GB2559185A

GB2559185A - Surveillance apparatus

Info

Publication number: GB2559185A
Application number: GB1701535.5A
Authority: GB
Inventors: Sheehan Daniel; Shirnia Barnaby
Original assignee: Aquila Aerospace Ltd
Current assignee: Aquila Aerospace Ltd
Priority date: 2017-01-31
Filing date: 2017-01-31
Publication date: 2018-08-01
Also published as: GB201701535D0

Abstract

A surveillance apparatus 1 comprises an unmanned aerial vehicle 3 and deployment means for the unmanned aerial vehicle. The unmanned aerial vehicle comprises at least one surveillance means (such as a video camera) and the deployment means comprises a portable casing 4 arranged to house the unmanned aerial vehicle prior to deployment and from which the unmanned aerial vehicle may be deployed from and to which the unmanned aerial vehicle may be retrieved. The apparatus includes a power supply for the unmanned aerial vehicle and control means 8 in the form of a microcontroller. A tether 5 connects the unmanned aerial vehicle to the casing by way of a winch 6 acting with a pulley 7. The control means is configured to control deployment of the unmanned aerial vehicle from the casing, retrieval of the unmanned aerial vehicle to the casing and flight of the unmanned aerial vehicle between deployment and retrieval. The controller may be operated via an interface 12 on a lid 10 of the casing with the aid of a display screen 11.

Description

(71) Applicant(s):

Aquila Aerospace Ltd (Incorporated in the United Kingdom)

Northcroft Road, Englefield Green, Surrey, TW20 0ΕΑ, United Kingdom (72) Inventor(s):

Daniel Sheehan

Barnaby Shirnia (56) Documents Cited:

WO 2016/203359 A1 WO 2007/141795 A1 US 20140263852 A1 US 20130134254 A1 KR1020160084150 (58) Field of Search:

INT CL B64C Other: WPI, EPODOC

WO 2014/203593 A1 US 20160207626 A1 US 20130233964 A1 (74) Agent and/or Address for Service:

Ali Shirnia

Northcroft Road, Englefield Green, SURREY, TW20 0ΕΑ, United Kingdom (54) Title ofthe Invention: Surveillance apparatus

Abstract Title: Surveillance UAV tethered to a portable casing (57) A surveillance apparatus 1 comprises an unmanned aerial vehicle 3 and deployment means for the unmanned aerial vehicle. The unmanned aerial vehicle comprises at least one surveillance means (such as a video camera) and the deployment means comprises a portable casing 4 arranged to house the unmanned aerial vehicle prior to deployment and from which the unmanned aerial vehicle may be deployed from and to which the unmanned aerial vehicle may be retrieved. The apparatus includes a power supply for the unmanned aerial vehicle and control means 8 in the form of a microcontroller. A tether 5 connects the unmanned aerial vehicle to the casing by way of a winch 6 acting with a pulley 7. The control means is configured to control deployment of the unmanned aerial vehicle from the casing, retrieval ofthe unmanned aerial vehicle to the casing and flight ofthe unmanned aerial vehicle between deployment and retrieval. The controller may be operated via an interface 12 on a lid 10 ofthe casing with the aid of a display screen 11.

Fig. 2a

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Surveillance apparatus

This invention relates to a surveillance apparatus. The invention also relates to a method of operating a surveillance apparatus.

Background

Unmanned aerial vehicles (UAVs) are well known in the art, and used for a variety of purposes including aerial photography and surveying, as well as recreational and military applications. UAVs can operate under the control of a human pilot (for example, using a remote control) or they can function autonomously using a remote or on-board processor to maintain a position in the air or follow a predetermined flight path. UAVs are also commonly referred to as ‘drones’. In the following application the terms ‘UAV’ and ‘drone’ are intended be interchangeable and to refer to the same device.

A new application for the use of UAVs proposed in the present application is to be used as part of a surveillance apparatus to assist first responders to emergency situations. The term ‘first responders’ could include members of so-called ‘Blue

Light’ services, e.g. fire service, ambulance service, police service, coast guard service, mountain rescue service, etc., members of charities, or members of civilian or military organisations who would be likely to be the first person at the scene of an accident or emergency.

However, for this application existing UAVs suffer from several drawbacks. For example, while there do exist small autonomous or semi-autonomous UAVs these are often expensive, technically complex, and difficult to operate. They further often lack robustness and may also rely on external power supplies, or external command and control which reduce mobility.

It is an aim of the present invention to overcome at least some of these drawbacks by providing a surveillance apparatus comprising a portable casing, and including a UAV that is simple in construction (and consequently cheap to manufacture), simple to operate (and which may operate entirely autonomously once activated if required), adaptable to developing emergency situations, and which is robust and selfcontained.

As prior art there may be mentioned US20130233964, which discloses a UAV tethered to a vehicle or a ground station secured to the ground or permanent structure, and US20160083115, which discloses a system in which power and communications are provided from a ground station to a UAV via a tether.

Summary of the Invention io

In accordance with a first aspect of the present invention there is provided a surveillance apparatus comprising:

an unmanned aerial vehicle; and deployment means for the unmanned aerial vehicle, wherein the unmanned aerial vehicle comprises at least one surveillance means, wherein the deployment means comprises:

a casing arranged to house the unmanned aerial vehicle prior to deployment, from which the unmanned aerial vehicle may be deployed from and to which the unmanned aerial vehicle may be retrieved;

a power supply for the unmanned aerial vehicle;

control means; and a tether connecting the unmanned aerial vehicle to the casing, and wherein the control means is configured to control:

deployment of the unmanned aerial vehicle from the casing;

retrieval of the unmanned aerial vehicle to the casing; and flight of the unmanned aerial vehicle between deployment and retrieval.

In the present application, the term ‘portable’ is intended to mean that it may be carried by an average able-bodied person for a reasonable distance (e.g. the distance from a vehicle arriving at the scene of an emergency to the point of intended deployment of the unmanned aerial vehicle). As an example, a casing of dimensions 60cm in length, 50cm in width and 30cm in depth, and of weight 5-1 Okg could be described as being portable.

The casing being portable gives the surveillance apparatus of the present invention particular technical benefits over those of the prior art. For example, where prior surveillance apparatuses are tethered to vehicles, the present surveillance apparatus can be deployed from launch sites inaccessible to vehicles, e.g. mountainous regions, heavily wooded regions, etc.

Power could be supplied from the power supply to the unmanned aerial vehicle via the tether.

The casing could comprise a control interface through which a user could operate the control means.

The casing could comprise a display means operable to display an output from the surveillance means.

The control means could comprise a processor programmed with control logic, wherein the control logic is configured to perform the steps of deployment of the unmanned aerial vehicle, retrieval of the unmanned aerial vehicle, and flight of the unmanned aerial vehicle between deployment and retrieval autonomously once the control means is activated. In this case, the surveillance apparatus could comprise a wind speed sensor, and the control logic could be configured to perform the step of retrieval of the unmanned aerial vehicle when the sensed wind speed exceeds a predetermined threshold. The unmanned aerial vehicle could additionally or alternatively comprise a GPS sensor, and the control logic could be configured to perform the step of retrieval of the unmanned aerial vehicle when the sensed GPS coordinate exceeds a predetermined threshold distance from the casing. The unmanned aerial vehicle could additionally or alternatively comprise means to calculate the angle of the tether from a vertical axis, and the control logic could be configured to perform the step of retrieval of the unmanned aerial vehicle when the calculated angle exceeds a predetermined threshold.

In accordance with a second aspect of the present invention there is provided a method of operating a surveillance apparatus, the surveillance apparatus comprising:

an unmanned aerial vehicle; and deployment means for the unmanned aerial vehicle, wherein the unmanned aerial vehicle comprises at least one surveillance means, and wherein the deployment means comprises:

a power supply for the unmanned aerial vehicle; control means; and a tether connecting the unmanned aerial vehicle to the casing, the method comprising the step of:

activating the control means, whereupon the control means performs the steps of:

deployment of the unmanned aerial vehicle from the casing;

The method could further comprise the step of supplying power from the power supply to the unmanned aerial vehicle via the tether.

Detailed description

The invention will now be described by way of example with reference to the accompanying drawings, in which:

Fig. 1 schematically shows a surveillance apparatus in accordance with an embodiment of the present invention during flight of the UAV;

Fig. 2a schematically shows a surveillance apparatus in accordance with an embodiment of the present invention prior to deployment of the UAV;

Fig. 2b schematically shows a surveillance apparatus in accordance with an embodiment of the present invention during deployment of the UAV;

Fig. 3 shows a block diagram illustrating the components of a deployment means suitable for use in the present invention;

Fig. 4 shows a block diagram illustrating components of a communication system suitable for use in the present invention; and

Fig. 5 shows a block diagram illustrating components of a control system suitable for use in the present invention.

Fig. 1 schematically shows a surveillance apparatus 1 in accordance with an embodiment of the present invention. The surveillance apparatus 1 is being used to aid a first responder (not shown) in surveying an emergency situation generally indicated at 2.

The surveillance apparatus 1 comprises an unmanned aerial vehicle (UAV) 3 and a portable casing 4. A tether 5, approximately 50 metres in length, connects the UAV 3 to the casing 4 which is positioned on the ground. The tether 5 ensures that during flight the UAV 3 maintained at a height of 50 metres. The restriction of the possible height of the UAV 3 due to the tether 5 means that the UAV 3 is prevented from entering regulated airspace once deployed. This increases the safety rating of the surveillance apparatus 1, and also ensures that the user does not need to be trained as a pilot to operate the surveillance apparatus 1.

Through control means (also described in detail below) the lateral flight of the UAV is restricted to a circle centred above the casing 4 with a radius of 20 metres. These two limits ensure that the volume that the tether 5 can occupy is an inverted cone, as io indicated by the dotted lines. As this volume is a simple geometric shape, a user (e.g. a first responder) can quickly and easily check that the space above the desired deployment site is free of obstacles.

Fig. 2a schematically shows a surveillance apparatus in accordance with an 15 embodiment of the present invention prior to deployment of the UAV. Like reference numerals from Fig. 1 have been retained to indicate the same component.

In Fig. 2a the UAV 3 is housed inside the casing 4. The UAV 3 comprises a surveillance means (e.g. a video camera). The casing 4 comprises a hinged lid 10.

The lid 10 further comprises a display screen 11 which can display images taken by the surveillance means, either a real-time stream of images, or saved images recalled from a storage means located in the UAV 3, in the casing 4, or from a remote server (not shown).

The hinged lid is opened and closed using an actuator (not shown), for example a linear or rotary actuator.

A winch 6 is secured to a lower surface of the casing 4. The tether runs from the winch 6 to the UAV 3 via a pulley 7, also secured to a surface of the casing 4. The winch 6 includes a motor (not shown) and may be used to reel in the tether, and in doing so retrieve the UAV 3 back into the casing from a deployed state.

The casing contains a control means in the form of a microcontroller 8. The microcontroller 8 contains control logic, and is operable to control several components of the surveillance apparatus, including the UAV 3 (take-off I landing, and lateral movement), the winch 6 (paying out I reeling in of the tether) and the actuator (opening I closing of the lid 10). The casing also contains a local positioning system 9.

The microcontroller 8 may be operated through a control interface 12 on the lid 10. The control interface 12 may comprise a keyboard, push-button, touch-screen or any other suitable interface. Through the control interface 12 the microcontroller 8 may simply be activated by a user to run its control logic autonomously. However, a user io may also input commands through the control interface 12. For example, a user may input simple control commands (e.g. left I right, clockwise I anticlockwise, north I south I east / west) which may be translated into heading adjustments by the microcontroller 8 and used to control movement of the UAV 3.

Fig. 2b schematically shows a surveillance apparatus in accordance with an embodiment of the present invention during deployment of the UAV. Like reference numerals from Fig. 1 have been retained to indicate the same component.

In Fig. 2b the lid 10 is in the open position, allowing the UAV 3 to climb vertically out of the casing 4. It can be seen that in this position both the display screen 10 and the control interface 12 are oriented in a substantially vertical arrangement which allows easy viewing and operation by a user stood next to the casing 4.

Fig. 3 shows a block diagram illustrating the components of a deployment means suitable for use in the present invention.

In Fig. 3 it can be seen that the casing 100 contains a battery 102. The battery 102 provides power to a winch motor 203, a microcontroller 110 and a display screen 112. The battery may be charged from an external power source 101.

The microcontroller 110 communicates with the UAV 105 wirelessly via a transceiver 104. As illustrated by the dotted lines, the transceiver 104 can send and receive wireless signals to the UAV 105 itself, e.g. to control flight, and the transceiver 104 can also receive wireless signals from the surveillance means 106 of the UAV 105,

e.g. to download captured images.

The microcontroller 110 is also connected to an external data interface 108.

Through the interface 108 data may be input to the microcontroller 110 from an external data storage 107 (e.g. firmware updates, software updates, etc.), and data may also be downloaded to the external data storage 107 from the microcontroller 110 (e.g. captured images, captured video, etc.).

io A local positioning system 111 is connected to the microcontroller 110. The local positioning system tracks the location of the UAV 105 relative to the casing 100.

A control interface 109 is located on an exterior surface of the casing 100, preferably on a lid of the casing 100.

Fig. 4 shows a block diagram illustrating components of a communication system suitable for use in the present invention.

It can be seen in Fig. 4 that the communication system comprises several components in the UAV 201, in the microcontroller 205 of the casing, and in an offsite server 208.

The UAV 201 comprises a GPS sensor 202 in communication with a UAV microcontroller 204. Examples of suitable UAV microcontrollers include

Snapdragon, PixHawk, PixRacer and PixHawk 2 controllers.

The UAV 201 also comprises a surveillance means 203. The surveillance means 203 may be carried on the UAV 201 by a light-weight gimbal (not shown). Lightweight gimbals typically have two axes of movement. In such a case, the UAV microcontroller 204 can be programmed to ensure that drone features (e.g. the legs of the drone) do not block or obscure the surveillance means 203 at any angle of the surveillance means on the two axes of the gimbal.

The microcontroller 205 of the casing comprises a drone control section 206, a display section 209, an information storage section 210 and a local positioning system 207. The drone control section 206 is in wireless communication with the UAV microcontroller 204 and the video display section 209 is in wireless communication with the surveillance means 203.

The drone control section 206 receives an input from the local positioning system 207. Specifically, the local positioning system 207 tracks the position of the UAV 201 in 3D space (e.g. in Cartesian or spherical co-ordinates) relative to the point io where the UAV 201 needs to land, i.e. the casing (4, 100 in Figs. 1-3). The local positioning system 207 may also provide an input to the information storage section

210 and a log of the flight path of the UAV 201 can be created. Data stored in the information storage section 210 may be passed wirelessly to an information storage and analysis section 211 located in an off-site server 208.

In Fig. 5 it can be seen that the control system comprises several components in the

UAV 301, and in the microcontroller 305 of the casing.

The UAV 301 comprises a microcontroller 304. The microcontroller comprises a local positioning sensor (not shown). The local positioning sensor comprises an inertial measurement unit (IMU) which estimates the UAV’s position using the microcontroller’s built-in gyroscopes, accelerometer, magnetometer and barometer. The UAV 301 also comprises a GPS sensor 302 in communication with the UAV microcontroller 304, and a positioning system 303 in communication with the UAV microcontroller 304.

The microcontroller 305 of the casing comprises a drone control section 306, a winch control section 307, a drone information section 308, a local positioning system 310, surveillance sensors 309 and a control interface 311. The drone control section 306 is in wireless communication with the UAV microcontroller 304, as is the drone information section 308. The drone control section 306 may receive an input from the local positioning system 310, and may receive commands from the user via the control interface 311, which may also provide an input to the local positioning system 310. The drone information section 308 and the surveillance sensors 309 may also provide inputs to the local positioning system 310.

The GPS readings of the GPS sensor 302 are used by the drone control section 306 where coarse grain accuracy is adequate (e.g. at 50m while surveying a movement of 2m will not make a very large impact on the image). When the drone control section 306 needs more accurate information (e.g. landing and take-off) the drone io control section 306 switches to the readings of the local positioning sensor in the

UAV 301 and the local positioning system 310 in the casing.

An exemplary operation of a surveillance apparatus according to the invention will now be described.

A first responder, having been notified of a developing emergency situation, drives a vehicle containing the above described surveillance apparatus to a location proximal the emergency situation. Upon arriving at said location, the first responder carries the portable casing containing the UAV to a desired launch site which is absent of any obstructions in a volume approximately 20m from the launch site in all lateral directions and up to approximately 50m above the launch site.

The first responder then activates that control means of the surveillance apparatus via the control interface on the outer surface of the casing. In the limit, this could be a single button press on the control interface.

The control means, once activated, autonomously performs the step of opening the lid (by activating an actuator within the casing) and launching the UAV by instructing the drone microcontroller to initiate flight of the drone to a height of 50m.

Once at the height of 50m, the control means monitors the output of the local positioning sensor via the drone information section. If the output indicates that the drone has travelled more than 20m laterally from a point directly above the casing, the control means instructs the drone microcontroller to initiate a movement of the drone in the direction of a point directly above the casing.

While in this state of autonomous flight, no user input need be provided to the drone from the first responder, who may merely observe the output of the surveillance means on the drone via the display screen on the casing, and relay information gathered about the developing emergency situation to other responders in order to coordinate their efforts or respond to the emergency more effectively. However, the first responder may optionally interact with the control means via the control interface to instruct changes in pitch, roll, yaw or height of the drone. These instructions may be coarse instructions (e.g. turn left I right, fly up I down, etc.) that the control means interprets using its control logic and then translates into an instruction format compatible with the drone microcontroller (e.g. instructions in the MAVLink or QGroundControl formats).

On a further command from the first responder via the control interface (e.g. a deactivation command), autonomously (e.g. on the expiry of a timer), or in response to a sensed parameter exceeding a predetermined threshold (e.g. wind speed exceeding a 40 knots), the control means performs the step of landing the drone.

In order to return the drone to the casing, the drone must be directly above the casing for the final 15m of the approach. Therefore, the control means instructs the drone microcontroller to manoeuvre the drone above the casing before the height of the drone falls below 15m. Once vertically above the casing at a height of 15m, the winch is activated to reel in the tether. The drone is then pulled down into the casing. Once the drone is landed within the casing, the control means commands the actuator to close the casing lid to protect the drone from the elements while not in use. At this point the surveillance apparatus is effectively reset, and ready to be used again.

The invention is not limited to the specific embodiments disclosed above, and other possibilities will be apparent to those skilled in the art.

For example, while the surveillance means has been described as a video camera, any suitable surveillance means could be used, such as a thermal imaging camera, RADAR, LIDAR, ultrasound, or any other means of capturing an image of the surrounding area.

As a further example, while the lid has been described as being opened and closed using an actuator, any suitable means could be used. For example, the hinged lid may be spring-biased into the open position and opened by releasing a clasp on the lid, with the lid being re-closed by a user.

The UAV could comprise sensors for collision avoidance, so the drone can be operated safely in urban areas, and avoid buildings, power lines, trees, etc. The output of these sensors could be communicated wirelessly to the drone control section which could manoeuvre the drone away from any potential obstacles. The

UAV microcontroller could be programmed to derive artificial vision or computer vision from the surveillance means. Said artificial vision could be used by control logic in the control means to increase the accuracy of the drone position relative to the case during drone take-off, landing and autonomous flight.

Claims

1. A surveillance apparatus comprising: an unmanned aerial vehicle; and

5 deployment means for the unmanned aerial vehicle, wherein the unmanned aerial vehicle comprises at least one surveillance means, wherein the deployment means comprises:

a portable casing arranged to house the unmanned aerial vehicle prior to deployment, from which the unmanned aerial vehicle may be deployed from and to io which the unmanned aerial vehicle may be retrieved;

a power supply for the unmanned aerial vehicle; control means; and a tether connecting the unmanned aerial vehicle to the casing, and wherein the control means is configured to control:

15 deployment of the unmanned aerial vehicle from the casing;

2. A surveillance apparatus according to claim 1, wherein power is supplied from

20 the power supply to the unmanned aerial vehicle via the tether.

3. A surveillance apparatus according to claim 1 or 2, wherein the casing comprises a control interface through which a user may operate the control means.

4. A surveillance casing comprises a surveillance means.

apparatus according to any preceding claim, wherein the display means operable to display an output from the

5. A surveillance apparatus according to any preceding claim, wherein the 30 control means comprises a processor programmed with control logic, wherein the control logic is configured to perform the steps of deployment of the unmanned aerial vehicle, retrieval of the unmanned aerial vehicle, and flight of the unmanned aerial vehicle between deployment and retrieval autonomously once the control means is activated.

6. A surveillance apparatus according to claim 5, wherein the surveillance apparatus comprises a wind speed sensor, and the control logic is configured to perform the step of retrieval of the unmanned aerial vehicle when the sensed wind

5 speed exceeds a predetermined threshold.

7. A surveillance apparatus according to claim 5 or 6, wherein the unmanned aerial vehicle comprises a GPS sensor, and the control logic is configured to perform the step of retrieval of the unmanned aerial vehicle when the sensed GPS coordinate io exceeds a predetermined threshold distance from the casing.

8. A surveillance apparatus according to any of claims 5 to 7, comprising means to calculate the angle of the tether from a vertical axis, and the control logic is configured to perform the step of retrieval of the unmanned aerial vehicle when the

15 calculated angle exceeds a predetermined threshold.

9. A method of operating a surveillance apparatus, the surveillance apparatus comprising:

an unmanned aerial vehicle; and

20 deployment means for the unmanned aerial vehicle, wherein the unmanned aerial vehicle comprises at least one surveillance means, and wherein the deployment means comprises:

a portable casing arranged to house the unmanned aerial vehicle prior to deployment, from which the unmanned aerial vehicle may be deployed from and to

25 which the unmanned aerial vehicle may be retrieved;

30 activating the control means, whereupon the control means performs the steps of:

deployment of the unmanned aerial vehicle from the casing;

10. A method according to claim 9, further comprising the step of supplying power from the power supply to the unmanned aerial vehicle via the tether.

5

11. A method according to claim 9 or 10, wherein the casing comprises a control interface through which a user may operate the control means.

12. A surveillance apparatus according to any of claims 9 to 11, wherein the casing comprises a display means operable to display an output from the io surveillance means.

13. A method according to any of claims 9 to 12, wherein the control means comprises a processor programmed with control logic, wherein the control logic is configured to perform the steps of deployment of the unmanned aerial vehicle,

15 retrieval of the unmanned aerial vehicle, and flight of the unmanned aerial vehicle between deployment and retrieval autonomously once the control means is activated.

14. A method according to claim 13, wherein the surveillance apparatus

20 comprises a wind speed sensor, and the control logic is configured to perform the step of retrieval of the unmanned aerial vehicle when the sensed wind speed exceeds a predetermined threshold.

15. A method according to claim 13 or 14, wherein the unmanned aerial vehicle

25 comprises a GPS sensor, and the control logic is configured to perform the step of retrieval of the unmanned aerial vehicle when the sensed GPS coordinate exceeds a predetermined threshold distance from the casing.

16. A method according to any of claims 13 to 15, wherein the surveillance

30 apparatus comprises means to calculate the angle of the tether from a vertical axis, and the control logic is configured to perform the step of retrieval of the unmanned aerial vehicle when the calculated angle exceeds a predetermined threshold.

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Application No: GB1701535.5