub-components for image recognition. The various components such as USB and RS232 represent communications protocols used over serial interfaces, TCP/IP represents the global standard Internet/networking protocol used for computer communications, and the OpenCV and OpenNI components represent open source libraries and machine readable instructions used for development of the data integrator 606.

[0082] The detected events may be forwarded to the event orchestrator 604.
The event orchestrator 604 may publish the events to the fleet and mission operations controller 110.

[0083] Upon the launch of the UV 104 by the movement planning controller 122, a mission planner may initiate a request for a mission session with the event detector 116. An example of a mission planner may include MAVLINK Shim. The mission planning controller 120 may receive the request from the mission planner, and generate a request for the initiation of a session at the event orchestrator 604.
Session initiation may include allocation of a data integrator and multiple data analyzers, and connecting the data integrator and the data analyzers to a receiver for data capture. The event orchestrator 604 may receive the events and publish the events for use at a dashboard for the mission controller 102.

[0084] Figures 7 and 8 illustrate screenshots of event detection analytics processing videos of the UV control system 100, according to an example of the present disclosure. Referring to Figure 7, the event detection analytics processing video may represent a spill or blob detection analytics processing video.
Similarly, A
D14-092-02678-00-US and US2 PATENT
referring to Figure 8, the event detection analytics processing video may represent an intruder detection analytics processing video.

[0085] Referring to Figures 5-7, with respect to the oil and gas detection application 610, spill or blob detection analytics may include converting source video frame (and its pixels), for example, from red, green, and blue (RGB) into its corresponding hue-saturation-values (HSVs) to adjust for variations in lighting conditions and shadows. The data analyzer 608 may define lower and upper bounds of the HSVs depending on the type of material and the time of the day so that pixels with the correct HSV may be extracted. The data analyzer 608 may analyze each video frame, apply a binary mask (e.g., accepted pixels are black, others are white) to extract portions of the frame that fit within the defined HSV
requirements. By using, for example, a built-in blob detection library, the data analyzer 608 may extract the positions of all of the blobs in the binary mask, and use these positions to overlay as circles on top of the original video (see Figure 7).
Simultaneously, parameter constraints may be placed on the extracted blobs and include, for example, area, perimeter, circularity, max_x, and max_y. The max_x and max_y may represent the maximum distance from the pipeline used for consideration based on the assumption that the spill should not be too far away from the pipeline. Once a blob fits the above requirements with a high degree of confidence, the data analyzer 608 may classify the blob as a potential spill, and forward the indication to the event orchestrator 604. For example, in Figure 7, a grate may be classified as a potential spill.

i ' . , D14-092-02678-00-US and US2 PATENT

[0086] Referring to Figures 5, 6, and 8, the oil and gas detection application 610 may include intruder analytics that include detection and recognition. With respect to detection, depending on the type of objects being detected and/or tracked, different cascading classifiers may be used. Cascading classifiers may represent a concatenation of a plurality of classifiers to test for different features that factor into a single detection problem. An object may be considered as detected if it passes all the classifiers within the cascade (i.e., by using a cascade-of-rejectors approach). The classifiers may be trained using a large set of training data at various angles, or at an expected angle appropriate to the UV 104 (e.g., an angle that is equivalent to an above eye level). Examples of cascading classifiers that are used for face and person detection may respectively include the HAAR
cascade and the histograms of oriented gradients (HOG) cascade, and other such techniques. The HOG cascade may use a dense grid of HOGs that are determined over blocks of pixels to represent a detection window. The HOG
cascade technique may include a speed limitation depending on the sparse scanning technique and how many windows may be analyzed per frame per second. These detection windows may represent the functional units used to learn features. The actual feature selection process may be performed, for example, by the Adaptive Boosting technique, or other such techniques.

[0087] With respect to facial recognition, examples of techniques may include the FISHERFACES technique, Linear Discriminant Analysis (LDA), or other such techniques. The FISHERFACES technique may be used for dimensionality D14-092-02678-00-US and US2 PATENT
reduction and classification. A set of training data may be fed to perform cross principal component analysis (PCA) with the detected features (e.g., face, person, eyes, etc.).

[0088] With respect to intruder detection, intruder detection may include using the HOG cascading classifier for person detection, setting the max and min acceptable area of the desired object, gray scaling each video frame for faster motion detection, applying, for example, a KALMAN filter to consistently take in series of measurements of detected persons (e.g., width, height, positions etc.
stored within a standard vector), and filtering out those entries with measurements that are not consistent with past entries. For example, the probability of a person's position transitioning to the next position decreases exponentially with differences in the two positions being above a threshold that would be unreasonable for the person to travel in a specified period of time. Intruder detection may also account for a dimension change over measurements. For example, as a person is walking towards a camera of the UV 104, the dimensions of the person should increase proportionally, and outlying measurements may be eliminated.

[0089] The elements of the UV control system 100 described herein may be machine readable instructions stored on a non-transitory computer readable medium. In addition, or alternatively, the elements of the UV control system may be hardware or a combination of machine readable instructions and hardware.

[0090] Figures 9 and 10 illustrate flowcharts of methods 900 and 1000 for UV
control, according to examples. The methods 900 and 1000 may be implemented , . , , D14-092-02678-00-US and US2 PATENT
on the UV control system 100 described above with reference to Figures 1-8 by way of example and not limitation. The methods 900 and 1000 may be practiced in other systems.

[0091] Referring to Figures 1 and 9, at block 902, the method 900 may include generating, by a hardware implemented fleet and mission operations controller that is executed by at least one hardware processor, a mission request to identify an objective of a mission, assign a UV and a sensor to the mission from a fleet of UVs and sensors, and assign a first movement plan to the mission based on the identified objective of the mission. For example, referring to Figures 1, 3A-3C, and 11, the hardware implemented fleet and mission operations controller 110 that is executed by at least one hardware processor (e.g., the hardware processor 1102), may generate the mission request 128 to identify an objective of a mission, assign a UV 104 and a sensor 106 to the mission from a fleet of UVs and sensors, and assign a first movement plan to the mission based on the identified objective of the mission.

[0092] At block 904, the method 900 may include controlling, by a hardware implemented mission controller that is executed by the at least one hardware processor, the assigned UV according to the assigned first movement plan. For example, referring to Figures 1, 3A-3C, and 11, the hardware implemented mission controller 102 that is executed by the at least one hardware processor may control the assigned UV according to the assigned first movement plan.

[0093] At block 906, the method 900 may include analyzing, by a hardware D14-092-02678-00-US and US2 PATENT
implemented event detector that is executed by the at least one hardware processor, communication data from the assigned sensor to identify an event related to the mission. For example, referring to Figures 1, 3A-3C, and 11, the hardware implemented event detector 116 that is executed by the at least one hardware processor may analyze communication data (e.g., the telemetry data and the video stream data 134) from the assigned sensor to identify an event (e.g., one of the events 140) related to the mission.

[0094] At block 908, the method 900 may include analyzing, by the hardware implemented fleet and mission operations controller, the identified event and the first movement plan. For example, referring to Figures 1, 3A-3C, and 11, the hardware implemented fleet and mission operations controller 110 may analyze the identified event and the first movement plan.

[0095] At block 910, the method 900 may include assigning, by the hardware implemented fleet and mission operations controller, a second movement plan to the mission based on the analysis of the identified event and the first movement plan to meet the identified objective of the mission, where the second movement plan is different than the first movement plan. For example, referring to Figures 1, 3A-3C, and 11, the hardware implemented fleet and mission operations controller 110 may assign a second movement plan to the mission based on the analysis of the identified event and the first movement plan to meet the identified objective of the mission, where the second movement plan is different than the first movement plan.

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[0096] At block 912, the method 900 may include controlling, by the hardware implemented mission controller, the assigned UV according to the assigned second movement plan. For example, referring to Figures 1, 3A-3C, and 11, the hardware implemented mission controller 102 may control the assigned UV according to the assigned second movement plan.

[0097] Referring to Figures 1 and 10, at block 1002, the method 1000 may include receiving, at a hardware implemented mission controller that is executed by the at least one hardware processor, a mission request that identifies an objective of a mission, assigns a UV and a sensor to the mission from a fleet of UVs and sensors, and assigns a first movement plan to the mission based on the identified objective of the mission. For example, referring to Figures 1, 3A-3C, and 11, the hardware implemented mission controller 102 may receive the mission request that identifies an objective of a mission, assigns the UV 104 and the sensor 106 to the mission from a fleet of UVs and sensors, and assigns a first movement plan to the mission based on the identified objective of the mission.

[0098] At block 1004, the method 1000 may include controlling, by the hardware implemented mission controller, the assigned UV according to the assigned first movement plan. For example, referring to Figures 1, 3A-3C, and 11, the hardware implemented mission controller 102 may control the assigned UV
according to the assigned first movement plan.

[0099] At block 1006, the method 1000 may include analyzing, by a hardware implemented event detector that is executed by the at least one hardware D14-092-02678-00-US and US2 PATENT
processor, communication data from the assigned sensor to identify an event related to the mission. For example, referring to Figures 1, 3A-3C, and 11, the hardware implemented event detector 116 may analyze communication data from the assigned sensor to identify an event related to the mission.

[0100] At block 1008, the method 1000 may include analyzing, by a hardware implemented fleet and mission operations controller, the identified event and the first movement plan. For example, referring to Figures 1, 3A-3C, and 11, the hardware implemented fleet and mission operations controller 110 may analyze the identified event and the first movement plan.

[0101] At block 1010, the method 1000 may include receiving, at the hardware implemented mission controller, a second movement plan for the mission based on the analysis of the identified event and the first movement plan to meet the identified objective of the mission, where the second movement plan is different than the first movement plan. For example, referring to Figures 1, 3A-3C, and 11, the hardware implemented mission controller 102 may receive a second movement plan for the mission based on the analysis of the identified event and the first movement plan to meet the identified objective of the mission, where the second movement plan is different than the first movement plan.

[0102] Figure 11 shows a computer system 1100 that may be used with the examples described herein. The computer system may represent a generic platform that includes components that may be in a server or another computer system. The computer system 1100 may be used as a platform for the system S, D14-092-02678-00-US and US2 PATENT
100. The computer system 1100 may execute, by a processor (e.g., a single or multiple processors) or other hardware processing circuit, the methods, functions and other processes described herein. These methods, functions and other processes may be embodied as machine readable instructions stored on a computer readable medium, which may be non-transitory, such as hardware storage devices (e.g., RAM (random access memory), ROM (read only memory), EPROM (erasable, programmable ROM), EEPROM (electrically erasable, programmable ROM), hard drives, and flash memory).

[0103] The computer system 1100 may include a processor 1102 that may implement or execute machine readable instructions performing some or all of the methods, functions and other processes described herein. Commands and data from the processor 1102 may be communicated over a communication bus 1104.
The computer system may also include a main memory 1106, such as a random access memory (RAM), where the machine readable instructions and data for the processor 1102 may reside during runtime, and a secondary data storage 1108, which may be non-volatile and stores machine readable instructions and data.
The memory and data storage are examples of computer readable mediums. The memory 1106 may include a UV controller 1120 including machine readable instructions residing in the memory 1106 during runtime and executed by the processor 1102. The UV controller 1120 may include the elements of the system 100 shown in Figure 1.

[0104] The computer system 1100 may include an I/O device 1110, such as a D14-092-02678-00-US and US2 PATENT
keyboard, a mouse, a display, etc. The computer system may include a network interface 1112 for connecting to a network. Other known electronic components may be added or substituted in the computer system.

[0105] In another embodiment, according to examples, a UV movement and data control system and a method for UV movement and data control are disclosed herein. The system and method disclosed herein may generally utilize a hardware implemented mission manager and a hardware implemented event detector to assign and manage a mission. The mission manager may maintain knowledge of a fleet of UVs, sensors, and crew, as well as information regarding mission status.
A hardware implemented fleet and mission operations controller may operate in conjunction with the mission manager to assign UVs, sensors, and crew to a mission request, identify a movement plan (e.g., a flight plan for a UAV), and an objective for the mission. Once the mission is launched, the event detector may analyze communication data received during the mission, and generate alarms to the mission manager when events that may result in potential problems are detected. The fleet and mission operations controller may operate in conjunction with the mission manager to modify the UV movement plan, and adjust, in real-time, movement plans of the UV based on the events.

[0106] A mission request may identify, for example, an operation for a UV, a type of a UV to complete the operation, at least one type of sensor to be mounted on the UV, UV operation crew, a movement plan, and/or an objective for the D14-092-02678-00-US and US2 PATENT
mission. For example, a mission request may indicate that a fixed wing UAV or quadcopter (i.e., types of UAVs) may be equipped with a video camera, a gas detector, an infrared (IR) camera, and/or a pressure sensor to detect leaks in an oil pipeline.

[0107] After launching the mission, the UV may follow the movement plan autonomously, or with varying degrees of remote operator guidance from a hardware implemented movement planning controller operated by an operations crew. Sensors mounted onto the UV may transmit data in real-time to a ground station on the field, such as a portable device with a hardware implemented UV
data receiver, and the ground station may transmit the data to the event detector, which may be disposed off-site.

[0108] The UV data receiver may include a hardware implemented telemetry data analyzer to buffer predetermined message format, such as a JavaScript Object Notation (JSON) format, UV movement and status messages that are sent to a hardware implemented data integrator of the event detector. The UV data receiver may include a hardware implemented stream data analyzer to receive unformatted data streams from multiple data sources (e.g., video, thermal, near infrared (NIR), multispectral, etc.), and forward the data streams to the data integrator for pre-processing (i.e., synchronization by frames tagged with time and location) and further analytics processing.

[0109] The data integrator, which may be implemented as a component of the event detector or separately from the event detector, may include a hardware , i .
D14-092-02678-00-US and US2 PATENT
implemented time and location service (TLS) analyzer and a hardware implemented stream integrator. The TLS analyzer may receive status messages from the telemetry data analyzer, and maintain a model of a current state of the UV
while it is performing a mission (e.g., in flight for a UAV). The stream integrator may receive a stream of data from the stream data analyzer, extract frames of data from the stream, retrieve time and location information from the TLS analyzer to insert into the each frame's metadata, and create time and location correlated frames.

[0110] A data analyzer of the event detector may process the data to identify an event. When an event is identified, the data analyzer may transmit an alarm to the fleet and mission operations controller for further review by a mission operator.
The alarm may include information such as an identification of the event, data associated with the event, a location of the event, etc. After reviewing the event, the mission manager may operate in conjunction with the fleet and mission operations controller to generate instructions in real-time with an updated movement plan for a UV operator.

[0111] The system and method disclosed herein may be used in a variety of environments and for a variety of purposes. For example, the system and method disclosed herein may be used to monitor a pipeline in the oil and gas industry. In the oil and gas industry, the system and method disclosed herein may be used in other scenarios, including other types of exploration (e.g., site survey, site drilling, etc.), development (e.g., pad placement, facility rendering, capital project, , . i D14-092-02678-00-US and US2 PATENT
surveillance, etc.), production (e.g., flare/vent inspection, oil sheen detection, disaster prevention, etc.), manufacturing (flute/chimney inspection, tank/gas inspection, gas detection, etc.), and transportation (e.g., right of way monitoring, theft monitoring, etc.).

[0112] The system and method disclosed herein may be used in package delivery (e.g., food, medicine, equipment, etc.), aerial surveillance (e.g., police/fire department, cartography, photography, film, journalism, real estate, etc.), exploration (e.g., mine detection, site survey, etc.), research (e.g., wildlife, atmosphere, ocean, etc.), remote sensing (e.g., telecommunications, weather, maritime, construction, etc.), disaster relief (e.g., survivors, explore contaminated areas, etc.), environment (e.g., forest fires, threats, etc.), and agriculture (e.g., spray pesticides, crop growth, disease, irrigation level, wild animals, etc.).

[0113] The system and method disclosed herein may be used for scheduling of predictive maintenance to provide asset inspection, diagnostics, repair, and maintenance work. Further, the system and method disclosed herein may be used, for example, to identify and schedule environmental (e.g., terrain, vegetation, etc.) management. The system and method disclosed herein may also provide for enhancements in safety and environmental protection related to the various activities described herein. For example, with respect to the oil and gas industry, the system and method disclosed herein may be used to protect assets from sabotage, illegal tapping, and terrorist actions in an efficient and economical manner.

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[0114] The system and method disclosed herein may be used to analyze data from a UV to determine tasks that may be both electronically and mechanically automated in a workflow, and to identify insights that may be obtained from the data. These insights may be used to drive operational decisions, such as shortening lead time to problem detection, or predictive maintenance with pipelines, for example, in the oil and gas industry. The system and method disclosed herein may provide for the reduction of exposure to hazardous environments, increase efficiency and effectiveness with respect to UV
movement and data control, and optimize operations.

[0115] Generally, the system and method disclosed herein may be envisioned in a broad range of applications where drones or UVs may be used to reduce cost, increase safety, and increase productivity.

[0116] The system and method disclosed herein may account for aspects related to the state of UV technology, regulation and compliance, readiness, and safety and privacy. With respect to UV technology, the system and method disclosed herein may provide the hardware and software platform and setup for UV
movement and data control. The system and method disclosed herein may also provide for implementation of aspects such as optimal movement planning operations and life cycle management, selection of specialized sensors, direct data transmission from a UV, UV infrastructure and availability management, task distribution among multiple UVs, and reprioritization of UV objectives. With respect to security, safety, and regulations, the system and method disclosed herein may , 4 ' .
D14-092-02678-00-US and US2 PATENT
provide for constraints based on local regulations and certification, UV
certification and operator training, requirements regarding reporting of incidents to authorities, obstacle avoidance, authentication and authorization of missions, ensuring that a mission has not been compromised or sabotaged, and protection against misuse.
The system and method disclosed herein may also provide for secure transmission of data from the event detector that may be implemented in a cloud environment, end-to-end process integration, analytics requirements based on vertical industry, data storage and security, defining business rules, and redefining workflows to incorporate use of the UVs and availability of new insights into related processes.

[0117] For the system and method disclosed herein, the fleet and mission operations controller may perform various tasks, such as, specification of mission objectives and routes, scheduling of missions, assignment of a mission operator and assistant, assignment of UV equipment, monitoring of missions in progress, making adjustments to mission requirements.

[0118] For the system and method disclosed herein, the movement planning controller may plan and execute a mission. Further, the movement planning controller may monitor the FPV to ensure that mission objectives are being met, and adjust mission routes as needed.

[0119] For the system and method disclosed herein, a hardware implemented mission planning controller may manage, for example, a camera gimbal and a video camera, and monitor video capture to ensure quality.

. =
D14-092-02678-00-US and US2 PATENT

[0120] According to examples disclosed herein, the UV movement and data control system may include a hardware implemented mission controller that is executed by at least one hardware processor to control a UV according to a movement plan. A hardware implemented telemetry data analyzer that is executed by the at least one hardware processor may receive, from the mission controller, formatted movement and status metadata from at least one sensor of the UV
during movement of the UV according to the movement plan. The hardware implemented telemetry data analyzer may buffer the movement and status metadata for forwarding to a hardware implemented data integrator. According to an example, the movement and status metadata may include time and location information for the UV during the movement of the UV according to the movement plan. A hardware implemented stream data analyzer that is executed by the at least one hardware processor may receive an unformatted data stream from the at least one sensor of the UV. The data integrator that is executed by the at least one hardware processor may inject the time and location information into metadata of the unformatted data stream to generate a time and location correlated (TLC) stream. A hardware implemented TLC stream data analyzer that is executed by the at least one hardware processor may analyze the TLC stream to identify an event related to the UV. A hardware implemented event orchestrator that is executed by the at least one hardware processor may generate a notification related to the event.

' D14-092-02678-00-US and US2 PATENT

[0121] According to an example, the mission controller may convert the movement and status metadata to a predetermined message format, such as a JSON format, for processing by the data integrator.

[0122] According to an example, the data integrator may include a hardware implemented time and location service analyzer that is executed by the at least one hardware processor to generate, based on the movement and status metadata, a model of a state of the UV during the movement of the UV according to the movement plan.

[0123] According to an example, the data integrator may include a hardware implemented stream integrator that is executed by the at least one hardware processor to extract frames of data from the unformatted data stream, retrieve the time and location information from the model of the state of the UV, and inject the time and location information into the metadata of each of the frames of the data from the unformatted data stream to generate TLC frames. A collection of the TLC
frames may represent the TLC stream.

[0124] According to an example, the stream integrator may extract a frame of data from the unformatted data stream, and pre-process the data from the unformatted data stream for detecting a leak in a pipeline by passing the frame of the data through hue-saturation-value (HSV) based clustering to segment environment into distinct color patches. The leak in the pipeline may be detected by using a transform to extract the pipeline spanning the frame.

, =
, -, D14-092-02678-00-US and US2 PATENT

[0125] According to an example, the TLC stream data analyzer may utilize a histogram-based sliding window to identify pixels of interest in the frame of the data.

[0126] According to an example, the TLC stream data analyzer may utilize Teh-Chin chain approximation to extract a blob that represents the leak in the pipeline.

[0127] According to an example, the TLC stream data analyzer may utilize a naïve-Bayes classifier to classify the blob as a leak or not a leak.

[0128] According to an example, the TLC stream data analyzer may retain the classification of the blob based on corroboration of the classification with a plurality of frames of the data including the frame of the data.

[0129] According to an example, the TLC stream data analyzer may include a hardware implemented stream processing unit (SPU) including a plurality of hardware implemented event analyzers that are executed by the at least one hardware processor to analyze the TLC stream to identify the event related to the UV.

[0130] The UV movement and data control system and the method for UV
movement and data control disclosed herein provide a technical solution to technical problems related, for example, to UV movement and data control. The system and method disclosed herein provide the technical solution of a hardware implemented mission controller that is executed by at least one hardware processor to control a UV according to a movement plan. A hardware D14-092-02678-00-US and US2 PATENT
implemented telemetry data analyzer that is executed by the at least one hardware processor may receive, from the mission controller, formatted movement and status metadata from at least one sensor of the UV during movement of the UV
according to the movement plan. The hardware implemented telemetry data analyzer may buffer the movement and status metadata for forwarding to a hardware implemented data integrator. The movement and status metadata may include time and location information for the UV during the movement of the UV

according to the movement plan. A hardware implemented stream data analyzer that is executed by the at least one hardware processor may receive an unformatted data stream from the at least one sensor of the UV. The data integrator that is executed by the at least one hardware processor may inject the time and location information into metadata of the unformatted data stream to generate a time and location correlated (TLC) stream. A hardware implemented TLC stream data analyzer that is executed by the at least one hardware processor may analyze the TLC stream to identify an event related to the UV. A hardware implemented event orchestrator that is executed by the at least one hardware processor may generate a notification related to the event.

[0131] Figure 12 illustrates a detailed architecture of a UV movement and data control system 2100, according to an example of the present disclosure. The UV
movement and data control system 2100 may include a hardware implemented mission controller 2102 that is to perform various operations related, for example, to mission planning, movement planning, and receiving of data from a UV 2104.

. .
D14-092-02678-00-US and US2 PATENT
The UV 2104 may include a plurality of UVs. The UV 2104 may include a sensor 2106. The sensor 2106 may include a plurality of sensors. The UV 2104 may encompass all types of UVs, including a variety of aerial, land, space, and marine UVs. The UV 2104 may take off (e.g., for an aerial UV), navigate, capture data, transmit collected data, return, and land without human interaction.

[0132] The sensor 2106 may gather data associated with a mission.
The sensor 2106 may include a variety of types of sensors that may be categorized as sight sensors, sound sensors, touch sensors, smell sensors, position sensors, external communication sensors, and other (e.g., miscellaneous sensors). The sight sensors may include sensors for ascertaining light intensity, color, distance (e.g., by infrared (IR), measuring angle of light bounce), video capture, rotation (e.g., optical encoders), and/or light signal read (e.g., infrared codes). The sound sensors may include sensors (e.g., a microphone) for ascertaining volume (e.g., decibel meter), frequency measurement, and/or distance (e.g., sonar, measuring time to echo). The touch sensors may include sensors for ascertaining position awareness (e.g., collision alert, contact confirmation, etc.), bend/strain, temperature, and/or pressure (e.g., barometric, grip strength, etc.). The smell sensors may include sensors such as gas sensors, alcohol sensors, etc. The position sensors may include sensors (e.g., accelerometer, digital compass, gyroscope) for ascertaining location (e.g., based on global positioning system (GPS), proximity to a beacon, etc.), and/or tilt. The external communication sensors may include sensors for ascertaining radio communication, and/or IR

. . , D14-092-02678-00-US and US2 PATENT
codes. The miscellaneous sensors may include sensors for ascertaining date and time (e.g., ultra-low frequency (ULF) updates), network communication status, and/or voltage (e.g., low fuel, low battery).

[0133]
The UV 2104 may also include various components for processing, and generating outputs. For example, with respect to processing, the UV 2104 may provide for sensor data processing for analog and digital input/output (I/O), kinematics (e.g., position and orientation of objects), proportional-integral-derivative (PID) feedback control, rules application (e.g., if this, do that), navigation (e.g., move to a waypoint), mission execution (e.g., manage multiple waypoints), telemetry management (e.g., summarizing telemetry data), counter, audio/voice processing (e.g., speech to text, text to speech), manage date/time, and data management (e.g., memory, disk, etc.). With respect to processing, the UV 104 may provide for outputs such as movement, motors (e.g., servos, stepper, brushless), hydraulics, pneumatics, gravity release, visual indicators/feedback, LEDs, LCDs, displays, audio indicators/feedback, speaker, buzzer, etc., voltage change (e.g., not in use, go to low power mode), and external communication subsystems (e.g., radio, IR codes).

[0134] In the example of Figure 12, the UV 2104 and the mission controller 2102 may be disposed in a field (e.g., above dashed line 2108), whereas the fleet and mission operations controller 2110, the mission manager 2112, and the event detector 2116 may be hosted in an off-site facility (e.g., below the dashed line 2108), such as a cloud environment 2118. In some examples, the cloud =
. . , ' D14-092-02678-00-US and US2 PATENT
environment 2118 may be a data center or another distributed network capable of processing relatively large amounts of data in real time. In other examples, the components of the UV movement and data control system 2100 that are located in an off-site facility may be based, for example, on the hardware capabilities of chips installed on the UV 2104, a size and power associated with the UV 2104, and processing requirements of a mission executed by the UV 2104.

[0135] With respect to the mission controller 2102, the mission planning controller 2120 may enable the UV 2104 to be programmed to run autonomously.
The UV 2104 may be equipped with the sensor 2106 and intelligence to maintain altitude and a stabilized flight (e.g., for an aerial UV). The sensor 2106 may be used to determine the position and altitude of the UV 2104 at any given point in time. This enables the UV 2104 to navigate between two points according to pre-defined waypoints, without any human interaction during the flight (e.g., for an aerial UV). The mission planning controller 2120 may generate a display of the mission details that may be viewed by a UV operation crew (e.g., a pilot and/or assistant).

[0136] With respect to the mission controller 2102, the movement planning controller 2122 may be used to launch the UV 2104, and control the UV flight path (e.g., for an aerial UV) and associated sensors. Once the UV 2104 begins its movement plan from the launch point, the mission planning controller 2120 may communicate with the mission manager 2112 to indicate the beginning of the mission. According to an example, the mission controller 2102 may be stored on a ..
' , .
D14-092-02678-00-US and US2 PATENT
tablet or another portable device.

[0137] The fleet and mission operations controller 2110 may analyze a mission request that specifies, for example, a movement time, a movement plan, and equipment (e.g., the specific UV, sensors, and any UV operation crew). The movement plan may include a launch point, predefined way points, alternate rally points, payload requirements, video or other data gathering requirements, payload operation instructions, and/or mission objectives.

[0138] The mission manager 2112 may maintain information regarding UVs and sensors in inventory. For example, the mission manager 2112 may track UVs by type, availability, and an ability to mount particular sensors. The mission manager 2112 may also track sensors by type, availability, and ability to be mounted on a particular UV. The mission manager 2112 may schedule and assign the mission.
Specifically the mission manager 2112 may assign the UV 2104 (or a plurality of UVs), the sensor 2106 (or a plurality of sensors), and any UV operation crew to a location for completing the mission request.

[0139] The mission controller 2102 may receive the mission request from the mission manager 2112, and operate the assigned UV 2104 according to the movement plan. The UV 2104 may follow the movement plan autonomously or with varying degrees of remote operator guidance from the movement planning controller 2122 that may be operated by a UV operation crew.

[0140] With respect to the mission controller 2102 and the event detector 2116, data from the sensor 2106 may be received at a UV data receiver 2124, and , . . , D14-092-02678-00-US and US2 PATENT
forwarded (e.g., pushed) in real-time to the event detector 2116.
Alternatively or additionally, data from the sensor 2106 may be communicated directly to the event detector 2116 based on the placement of hardware associated with the event detector 2116 near the edge of the field (e.g., dashed line 2108) or within the field.

[0141] Generally, the event detector 2116 may interpret the data from the sensor 2106 in real-time to detect any events or potential problems that warrant further exploration. The event detector 2116 may include, for example, event processing, video stream playback, facial recognition, blob detection, and general inspection for the pipeline example described herein. However, those skilled in the art will appreciate in view of this disclosure that the processing capabilities of the event detector 2116 may vary depending on the purpose of the mission and the types of sensors that are used for the UV 2104.

[0142] If an event is detected, the event detector 2116 may generate an alert and forward the alert to the fleet and mission operations controller 2110.
Further, data associated with the event may be displayed in real-time at the fleet and mission operations controller 2110. The data associated with the event may be analyzed by the fleet and mission operations controller 2110 and the mission manager 2112. Based on the analysis of the data, the fleet and mission operations controller 2110 may operate in conjunction with the mission manager 2112 to communicate to the mission controller 2102 a change in movement plan or other further instructions, such as a notification that the mission is complete and an instruction to dismount the sensors from the UV 2104 and leave the field.

, =
. .
' D14-092-02678-00-US and US2 PATENT

[0143] Figure 13 illustrates a logic diagram of components of UV
movement and data control system 2100 for event detection, according to an example of the present disclosure.

[0144] Referring to Figures 12 and 13, the movement planning controller 2122 may include any type of movement planner that is used to control and monitor the UV movement in real-time. For a UAV, a flight planner may be used to control and monitor the UV movement in real-time. A fleet management set of machine readable instructions may be used to generate the movement control information during the mission definition process, and forward the information to the movement planning controller 2122 that transmits the information to the UV 2104 to commence the mission. A custom message shim may be built on top of the movement planner to intercept the movement and status metadata from the UV
2104 via a telemetry communications link, and forward the movement and status metadata in a predetermined message format (e.g., a JSON format) to a hardware implemented telemetry data analyzer 2136.

[0145] The UV data receiver 2124 may include the telemetry data analyzer 2136 and a hardware implemented stream data analyzer 2138, and is used to receive various types of communication data from the UV 2104. The communication data may be used, for example, by the event detector 2116 to determine events related to an objective of the mission.

[0146] Referring to Figure 13, the telemetry data analyzer 2136 may buffer UV
movement and status messages that are sent to a hardware implemented data , . .
' D14-092-02678-00-US and US2 PATENT
integrator 2142 of the event detector 2116. With respect to the telemetry data analyzer 2136, messages may be sent from the movement planning controller 2122 (i.e., of the mission controller 2102) to the telemetry data analyzer 2136 over a Transmission Control Protocol/Internet Protocol (TCP/IP) port on a localhost interface. Further, the telemetry data analyzer 2136 may forward the formatted messages to the data integrator 2142, for example, over TCP/IP. The telemetry data analyzer 2136 may be used to buffer the movement and status messages so the communications latency from sending messages to the data integrator 2142 does not slow down or affect operation of the movement planning controller 2122.

[0147] Referring to Figure 13, the stream data analyzer 2138 may receive data streams from multiple data sources (e.g., video, thermal, near infrared (NIR), multispectral, etc.), and forward the data streams to the data integrator 2142 for pre-processing (i.e., synchronization by frames tagged with time and location) and further analytics processing. The stream data analyzer 2138 may communicate with the data integrator 2142 over TCP/IP. With respect to the real-time streaming of the data streams from multiple data sources, the data streams may be processed in real-time, any alerts related to the movement of the UV 2104 may be generated in real-time, and the movement plan of the UV 2104 may also be modified as needed in real-time.

[0148] Referring to Figure 13, the data integrator 2142, which may be implemented as a component of the event detector 2116 or separately from the event detector 2116, may include a hardware implemented time and location D14-092-02678-00-US and US2 PATENT
service (TLS) analyzer 2144 and a hardware implemented stream integrator 2146.

Generally, the data integrator 2142 may receive streams of data, and inject time and location information into the metadata of the streams (i.e., to generate a time and location correlated stream) before forwarding the time and location correlated stream to the time and location correlated (TLC) stream data analyzer 2148 for processing. Context may be established using various different streams of data (e.g., video, audio, information tags that may be extracted from other external sources, etc.), and a port may be maintained to monitor receiving streams.
Time and location metadata may be extracted from the flight log for a UAV, and each stream may be separated into units (frame for video, segments by time for audio, etc.), and synchronized by time and location upon collection and receipt.

[0149] The TLS analyzer 2144 of the data integrator 2142 may receive status messages (e.g., JSON status messages) from the telemetry data analyzer 2136, and maintain a model of a current state of the UV 2104 while the UV 2104 is performing a mission (e.g., in flight for a UAV). According to an example, the model for the TLS analyzer 2144 may include information that includes time and location. For example, with respect to the model for the TLS analyzer 2144, the time and location data may be captured and injected into each of the data streams.
For example, in the case of video, the time and location data may be captured and injected into each frame of the video data stream. The time and location may be retrieved from GPS information received on the UV 2104. The time and location information may be available via a TCP/IP interface. The TCP/IP interface may , = . , D14-092-02678-00-US and US2 PATENT
operate as a request-based interface where a user may open a port to read a line of text, and then close the port after receiving the message. According to an example, the JSON status message may include a JSON format as follows:
{ "tls" : [ "time" : "HH:MM:SS", "longitude" : "32.99999", "latitude" : "-123.9999999", "altitude" : "10.31 }

[0150] The TLS analyzer 2144 may report the current known time and location for the UV 2104 for each request.

[0151] The stream integrator 2146 of the data integrator 2142 may receive a stream of data from the stream data analyzer 2138. The stream integrator 2146 may publish a port for the stream data analyzer 2138 to use in order to push the processed stream data to the stream integrator 2146. The stream integrator may extract frames of data from the stream, retrieve time and location information from the TLS analyzer 2144 to insert into the each frame's metadata, creating time and location correlated frames. A time and location correlated frame may represent a header packet associated with each packet of data which has the metadata of time and location attached to it, with the associated information being inserted into each packet. The stream integrator 2146 may publish the collection of time and location correlated frames as a time and location correlated (TLC) stream or TLC stream to the TLC stream data analyzer 2148. For example, if the source data is a MP4 video stream, then the associated MP4 video frame may include metadata which has time, longitude, latitude, and altitude.

[0152] Referring to Figure 13, the TLC stream data analyzer 2148 of the event "
, = .
D14-092-02678-00-US and US2 PATENT
detector 2116 may process the data to identify an event (e.g., a leak, a blob, etc.).
When an event is identified, the TLC stream data analyzer 2148 may transmit an alarm to the fleet and mission operations controller 2110 for further review by a mission operator. The alarm may include information such as an identification of the event, data associated with the event, a location of the event, etc. After reviewing the event, the mission manager 2112 may operate in conjunction with the fleet and mission operations controller 2110 to generate instructions in real-time with an updated movement plan for a UV operator.

[0153]
The TLC stream data analyzer 2148 may be organized as a collection of stream processing units (SPUs) 2150 each assigned to one or more event analyzers and including access to an associative memory that is shared by all SPUs and an event orchestrator 2152. Event analyzers may generally include any type of analyzer to search for an event in a source data stream based on application needs. For example, in the area of oil and gas, an event analyzer may include a leak detection event analyzer, an intruder detection event analyzer, etc.
The TLC stream data analyzer 2148 may receive a TLC stream, place the TLC
stream into its associative memory, and start the SPUs 2150. Each SPU may execute all of their event analyzers on the TLC stream, and forward an event to the event orchestrator 2152 for all features of interest found in the TLC stream.
In this regard, an event may be described as an item of interest, where an alert may be generated based on the presence of an event. Further, a feature may be descried as an attribute, where a plurality of attributes, when correlated together, may =
D14-092-02678-00-US and US2 PATENT
function as indicators of the occurrence of an event.

[0154] Each SPU may be assigned to one or more event analyzers.
Each SPU
may have access to an associative memory including one or more TLC streams.
When a SPU receives a command from the TLC stream data analyzer 2148 to process a TLC stream, the SPU may execute instances of each event analyzer on the assigned TLC stream, and send any results obtained to the event orchestrator 2152.

[0155] With respect to memory organization, for the TLC stream data analyzer 2148, the operating memory that manages the TLC streams may be implemented, for example, in a two-tier structure. The two-tier structure of the operating memory may facilitate scaling with respect to data analysis. For example, based on the two-tier structure of the operating memory, a plurality of event analyzers may be used to analyze the same data source simultaneously. According to an example, Tier 1 may include a file system to store all TLC streams. Tier 2 may include an associative memory that is accessible by all SPUs. The TLC stream data analyzer 148 may load the TLC streams into Tier 2 when the SPUs are to process the streams. When the TLC stream data analyzer 2148 determines that all SPUs have processed a stream, the TLC stream data analyzer 148 may remove the stream from the Tier 2 Memory. Event analyzers may also be stored in Tier 2.

[0156] With respect to event analyzer management, event analyzers may be stored in both tiers of memory. For example, event analyzers may be stored in Tier 1 and organized as needed. According to an example, active event analyzers may o, .= .
D14-092-02678-00-US and US2 PATENT
be stored in Tier 2 (accessible by SPUs). Examples of active event analyzers may include event analyzers related to intruder detection, leak detection, etc.
Generally, active event analyzers may include event analyzers related to events that a UV operator would like to detect. Event analyzers may be written in any language that may execute on a SPU with the requirement that the event analyzer can access the associative memory and send the correct events to the event orchestrator 2152.

[0157] The event orchestrator 2152 may receive event messages from the SPUs of the TLC stream data analyzer 2148. The event orchestrator 2152 may format the event messages as needed before forwarding the event messages to preconfigured endpoints. For example, the event orchestrator 2152 may receive the event messages and cross-correlate the event messages with other data in order to generate higher level event messages that need further investigation and response. Examples of higher level event messages may include an alarm to a mission operator, and/or a message forwarded to a mission operator for further follow-up or action, and/or the creation of a workflow to deploy maintenance crew, etc. The event messages may be JSON formatted, and may be sent to http-compliant endpoints.

[0158] An example implementation of the system 2100 for leak detection (e.g., for a pipeline leak) is described with reference to Figures 12 and 13.

[0159] At the outset, based on the launch of the UV 2104, and control and monitoring by the movement planning controller 2122 of the mission controller =
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2102, with respect to pre-processing, using openCV, a streaming video (e.g., fps) may be buffered by the telemetry data analyzer 2136 and a visual frame may be extracted for every second and stored using a matrix container. Each frame that is forwarded to the telemetry data analyzer 2136 may be buffered for a bit (e.g., to generate a continuous stream), and each frame may be stored within the matrix container. In this case, each pixel may be stored within the matrix container by its color (hue-saturation-value (HSV) value) and position. For example, a matrix container may be formatted as follows:
[(1,212,0) (5,212,0) ... (8,121,33)] n pixels [(33,225,0) (12,222,3) ... (2, 151, 43)] n pixels [(21,12,0) (69,52,14) ... (52, 11,33)] n pixels.

[0160] The initial frame may be passed, for example, through an HSV
based k-means clustering to segment the environment into distinct color patches. For each similarly colored patch, the mean HSV value may be determined, and the entire patch may be converted to that color, which may facilitate reduction of the color variation. Other clustering techniques, such as hierarchical clustering, agglomerative clustering, and other such techniques may be similarly applied.
The HSV based k-means clustering may represent an iterative refinement approach to partition n pixels into k clusters based on HSV values. For leak detection applications traceable to a defined source of leakage, further filtering may be performed on the k-means clustered frame. For example, in order to target leak detection from a pipeline, Hough Line Transform (HLT) may be performed to . , D14-092-02678-00-US and US2 PATENT
extract out the pipeline spanning the entire frame, as well as the surrounding clustered patches that define the environment encompassing both the source and the drain of the leakage. Other techniques, such as classifiers may be applied to extract out the pipeline spanning the entire frame. Using the extracted color patches, the position of the color patches relative to the entire frame may be set as the bounded search space for the subsequent steps. Considering the computational complexities of the above clustering and filtering, the clustering and filtering may be performed in an initial set of frames to establish a baseline search area within the future frames. This aspect of establishing a baseline search area within the future frames may provide for reduction of the computational complexity of the above clustering and filtering to limit the search space to areas close to the pipeline which are more likely to include leaks.

[0161] Each extracted visual frame may be analyzed by using a histogram-based sliding window that focuses on the occurrence frequency of quantized distribution of component HSV indices. To reduce the computational complexity of evaluating the objective function on the slider over the entire frame (i.e., (0(n2(r2 +
H)) given an x n frame, ar x r window, and a histogram of dimension H without optimization), the slider may be set to traverse through the bounded search space (i.e., truncated n) defined in the pre-processing stage. Within each window that slides through the entire frame, a histogram of all of the detected pixels and their frequencies may be determine to provide a break down by pixel HSV colors.
Depending on the nature of the operation, in order to reduce computational =
, =
D14-092-02678-00-US and US2 PATENT
intensity and analysis of the entire frame, the space needed to apply the sliding window may be truncated beforehand. For example, based on the assumption that the regions of interest that are to be detected (e.g., for a leak) will be beside a pipeline, other areas that are further away from the pipeline may be truncated and not searched. For the leak material that is being detected, the histograms for a set of training data may be created and normalized. Each window may pick up pixels with a mixture of HSV values (colors). A set of training data (of features that are to be picked up, and their own HSV distribution given the same size window), and a mean of their distribution may be used for comparison against each sliding window's HSV distribution. In this regard, an indicator such as 'positive' may be used to indicate training data that represents what is to be labeled as yes, or classified as true. For example, a leak may include a high frequency of black, dark gray, and brown (with more granularity), and each sliding window's color frequency distribution may be correlated with the training data, meaning that if the sliding window's HSV distribution is inserted instead of the training data, a determination may be made as to whether the distribution is skewed by a certain threshold.
If each sliding window's color frequency distribution is indeed correlated with the training data (i.e., each sliding window's color frequency distribution is similar to the training data), the entire sliding window may be highlighted as a potential patch for further analysis. The entire window may be further assigned to a particular color /
HSV value that is not in the frame, such that further analysis may include determining patches with that particular color / HSV value to narrow the search . , , D14-092-02678-00-US and US2 PATENT
space. The bounded search space may be divided into slots (e.g., windows), converted to normalized histograms, and compared to those of the training data using a correlation comparator. An example of the correlation comparator may include CV_COMP_CORREL implemented in openCV's compareHist(h1,h2,CV_COMP_CORREL) process. Slots passing the similarities threshold may be color-coded with a distinct HSV value outside the HSV domain of the frame.

[0162] The color-coded frame may be passed through a binary threshold to extract a binary image including only the pixels of interest identified by the histogram-based sliding window. That is, the frame (RGB, color) may be passed through a binary threshold to keep a range of HSV values and filter out the remaining values. For example, an oil leak may be a gradient of black and gray, so that pixels within these HSV values may be retained and other pixels may be filtered out. The sliding window may be used to analyze the entire image, and if there are sufficient pixels in the sliding window that are within an HSV of interest, then the entire window may be retained and set to a predetermined color (e.g., either black or white). The binary image may be passed through the openCV
findContour technique that includes, for example, the TEH-CHIN chain approximation event analyzer to extract out the blobs that may represent potential leaks. The binary image (e.g., assuming all of the pixels that are black and gray, potentially representing the oil leak, remain), may be put through the openCV
findContour technique to locate potential contours (i.e., continuation of pixels that D14-092-02678-00-US and US2 PATENT
are the same HSV value). The openCV findContour technique may identify potential outlines within the binary image, and those with close enough circularity, size (depending on the size of a leak) etc., to recognize contours from just random lines. The TEH-CHIN chain approximation technique may include an approximation for contour lines. Other techniques may include CV CHAIN_APPROX SIMPLE that compresses horitzontal, vertical, and diagonal segments, and leave only their end points. The positions of the centroids of each blob as well as the parameters of the boundaries may be identified. After applying the openCV findContour technique, certain shapes may be identified and filtered out. In this case, shapes with contours like an oil patch and within each patch may be highlighted, their centroid (i.e., approximate center) position may be identified, and the size of the box that bounds the whole patch may be obtained and stored, representing a potential leak patch.

[0163] Each of the extracted blobs (i.e., datum) may be passed through a naïve-Bayes classifier that models a joint distribution over a label Y = MO}, and a set of conditionally independent features F = {F1, F2, , Fia such as the geometry (e.g., area, circularity, etc.), presence of secondary bounding contours, contextual features (e.g., distance to the pipeline), given the assumption of conditional independence as follows:
= P (10 ni P (FilY) Equation (1) Each datum may be classified by finding the most probable label given the feature values for each pixel using, for example, Bayes Theorem as follows:

D14-092-02678-00-US and US2 PATENT
P(Y) P(filY) P (Ylfl, fn) =
Equation (2) = ar gmaxy (P W[113711=1 (fiiY)) argmaxyP I ft, fri) P(f1,...,fn) ) =(argMaXy (P (37) 1 I P ft IY)) t=1 Each datum (e.g., a potential patch / blob) that needs to be classified may be put through a classifier. Each pixel within the patch may represent a feature, and the presence of each feature may provide confidence towards each of the labels (e.g., a leak or not a leak). To overcome the issue of underflow, the log probabilities may be used as follows:
argmaxy log P(yIL, fn) = argmaxy log P(y) P (fily) = argmaxy[log(P(y) +
Eril=i log P (LIM]
Equation (3) Underflow may occur when the value (number) that is being stored becomes so small that precision is lost during representation and storage of the value in memory (in this case, multiplication of small probabilities together may result in a relatively small value). Laplace smoothing may be used to reduce under-fitting when using empirical observations. The optimal k value for the smoothing may be determined during a validation step that classifies all of the extracted blobs into either a leak or not a leak.

[0164] In order to further reduce the probability of picking up noise, potential leak patches that consistently appear in the subsequent frames may be retained.
In this regard, when a potential patch has been identified, the same patch may be = , ..
D14-092-02678-00-US and US2 PATENT
searched for in the next subsequent frames (until the patch is out of the field of view by taking into account the speed of the UV). Further, the more times the patch appears, the higher the confidence that it is either a leak or not a leak. In order to consider the constant velocity movement of the camera, a KALMAN
filter may be used. For the KALMAN filter, with respect to elimination of the static components, foreground extraction (or background filtering) may be omitted.
The KF prediction step at each frame may provide an expected region where the detected patch in the current frame should reside in the next frame. The KF
may take into account prior information (in this case, the locations of the detected patches), and predict the likely future locations (each time, the KF may predict the locations of the patches in the subsequent frames).

[0165] As a first step, with respect to a hash table implementation for the multi-frame tracking and matching, when the first potential leak is detected, a key-value pair < bloblD , ffpixelPos0,bool inFrame,bool isTracking, confidence) > for each detected leak may be inserted into the hash table (0(1)), where inFrame is 1 if the leak is found in the frame, else 0, and isTracking is 1 if the leak is still being tracked and matched until its KALMAN filter expected position is out of the dimension of the frame (no longer in FOV), else 0. Each detected blob may be stored in a hash table to track whether it is in frame, and being tracked (i.e., stop tracking when out of frame). The KF may predict the detected blob's subsequent position, so that when the KF predicts that the blob will be out of frame, tracking may be terminated.

[0166] As a second step, for each of the potential leaks in the hash table, the . .
;
D14-092-02678-00-US and US2 PATENT
KALMAN filter may predict their expected pixel positions in the next frame.

[0167] As a third step, in the next frame, for each of the potential leaks, if the potential leak is a new potential leak that is not in the hash table, the potential leak may be inserted into the hash table. Further, for each of the potential leaks, if the potential leak is in one of the expected positions predicted by the KALMAN
filter in the previous frame, the matching leak may be located in the hash table, and a new pixel position with increased confidence may be inserted into the value for that entry < bloblD, tpixelPosi, pixelPos2), 1,1, confidence + +>. For leaks in the hash table that are not updated in this iteration, a KALMAN filter predicted position may be inserted into the entry but set inFrame as 0 as follows:
< blobl D, fpixelPosi, tmpK FPixelPos2), 0,1, confidence >.

[0168] The second and third steps may be repeated, and if an entry is not updated in the previous iteration (inFrame = 0), and is not updated again, the entry (0(1)) may be deleted. In this case, for example, in frame-1, if a blob is detected at (x1 ,y1), and in frame-2 the KF predicts that the blob will be at (x2, y2), then further search for the blob may continue around (x2, y2) so that the search space may be truncated, thereby reducing computational complexity and power related to blob detection. If the blob is within the region, the location in the hash for that blob may be updated with increased confidence. If the blob is not located, the new predicted location (since sometimes the classifier did not pass it based on imaging conditions such as lighting, angle, etc.) may be updated for that blob in the hash table, but set inFrame = 0 to indicate that the blob is not located. If an entry is not updated in the =
, .
D14-092-02678-00-US and US2 PATENT
previous iteration (inFrame = 0), and is not updated again, the entry may be removed (indicating this is not a blob).

[0169] After the potential leak is out of the FOV, the corresponding confidence value in the hash table may represent its consistency of being tracked (passing all aforementioned steps) across frames, translating to the confidence of the potential leak being an actual leak.

[0170] Figures 14 and 15 illustrate flowcharts of methods 2300 and 2400 for UV
movement and data control, according to examples. The methods 2300 and 2400 may be implemented on the UV movement and data control system 2100 described above with reference to Figures 12 and 13 by way of example and not limitation. The methods 300 and 400 may be practiced in other systems.

[0171] Referring to Figures 12 and 14, at block 2302, the method 2300 may include receiving, at a hardware implemented telemetry data analyzer that is executed by at least one hardware processor, formatted movement and status metadata from at least one sensor of a UV during movement of the UV. The movement and status metadata may include time and location information for the UV during the movement of the UV. For example, referring to Figures 12, 13, and 16, the hardware implemented telemetry data analyzer 2135 that is executed by at least one hardware processor (e.g., the hardware processor 2502) may receive formatted movement and status metadata from at least one sensor 2106 of the UV

2104 during movement of the UV.

, D14-092-02678-00-US and US2 PATENT

[0172] At block 2304, the method 2300 may include receiving, at a hardware implemented stream data analyzer that is executed by the at least one hardware processor, an unformatted data stream from the at least one sensor of the UV.
For example, referring to Figures 12, 13, and 16, the hardware implemented stream data analyzer 2138 may receive an unformatted data stream from the at least one sensor 2106 of the UV 2104.

[0173] At block 2306, the method 2300 may include injecting, by a hardware implemented data integrator that is executed by the at least one hardware processor, the time and location information into metadata of the unformatted data stream to generate a TLC stream. For example, referring to Figures 12, 13, and 16, the hardware implemented data integrator 2142 may inject the time and location information into metadata of the unformatted data stream to generate a TLC stream.

[0174] At block 308, the method 2300 may include analyzing, by a hardware implemented TLC stream data analyzer that is executed by the at least one hardware processor, the TLC stream to identify an event related to the UV. For example, referring to Figures 12, 13, and 16, the hardware implemented TLC
stream data analyzer 2148 may analyze the TLC stream to identify an event related to the UV 2104.

[0175] Referring to Figures 12 and 15, at block 2402, the method 2400 may include receiving, at a hardware implemented telemetry data analyzer that is executed by at least one hardware processor, movement and status metadata from =
. .
1:
D14-092-02678-00-US and US2 PATENT
at least one sensor of a UV during movement of the UV. The movement and status metadata may include time and location information for the UV during the movement of the UV. For example, referring to Figures 12, 13, and 16, the hardware implemented telemetry data analyzer 2135 may receive movement and status metadata (e.g., JSON format movement and status metadata) from at least one sensor 2106 of a UV 2104 during movement of the UV 2104.

[0176] At block 2404, the method 2400 may include receiving, at a hardware implemented stream data analyzer that is executed by the at least one hardware processor, an unformatted data stream from the at least one sensor of the UV.
For example, referring to Figures 12, 13, and 16, the hardware implemented stream data analyzer 2138 may receive an unformatted data stream from the at least one sensor 2106 of the UV 2104.

[0177] At block 2406, the method 2400 may include injecting, by a hardware implemented data integrator that is executed by the at least one hardware processor, the time and location information into metadata of the unformatted data stream to generate a TLC stream. For example, referring to Figures 12, 13, and 16, the hardware implemented data integrator 2142 may inject the time and location information into metadata of the unformatted data stream to generate a TLC stream.

[0178] At block 2408, the method 2400 may include analyzing, by a hardware implemented TLC stream data analyzer that is executed by the at least one hardware processor, the TLC stream to identify an event related to the UV. For . . ' .
D14-092-02678-00-US and US2 PATENT
example, referring to Figures 12, 13, and 16, the hardware implemented TLC
stream data analyzer 2148 may analyze the TLC stream to identify an event related to the UV.

[0179] At block 2410, the method 2400 may include generating, at a hardware implemented event orchestrator that is executed by the at least one hardware processor, a notification related to the event. For example, referring to Figures 12, 13, and 16, the hardware implemented event orchestrator 2152 may generate a notification related to the event.

[0180] Figure 16 shows a computer system 2500 that may be used with the examples described herein. The computer system may represent a generic platform that includes components that may be in a server or another computer system. The computer system 2500 may be used as a platform for the system 2100. The computer system 2500 may execute, by a processor (e.g., a single or multiple processors) or other hardware processing circuit, the methods, functions and other processes described herein. These methods, functions and other processes may be embodied as machine readable instructions stored on a computer readable medium, which may be non-transitory, such as hardware storage devices (e.g., RAM (random access memory), ROM (read only memory), EPROM (erasable, programmable ROM), EEPROM (electrically erasable, programmable ROM), hard drives, and flash memory).

[0181] The computer system 2500 may include a processor 2502 that may implement or execute machine readable instructions performing some or all of the = .
:
D14-092-02678-00-US and US2 PATENT
methods, functions and other processes described herein. Commands and data from the processor 2502 may be communicated over a communication bus 2504.
The computer system may also include a main memory 2506, such as a random access memory (RAM), where the machine readable instructions and data for the processor 2502 may reside during runtime, and a secondary data storage 2508, which may be non-volatile and stores machine readable instructions and data.
The memory and data storage are examples of computer readable mediums. The memory 2506 may include a UV movement and data controller 2520 including machine readable instructions residing in the memory 2506 during runtime and executed by the processor 2502. The UV movement and data controller 2520 may include the elements of the system 2100 shown in Figure 12.

[0182]
The computer system 2500 may include an I/O device 2510, such as a keyboard, a mouse, a display, etc. The computer system may include a network interface 2512 for connecting to a network. Other known electronic components may be added or substituted in the computer system.
Clause 1. A unmanned vehicle (UV) movement and data control system cornprising:
a hardware implemented mission controller, executed by at least one hardware processor, to control a UV according to a movement plan;
a hardware implemented telemetry data analyzer, executed by the at least one hardware processor, to , . .
D14-092-02678-00-US and US2 PATENT
receive, from the mission controller, formatted movement and status metadata from at least one sensor of the UV during movement of the UV
according to the movement plan, and buffer the movement and status metadata for forwarding to a hardware implemented data integrator, wherein the movement and status metadata includes time and location information for the UV during the movement of the UV
according to the movement plan;
a hardware implemented stream data analyzer, executed by the at least one hardware processor, to receive an unformatted data stream from the at least one sensor of the UV, wherein the data integrator is executed by the at least one hardware processor to inject the time and location information into metadata of the unformatted data stream to generate a time and location correlated (TLC) stream;
a hardware implemented TLC stream data analyzer, executed by the at least one hardware processor, to analyze the TLC stream to identify an event related to the UV; and a hardware implemented event orchestrator, executed by the at least one hardware processor, to generate a notification related to the event.
Clause 2. The UV movement and data control system according to clause 1, wherein the mission controller is to convert the movement and status metadata to a JavaScript Object Notation (JSON) format for processing by the data integrator.

. =
D14-092-02678-00-US and US2 PATENT
Clause 3. The UV movement and data control system according to clause 1, wherein the at least one sensor includes a video camera, a gas detector, an infrared (IR) camera, and a pressure sensor.
Clause 4. The UV movement and data control system according to clause 1, wherein the data integrator comprises:
a hardware implemented time and location service analyzer, executed by the at least one hardware processor, to generate, based on the movement and status metadata, a model of a state of the UV during the movement of the UV
according to the movement plan.
Clause 5. The UV movement and data control system according to clause 4, wherein the data integrator comprises:
a hardware implemented stream integrator, executed by the at least one hardware processor, to:
extract frames of data from the unformatted data stream;
retrieve the time and location information from the model of the state of the UV; and inject the time and location information into the metadata of each of the frames of the data from the unformatted data stream to generate TLC
frames, wherein a collection of the TLC frames represents the TLC stream.

D14-092-02678-00-US and US2 PATENT
Clause 6. The UV movement and data control system according to clause 4, wherein the data integrator comprises:
a hardware implemented stream integrator, executed by the at least one hardware processor, to:
extract a frame of data from the unformatted data stream; and pre-process the data from the unformatted data stream for detecting a leak in a pipeline by passing the frame of the data through hue-saturation-value (HSV) based clustering to segment environment into distinct color patches, wherein the leak in the pipeline is detected by using a transform to extract the pipeline spanning the frame.
Clause 7. The UV movement and data control system according to clause 6, wherein the TLC stream data analyzer is to utilize a histogram-based sliding window to identify pixels of interest in the frame of the data.
Clause 8. The UV movement and data control system according to clause 6, wherein the TLC stream data analyzer is to utilize Teh-Chin chain approximation to extract a blob that represents the leak in the pipeline.
Clause 9. The UV movement and data control system according to clause 8, wherein the TLC stream data analyzer is to utilize a naïve-Bayes classifier to classify the blob as a leak or not a leak.

=
D14-092-02678-00-US and US2 PATENT
Clause 10. The UV movement and data control system according to clause 9, wherein the TLC stream data analyzer is to retain the classification of the blob based on corroboration of the classification with a plurality of frames of the data including the frame of the data.
Clause 11. The UV movement and data control system according to clause 1, wherein the TLC stream data analyzer further comprises:
a hardware implemented stream processing unit (SPU) including a plurality of hardware implemented event analyzers, executed by the at least one hardware processor, to analyze the TLC stream to identify the event related to the UV.
Clause 12. The UV movement and data control system according to clause 1, wherein the UV is an autonomous UV.
Clause 13. The UV movement and data control system according to clause 1, wherein the UV is an unmanned aerial vehicle (UAV).
Clause 14. The UV movement and data control system according to clause 1, wherein the TLC stream data analyzer is to analyze the TLC stream to identify the event that includes a potential leak or an intruder related to a pipeline.

, . , D14-092-02678-00-US and US2 PATENT
Clause 15. A method for unmanned vehicle (UV) movement and data control, the method comprising:
receiving, at a hardware implemented telemetry data analyzer that is executed by at least one hardware processor, formatted movement and status metadata from at least one sensor of a UV during movement of the UV, wherein the movement and status metadata includes time and location information for the UV during the movement of the UV;
receiving, at a hardware implemented stream data analyzer that is executed by the at least one hardware processor, an unformatted data stream from the at least one sensor of the UV;
injecting, by a hardware implemented data integrator that is executed by the at least one hardware processor, the time and location information into metadata of the unformatted data stream to generate a time and location correlated (TLC) stream; and analyzing, by a hardware implemented TLC stream data analyzer that is executed by the at least one hardware processor, the TLC stream to identify an event related to the UV.
Clause 16. The method for UV movement and data control according to clause 15, further comprising:

, =
. =
D14-092-02678-00-US and US2 PATENT
generating, by a hardware implemented time and location service analyzer that is executed by the at least one hardware processor, based on the movement and status metadata, a model of a state of the UV during the movement of the UV.
Clause 17. The method for UV movement and data control according to clause 16, further comprising:
extracting, by a hardware implemented stream integrator that is executed by the at least one hardware processor, a frame of data from the unformatted data stream; and pre-processing, by the stream integrator, the data from the unformatted data stream to detect a leak in a pipeline by passing the frame of the data through hue-saturation-value (HSV) based clustering to segment environment into distinct color patches, wherein the leak in the pipeline is detected by using a transform to extract the pipeline spanning the frame.
Clause 18. The method for UV movement and data control according to clause 16, further comprising:
utilizing, by the TLC stream data analyzer, Teh-Chin chain approximation to extract a blob that represents the leak in the pipeline.
Clause 19. The method for UV movement and data control according to clause 16, further comprising:

' . , .
D14-092-02678-00-US and US2 PATENT
utilizing, by the TLC stream data analyzer, a naïve-Bayes classifier to classify the blob as a leak or not a leak.
Clause 20. A non-transitory computer readable medium having stored thereon machine readable instructions for UV movement and data control, the machine readable instructions when executed cause at least one hardware processor to:
receive, at a hardware implemented telemetry data analyzer that is executed by at least one hardware processor, movement and status metadata from at least one sensor of a UV during movement of the UV, wherein the movement and status metadata includes time and location information for the UV during the movement of the UV;
receive, at a hardware implemented stream data analyzer that is executed by the at least one hardware processor, an unformatted data stream from the at least one sensor of the UV;
inject, by a hardware implemented data integrator that is executed by the at least one hardware processor, the time and location information into metadata of the unformatted data stream to generate a time and location correlated (TLC) stream;
analyze, by a hardware implemented TLC stream data analyzer that is executed by the at least one hardware processor, the TLC stream to identify an event related to the UV; and , CA 02881744 2015-02-13 4 , .. .
D14-092-02678-00-US and US2 PATENT
generate, at a hardware implemented event orchestrator that is executed by the at least one hardware processor, a notification related to the event.

[0183]
What has been described and illustrated herein is an example along with some of its variations. The terms, descriptions and figures used herein are set forth by way of illustration only and are not meant as limitations. Many variations are possible within the spirit and scope of the subject matter, which is intended to be defined by the following claims -- and their equivalents -- in which all terms are meant in their broadest reasonable sense unless otherwise indicated.

Claims

CLAIMS:

1. An unmanned vehicle (UV) control system comprising:
a fleet and mission operations controller, executed by at least one hardware processor, to receive a UV work order and to generate a mission request based on the UV work order, the mission request identifying an objective of a mission, assigning a UV and a sensor to the mission from a fleet of UVs and sensors, and assigning a first movement plan to the mission based on the identified objective of the mission;
a mission controller, executed by the at least one hardware processor, to control the assigned UV according to the assigned first movement plan, and receive communication data from the assigned sensor, wherein the communication data includes telemetry data and video stream data; and an event detector, executed by the at least one hardware processor, to receive the communication data that includes the telemetry data and the video stream data, combine the telemetry data and the video stream data, analyze the combined telemetry data and the video stream data to identify an event related to the mission, and forward the identified event to the fleet and mission operations controller to analyze the identified event and the first movement plan, and assign a second movement plan to the mission based on the analysis of the identified event and the first movement plan to meet the identified objective of the mission, wherein the second movement plan is different than the first movement plan, wherein the mission controller is to control the assigned UV
according to the assigned second movement plan, and wherein the fleet and mission operations controller and the event detector are hosted in an off-site facility relative to the assigned UV.

2. The UV control system according to claim 1, further comprising:
a compliance evaluator, executed by the at least one hardware processor, to determine whether the mission request is compliant with at least one of regulations and safety parameters, and in response to a determination that the mission request is compliant with the at least one of regulations and safety parameters, forward the mission request to the mission controller.

3. The UV control system according to claim 1, further comprising:
a compliance evaluator, executed by the at least one hardware processor, to determine whether the assigned UV and a UV operation crew associated with the mission request is compliant with at least one of regulations and safety parameters, and in response to a determination that the assigned UV and the UV
operation crew associated with the mission request is compliant with the at least one of regulations and safety parameters, forward the mission request to the mission controller.

4. The UV control system according to claim 1, wherein the fleet of UVs includes unmanned aerial vehicles (UAVs).

5. The UV control system according to claim 1, wherein the sensors include video cameras, gas detectors, infrared (IR) cameras, and pressure sensors.

6. The UV control system according to claim 1, wherein the event detector is to combine the telemetry data and the video stream data by determining a number of frames per second for the video stream data, determining, from the telemetry data, a time and a location associated with the video stream data, and generating a meta tag for each of the frames of the video stream data, wherein the meta tag includes the time and the location associated with the video stream data.

7. The UV control system according to claim 1, wherein the first movement plan includes predefined way points and alternate points for the UV based on the identified objective of the mission, and the second movement plan includes at least one different predefined way point from the predefined way points and at least one different alternate point from the alternate points for the UV based on the analysis of the identified event to meet the identified objective of the mission.

8. The UV control system according to claim 1, wherein the sensor includes a video camera, and the mission controller is to generate a real-time display from the video camera, receive instructions to modify movement of the UV based on an analysis of the real-time display from the video camera, and modify movement of the UV based on the received instructions.

9. The UV control system according to claim 1, wherein the UV is an autonomous UV.

10. The UV control system according to claim 1, wherein the event detector is to analyze the communication data to identify the event that includes a potential leak by converting the video stream data from red, green, and blue (RGB) into corresponding hue-saturation-values (HSVs) to adjust for variations in lighting conditions and shadows, defining lower and upper bounds of the HSVs based on a type of material associated with the potential leak, analyzing, based on the defined lower and upper bounds, each video frame associated with the video stream data to overlay shapes on each of the video frames associated with the video stream data, and applying parameter constraints to determine whether an area of a video frame associated with the overlayed shapes represents the potential leak.

11. The UV control system according to claim 1, wherein the event detector is to analyze the communication data to identify the event that includes a potential leak or an intruder related to a pipeline.

12. The UV control system according to claim 1, wherein the event detector is to analyze the communication data to identify the event related to a pipeline, and generate instructions for preventative actions with respect to the pipeline based on the identification of the event.

13. The UV control system according to claim 1, wherein the mission controller is to analyze the event to determine a severity level of the event, and generate a real-time display related to the event, wherein the real-time display includes a characterization of a type and the severity level of the event.

14. A method for unmanned vehicle (UV) control, the method comprising:
generating, by a fleet and mission operations controller that is executed by at least one hardware processor, a mission request to identify an objective of a mission, assign a UV and a sensor to the mission from a fleet of UVs and sensors, and assign a first movement plan to the mission based on the identified objective of the mission;
controlling, by a mission controller that is executed by the at least one hardware processor, the assigned UV according to the assigned first movement plan;
receiving, by an event detector that is executed by the at least one hardware processor, communication data that includes telemetry data and video stream data;
analyzing, by the event detector, the communication data from the assigned sensor by combining the telemetry data and the video stream data to identify an event related to the mission;
analyzing, by the fleet and mission operations controller, the identified event and the first movement plan;

assigning, by the fleet and mission operations controller, a second movement plan to the mission based on the analysis of the identified event and the first movement plan to meet the identified objective of the mission, wherein the second movement plan is different than the first movement plan; and controlling, by the mission controller, the assigned UV according to the assigned second movement plan.

15. The method for UV control according to claim 14, wherein analyzing, by the event detector that is executed by the at least one hardware processor, the communication data from the assigned sensor by combining the telemetry data and the video stream data to identify the event related to the mission further comprises:
analyzing, by the event detector, the communication data to identify the event that includes a potential leak or an intruder related to a pipeline.

16. The method for UV control according to claim 14, further comprising:
determining, by a compliance evaluator that is executed by the at least one hardware processor, whether the mission request is compliant with regulations, and in response to a determination that the mission request is compliant with regulations, forwarding, from the compliance evaluator, the mission request to the mission controller.

17. The method for UV control according to claim 14, further comprising:
generating, by the mission controller, a real-time display related to the event, wherein the real-time display includes a characterization of a type and a severity level of the event.

18. The method for UV control according to claim 14, further comprising:
analyzing, by the event detector, the communication data to identify the event related to a pipeline, and generating, by the event detector, instructions for preventative actions with respect to the pipeline based on the identification of the event.

19. The method for UV control according to claim 14, wherein the sensor includes a video camera, the method further comprises:
generating, by the mission controller, a real-time display from the video camera, receiving, by the mission controller, instructions to modify movement of the UV
based on an analysis of the real-time display from the video camera, and modifying, by the mission controller, movement of the UV based on the received instructions.

20. A non-transitory computer readable medium having stored thereon machine readable instructions for UV control, the machine readable instructions when executed cause at least one hardware processor to:
receive, at a mission controller that is executed by the at least one hardware processor, a mission request that identifies an objective of a mission, assigns a UV and a sensor to the mission from a fleet of UVs and sensors, and assigns a first movement plan to the mission based on the identified objective of the mission;
control, by the mission controller, the assigned UV according to the assigned first movement plan;
receive, by an event detector that is executed by the at least one hardware processor, communication data that includes telemetry data and video stream data;
analyze, by the event detector that is executed by the at least one hardware processor, the communication data from the assigned sensor by combining the telemetry data and the video stream data to identify an event related to the mission;
analyze, by a fleet and mission operations controller, the identified event and the first movement plan; and receive, at the mission controller, a second movement plan for the mission based on the analysis of the identified event and the first movement plan to meet the identified objective of the mission, wherein the second movement plan is different than the first movement plan.