WO2016137982A1 - Procédés et appareil pour le lancement et l'atterrissage d'un véhicule aérien sans pilote - Google Patents

Procédés et appareil pour le lancement et l'atterrissage d'un véhicule aérien sans pilote Download PDF

Info

Publication number
WO2016137982A1
WO2016137982A1 PCT/US2016/019113 US2016019113W WO2016137982A1 WO 2016137982 A1 WO2016137982 A1 WO 2016137982A1 US 2016019113 W US2016019113 W US 2016019113W WO 2016137982 A1 WO2016137982 A1 WO 2016137982A1
Authority
WO
WIPO (PCT)
Prior art keywords
uav
stand
landing
server
flight
Prior art date
Application number
PCT/US2016/019113
Other languages
English (en)
Inventor
Jeff MICHALSKI
Michael Foley
Original Assignee
Airogistic, L.L.C.
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Airogistic, L.L.C. filed Critical Airogistic, L.L.C.
Publication of WO2016137982A1 publication Critical patent/WO2016137982A1/fr

Links

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U70/00—Launching, take-off or landing arrangements
    • B64U70/30—Launching, take-off or landing arrangements for capturing UAVs in flight by ground or sea-based arresting gear, e.g. by a cable or a net
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U50/00—Propulsion; Power supply
    • B64U50/30—Supply or distribution of electrical power
    • B64U50/37—Charging when not in flight
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U70/00—Launching, take-off or landing arrangements
    • B64U70/90—Launching from or landing on platforms
    • B64U70/95—Means for guiding the landing UAV towards the platform, e.g. lighting means
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U80/00—Transport or storage specially adapted for UAVs
    • B64U80/20—Transport or storage specially adapted for UAVs with arrangements for servicing the UAV
    • B64U80/25—Transport or storage specially adapted for UAVs with arrangements for servicing the UAV for recharging batteries; for refuelling
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G5/00—Traffic control systems for aircraft, e.g. air-traffic control [ATC]
    • G08G5/0004—Transmission of traffic-related information to or from an aircraft
    • G08G5/0013—Transmission of traffic-related information to or from an aircraft with a ground station
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G5/00—Traffic control systems for aircraft, e.g. air-traffic control [ATC]
    • G08G5/0047—Navigation or guidance aids for a single aircraft
    • G08G5/0065—Navigation or guidance aids for a single aircraft for taking-off
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G5/00—Traffic control systems for aircraft, e.g. air-traffic control [ATC]
    • G08G5/0047—Navigation or guidance aids for a single aircraft
    • G08G5/0069—Navigation or guidance aids for a single aircraft specially adapted for an unmanned aircraft
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G5/00—Traffic control systems for aircraft, e.g. air-traffic control [ATC]
    • G08G5/02—Automatic approach or landing aids, i.e. systems in which flight data of incoming planes are processed to provide landing data
    • G08G5/025—Navigation or guidance aids
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U10/00—Type of UAV
    • B64U10/10—Rotorcrafts
    • B64U10/13—Flying platforms
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U2201/00—UAVs characterised by their flight controls
    • B64U2201/20—Remote controls
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U30/00—Means for producing lift; Empennages; Arrangements thereof
    • B64U30/20—Rotors; Rotor supports

Definitions

  • a portion of the base structure includes a turntable that rotates the shafts to align the shafts with the fittings of the UAV.
  • the shafts are position-able to receive different sized UAVs.
  • the stand includes a conductor to make electrical contact with a conductor of the UAV to charge a battery of the UAV when the UAV is landed on the stand.
  • the stand further includes a fluid nozzle adapted to enable discharging fluid from the UAV when the UAV is landed on the stand.
  • the stand further includes a sensing system to sense a position and orientation of the UAV with respect to a position and orientation of the stand.
  • a server is configured to intemperate with at least one stand, the at least one stand providing at least one of landing and launching services to an unmanned aerial vehicle, UAV.
  • the server includes a first
  • the senor is a camera that captures a visual target on the stand.
  • the UAV further includes a propulsion system, a first set of electronic circuitry configured to provide first signals to control the propulsion system during flight of the UAV, and a second set of electronic circuitry configured to at least one of replace, supplement and alter the first signals with signals specially adapted to affect flight of the UAV during at least one of landing and launching the UAV.
  • the second set of electronic circuitry is remove-ably install-able on the UAV.
  • the electronics are configured to perturb signals of an inertial drive system of the UAV. In some embodiments, the electronics are configured to perturb signals of a flight control system of the UAV. In some embodiments, the electronics are configured to alter a position determination to cause an alteration in navigation of the UAV. BRIEF DESCRIPTION OF THE DRAWINGS
  • FIG. 11 is a block diagram of a stand
  • FIG. 15 is a flowchart of an exemplary process for landing a UAV on a stand
  • FIG. 16 is a flowchart of an exemplary process for launching a UAV from a stand
  • FIG. 20 is a flowchart of a fourth operational level of a landing procedure
  • FIG. 25 is an illustration of stand within an enclosure
  • FIG. 27 is an illustration of a take-off and landing zone
  • FIG. 28 is a flowchart of an exemplary process of landing a UAV within a drone dome
  • the IMCU on the UAV 10 may send, via an antenna or optical link, navigation and speed signals to a ground station or stand 11 that receives pitch, roll, up, down, yaw, acceleration and deceleration data of the UAV 10 as measured by the IMCU of the UAV 10.
  • the IMCU may include a gyroscope, accelerometers and/or magnetometers, altimeters and/or other sensors, such as optical, image and/or ultrasonic sensors that enable navigational control of a UAV.
  • the UAV 10 or the stand 11 discussed below, may include a laser altimeter to determine an altitude of the UAV 10 above the stand 11.
  • the UAV collars or fittings 16 that are captured by the stand 11 may be other than cylindrical and may match the shape of shafts 22 of the stand that are not circular in cross-section.
  • the collars or fittings 16 may attach to the UAV 10 via stiff but flexible mechanical couplings such as spring or elastic material.
  • the collars or fittings 16 may be used to shield electrical wires conducting electricity between the stand and the UAV 10.
  • the collars or fittings 16 may incorporate strain gauges and other similar sensors to automatically detect and measure force to determine degrees of pitch, roll and yaw.
  • the shafts 22, or an upper portion of the shafts 22, may be made of a flexible material such as rubber, to absorb impact when the UAV 10 strikes the shafts.
  • the radio communications between multiple stands acting as Continuously Operating Reference Stations (CORS) for the UAVs may be used to facilitate assisted Real Time Kinematic (RTK) calculations to improve the navigational position estimate of the UAVs included in the UAV networked fleet.
  • RTK Real Time Kinematic
  • the CORS-assisted position information can be used to improve the accuracy of the UAV position determination, even if the UAV 10 does not land or launch from a particular stand 11 implementing the CORS capability.
  • the UAV 10 may obtain its position occasionally or continually from nearby stands 11 having CORS capability.
  • FIG. 11 is a block diagram of the stand 11 and some of its systems.
  • the stand 11 includes a charging system 112 which may include a conductor coupled to a shaft 22.
  • the charging system may optionally include a power supply and an AC to DC converter.
  • the stand 11 also may include a fueling system 114 that includes a fuel tank, a fuel pump and a fuel nozzle.
  • the fuel tank, the fuel pump and the fuel nozzle may be provided in addition to the fluid tank 54, the fluid pump 56 and fluid nozzle 52.
  • the computer may be located at a stand 11 , a base station 104, a server 110, a UAV site 106, and/or a customer premises 108.
  • the memory 160 also includes diagnostics and maintenance information 165 concerning at least one UAV 10. This information 165 may include information presently being gathered as well as historical information.
  • the memory 160 also includes mission planning information 166, which includes route information, scheduled landing and launch times and locations, stand availability and capability information, and other information relevant to flight mission planning.
  • the memory 150 also includes executable software 167 that when executed by the processor 162, configures the processor to perform server functions discussed herein.
  • the process proceeds to block S106. If it is not time for landing, the UAV may hover about the stand 11 (block S108). At landing time, the UAV follows a landing heading and altitude (block S106). Control electronics of the stand 11 may be activated. The UAV activated electronics may include a precision altimeter, landing lights and collision avoidance algorithms. If the UAV is above the stand 11 (block SI 10), the process continues to a second operational level of the UAV landing procedure, as shown in FIG. 18. In some circumstances, the UAV 10 may request an emergency landing. In this case, the UAV 10 may be given priority to land and may override the request to hover and wait for landing priority.
  • the stand powers up (block S168). Tests may be performed on at least some of the following systems: the control computer (electronics), the battery charger, the refueling system, the landing magnetics, stand sensors, software, hardware, liftoff clamps, etc. If these tests check out OK (block S170), a UAV power-up procedure is performed (block S172). Note that when the UAV is first installed on the stand, a reference IMCU may record readings to verify the UAV IMCU readings during subsequent stand operations. As part of the UAV power up procedure, the UAV battery system may be charged and verification is made that adequate charge is achieved. If these systems do not check out OK (block S170), test stand maintenance may be performed (block S156).
  • Meteorological data may be factored into calculations used for flight time and fuel projections.
  • the UAV flight path and stand hops may be altered to match the UAV endurance determined by the high speed lift tests. If these tests are not OK (block S226), a review of UAV and mission specifications may be made (block S228). If these tests are OK, then the process continues to operational level 6.
  • UAV maintenance may be performed (block S236).
  • a UAV altimeter and navigation sensor test may be performed. These tests may include an altimeter test, a GPS test and a compass test. If these tests are not OK (block S238), then UAV maintenance may be performed. Otherwise, the process continues to a UAV pay load balance test (block S240). These tests may include a pitch/stabilize test, a roll/stabilize test, and a yaw/stabilize test. If these tests are not OK (block S242), a review of UAV and mission specifications may be performed (block S244). Otherwise, the process continues to operational level 7, as shown in FIG. 24.
  • UAV launch tracking is performed (block S256).
  • the stand 11 validates launch of the UAV 10, tests data communications, the UAV 10 transmits launch altitude to the stand 11 and launch heading is verified. If these steps do not check out OK (block S258), then the UAV 10 may execute an emergency landing. Otherwise, a UAV flight application may be executed (block S262).
  • FIG. 26 is an illustration of an exterior of the drone dome 180 having a retractable roof or surface 184. Not that the surface 184 may have opening in the top or side to allow a UAV 10 to pass through.
  • An audible alarm/speaker 185 may be mounted near an access door 196. The speaker may sound an alarm and a light may flash on the exterior of the drone dome 180 to warn that a hazardous condition exists within the drone dome 180.
  • An electronic interlock 198 is for locking and unlocking the door 196. The electronic interlock may be activated when a hazardous condition exists within the drone dome 180. The door 196 may then be locked from opening from the outside but enable opening from the inside to allow escape but prevent entry.
  • the drone dome 180 is constructed as a Faraday cage. Note also that the dimensions of the drone dome 180 may be uploaded to the UAV 10 to aid in navigation.
  • FIG. 28 is a flowchart of an exemplary process for landing a UAV 10 within a drone dome 180. Some of these steps may duplicate, replace or add to the steps of FIGS. 17-20. Similarly, some of the steps of FIGS. 17-20 may duplicate, replace or add to the steps of FIG. 28.
  • a UAV 10 enters a drone take-off and landing zone 220 (block S270).
  • a radio of the UAV 10 is discovered by the radio 222 associated with the landing zone 220 and is assigned a

Landscapes

  • Engineering & Computer Science (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Remote Sensing (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • Transportation (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)

Abstract

L'invention concerne un véhicule aérien sans pilote (UAV) (10), un support (11) pour le lancement, l'atterrissage, le test, le ravitaillement et le rechargement d'un UAV (10), ainsi que des procédés pour tester, lancer et faire atterrir l'UAV. En outre, des modes de réalisation peuvent comprendre le transfert d'une charge utile sur l'UAV ou hors de celui-ci, et le chargement d'informations de maintenance, de diagnostic et de planification de vol dans l'UAV.
PCT/US2016/019113 2015-02-24 2016-02-23 Procédés et appareil pour le lancement et l'atterrissage d'un véhicule aérien sans pilote WO2016137982A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
US201562120090P 2015-02-24 2015-02-24
US62/120,090 2015-02-24

Publications (1)

Publication Number Publication Date
WO2016137982A1 true WO2016137982A1 (fr) 2016-09-01

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