WO2019130280A2 - Appareils, systèmes et procédés de commande et de placement autonomes d'objets volants autonomes et d'objets de transport autonomes - Google Patents

Appareils, systèmes et procédés de commande et de placement autonomes d'objets volants autonomes et d'objets de transport autonomes Download PDF

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Publication number
WO2019130280A2
WO2019130280A2 PCT/IB2018/060734 IB2018060734W WO2019130280A2 WO 2019130280 A2 WO2019130280 A2 WO 2019130280A2 IB 2018060734 W IB2018060734 W IB 2018060734W WO 2019130280 A2 WO2019130280 A2 WO 2019130280A2
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WIPO (PCT)
Prior art keywords
flying object
route
control message
flying
transportation
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Application number
PCT/IB2018/060734
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English (en)
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WO2019130280A3 (fr
Inventor
Ori SHLOOSH
Original Assignee
Iatas (Automatic Air Traffic Control) Ltd
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Publication date
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Publication of WO2019130280A2 publication Critical patent/WO2019130280A2/fr
Publication of WO2019130280A3 publication Critical patent/WO2019130280A3/fr

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Classifications

    • E—FIXED CONSTRUCTIONS
    • E01—CONSTRUCTION OF ROADS, RAILWAYS, OR BRIDGES
    • E01F—ADDITIONAL WORK, SUCH AS EQUIPPING ROADS OR THE CONSTRUCTION OF PLATFORMS, HELICOPTER LANDING STAGES, SIGNS, SNOW FENCES, OR THE LIKE
    • E01F3/00—Landing stages for helicopters, e.g. located above buildings
    • 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
    • B64U10/14—Flying platforms with four distinct rotor axes, e.g. quadcopters
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U2101/00—UAVs specially adapted for particular uses or applications
    • B64U2101/60—UAVs specially adapted for particular uses or applications for transporting passengers; for transporting goods other than weapons
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U2201/00—UAVs characterised by their flight controls
    • B64U2201/10—UAVs characterised by their flight controls autonomous, i.e. by navigating independently from ground or air stations, e.g. by using inertial navigation systems [INS]
    • 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

Definitions

  • the invention generally relates to the field of Traffic Control Systems for flying objects, transportation objects, both airborne and on the ground, as well as any runway or road strip usable for takeoff and landing operations.
  • Traffic Control includes transportation control using stop lights, junctions and roundabouts, also, Air traffic control uses controller voice communications between air traffic controllers and pilots.
  • ACARS Aircraft Communications Addressing and Reporting System with a wireless ground/air communication protocol and data link for flying object known as Aircraft Communications Addressing and Reporting System, allowing text messages to be communicated between Controllers and onboard equipment.
  • ATN Area Traffic Network
  • FSI Functional server infrastructure
  • FO Flying Objects
  • TO Transportation Objects
  • AD Ambulatory Department (ambulance service).
  • ADSB Automatic Dependent Surveillance Broadcast.
  • AGC Air/Ground Communication (bidirectional). Acronym is used both for infrastructure as well as the act of communication itself.
  • Altitude layer A range of altitudes limited by a restricted border/a combination of 3d spaces.
  • Altitude range A minimum and maximum altitude.
  • AMASO Autonomous Marshalling System of autonomous-enabled Flying Objects (FO) and Transportation Objects (TO).
  • a network of processing devices providing marshalled control to Flying Objects with operations for execution through control messages.
  • Amenities Generally at stops within a route including but not limited to washrooms, food, refueling, recharging, shopping and lodging.
  • Amenity capabilities The measurement of operational limits for an amenity, such as maximum capacity, operational hours and the like.
  • ANSP Air Navigation Service Provider. Responsible for providing Air Traffic Services (ATS).
  • ATS Air Traffic Services
  • Anticipated or planned location A derived future position based on calculations of parameters for different time intervals within a planned route. Data includes ETA based on expected and current operating parameters of the flying object.
  • Area of dock A perimeter between 30 centimeters to 100 meters from the dock.
  • ATC Air Traffic Controller. Providing ATS (Air Traffic Services) for a geographical region and altitude boundary. Controllers are generally workers of an ANSP (Air Navigation Service Provider), responsible for ensuring air regulations within their operational regions.
  • ANSP Air Navigation Service Provider
  • ATIS Automatic Terminal Information Service, providing operators of flying objects essential information, such as current weather information, active runways, available approaches, and any other information required by the operators, such as important
  • ATN Area Traffic Network, typically a wireless ground-air communication protocol or data link known as Aeronautical Telecommunication Network, allowing text messages to be communicated between Controllers and onboard equipment via an aircraft Communication Management Function (CMF).
  • ATN can be any communication infrastructure including local area network (LAN) or a wide area network (WAN), RF, satellite, Wi-Fi, Microwave and the like.
  • ATS Air Traffic Services. Provided by the ATC (controllers) of an ANSP (Air Navigation Service Provider).
  • ATC controllers
  • ANSP Air Navigation Service Provider
  • Autopilot An automated or autonomous computing device controlling a flying object.
  • autopilot may be remote, it is commonly installed aboard the flying object.
  • Border Command Center Operated by Border control.
  • CA Coverage Area
  • CCC Command & Control Center.
  • CM Control Message, sent or received, typically from a CWP, FS, CCC, FO and TO.
  • CMF Communication Management Function.
  • Computing device A hardware device with an operating system, capable of executing software executables, or scripts or the like.
  • Control Message A message sent by any method or process to trigger a method or process on any computing device.
  • An example would be a method sending a CM to apply the brakes on a transportation object (TO) or to change the direction of a flying object (FO).
  • CPDLC Controller Pilot Data Link Communications.
  • a wireless communication infrastructure allowing for data communication between ATS and systems aboard flying objects, such as FMS and the like.
  • CWP Controller Worker Position. A controller is responsible for the safe flow of air traffic.
  • DAM Dynamic Aerospace Map. Providing visual or audible notifications, touch-screen selections and drawing of surroundings and routes.
  • Data Repository A file or Database capable of holding information. Typically a flat file, delimited file or a Database such as SQL and the like.
  • DBR Database or Repository - At least one Repository or Database holding data and/or information of any type for future retrieval and/or processing.
  • Dock lot An area dedicated to multiple dock.
  • Dock capabilities Information related to a dock, including but not limited to: location, or maximum parking time, or maximum weight, or maximum width, or maximum height or refueling capabilities, or recharging capabilities.
  • Dock An area used by a flying object (FO) or transportation object (TO) to load and unload payload including passengers and cargo.
  • FO flying object
  • TO transportation object
  • Docking parameters Operational information related to the dock, including but not limited to: company, or personal information, or address information, or contact information, current status, or schedules of reserved slots, or current charges, or current flying object parked, or current refueling status, or current recharging status, or current mounting status, or current mode, or current operation.
  • Dock owner The ownership of the dock. Used for commercial Applications such as charges of parking, refueling and recharging.
  • ECC Emergency Command Center. Operated by police, Fire and Ambulance personnel.
  • Electronic identification used to identify a payload, such as human and cargo. Electronic identification types include but not limited to: identification chips, identification tags, RFID, Bluetooth tags, Zigbee tags, WiFi tags, skin tagss and the like.
  • Electronic identification reader A device capable of reading several electronic identification types.
  • External cargo parameters Any humans, animals or cargo aboard to be loaded into the flying object.
  • External passengers Additional passengers to be coming aboard the flying object throughout the route. External passengers are used for a transit service where get on or get off the Flying Objects at prescribed points.
  • FANS An onboard communication protocol and data link known as the Future Air
  • ACARS communication protocol is used to communicate messages between Controllers and the FMS onboard the aircraft.
  • FD Fire Department.
  • Flying object (FO ) Any airborne enabled object such as aircraft, helicopter, UAV, RPAS, PAV or flying vehicles, able to receive and send control messages.
  • Flying permission rule Rules set by either the operator or by an ATC (Air Traffic Controller) prior to a clearance, or amendment of a rule while flying object is airborne.
  • ATC Air Traffic Controller
  • FMS Refers to the Flight Management System aboard an Aircraft or a flying object (FO), responsible for managing the flight operations including altitude, speed direction and routing.
  • FO capabilities Capabilities of a flying object. Capabilities include, but not limited to:
  • weight, maximum weight, maximum passengers, maximum cargo, maximum payload flying speed, rate of turn, rate of descent, rate of ascend, rate of deceleration, rate of acceleration, maximum operating altitude, maximum parking altitude, available systems.
  • FO parameters Parameters of a flying object. Parameters include, but not limited to: current weight, or current passenger count, or passenger identifications, or cargo weight, or cargo identifications, or speed, altitude, route, or current rate of descent, or current rate of ascend, or current rate of deceleration, or current rate of acceleration rate, or current assigned operating altitude, assigned dock, or current onboard system parameters, or current system health, or current fuel levels, or current reserved fuel level, or current battery charge, or current battery time left.
  • FOBAP Flying Object Building Apparatus
  • FOPEK Flying Object Pod Extension Kit.
  • FOTOCU Flying Object (FO) or Transportation Object (TO) Command Unit
  • FO Flying Object
  • TO Transportation Object
  • FOTOM Flying Object and Transportation Object Module, an interactive HMI aboard Flying Objects and transportation objects to communicate between the Onboard Central Computer
  • OCC OCC aboard the object and the Functional Server Infrastructure (FSI) of the applicable Coverage Area (CA).
  • FSI Functional Server Infrastructure
  • FS Function Server(s), depending on the server type, functions include management, calculations DBR and synchronization with other FS types within the same CA through the FSI.
  • functions include management, calculations DBR and synchronization with other FS types within the same CA through the FSI.
  • an FS is configured with other FS of same type in their own network from other FS types for load balancing and redundancy.
  • FSI Functional Server Infrastructure
  • GDA Government Department or Agency.
  • FSI Functional Server Infrastructure
  • GDA Government Department or Agency.
  • references to government bodies and organizations such as departments of transport, homeland security, investigative agencies and the like.
  • GDI Governmental immigration agencies, goods inspection and related bodies to check payloads typically at borders and check points.
  • Geographical border A border defining separation between 2 or more geographical zones, including but not limited to neighborhoods, city blocks, cities, special operational areas, states or countries.
  • Graphic definition a way for a human to select or draw.
  • An example would be a border definition, whereby the human uses a mouse to draw the border of an area.
  • Another example is preset areas that are shown and the human selects by clicking on the area or selecting from a list of areas.
  • Guaranteed Route A route that is known ahead of time with set parameters for a specific FO with its parameters such as maximum speed or altitude. The guaranteed route provides optimal routing per FO type for fastest and energy efficient flight.
  • HAGSH Hand Gesture Sensing Hardware.
  • HMI User Machine Interface
  • HUD Heads-up Display. Typically used by operator of flying object to display information in text or graphical format. Also, HUD is possible within a CWP or a CCC
  • Incoming route Any road with any number of lanes associated with particular direction associated with a junction. For example if a road has 4 lanes and one lane exits to another road to the right, 2 continue straight and one turns to another road to the left, there are 3 incoming routes, one for the right, one to the left and one to continue straight with two lanes.
  • MASPS Minimum System Performance Standards.
  • MFS Metering Functional Server, parking scheduling metering, tolls and charges
  • MOPS Minimum Operational Standards.
  • Movement A change in direction or speed or route or rate of change and speed.
  • Objects (FO) movement can also include altitude, rate of altitude and a three-dimensional vector.
  • NCC Navigation Command Center. Operated by the ANSP.
  • NCS Network Connection Server.
  • AM given to Flying Object (FO) operators, both manned and unmanned. Including aircrafts, RPAS and drones. Typically alerting operators of potential hazards along a flight route or at a location that could affect safety.
  • Notification Issuing an alarm or an audio or visual notification or visual depiction.
  • OCC Onboard Central Computer.
  • the computer responsible for the decisions of any autonomous-enabled vehicle, transportation object or flying object.
  • OCC also represents FMS and autopilot functionality aboard an aircraft as well as the main command computer for RPAS.
  • the OCC communicates with the Functional Server Infrastructure (FSI) of a Coverage Area (CA) through a Transportation Object Module (TOM).
  • FSI Functional Server Infrastructure
  • CA Coverage Area
  • TOM Transportation Object Module
  • Operations of a flying object or transportation object include but not limited to stopping, slowing, speeding up, set speed, set route, set time of arrival or docking undocking at a dock, taxiing, crossing, lineup, or takeoff, landing, entering, clearing, climbing, descending, turning, holding, pushback, rolling, attaching, detaching, following, fueling and recharging.
  • FOO restrictions include lowest allowed fuel level prior to a refueling stop, lowest allowed battery level prior to a recharge stop, preferred docking site, preferred docking position, preferred minimum flying altitude, preferred maximum flying altitude, preferred minimum flying speed, preferred maximum flying speed, external cargo
  • Operator A human or robot or autonomous device operating an aircraft of any type or any type of airside vehicle or any type of airside object. Operator is sometimes referenced in as a CWP user.
  • Origin-destination pair Origin and destination represent where a flying object is starting its route to the final destination of the route.
  • Each origin or destination refer to a general area up to 1 kilometer by 1 kilometer as oppose to an exact location or a POD.
  • Parameter of flying permission Parameters of flying permission aboard a flying object.
  • Parameters include but not limited to: assigned route, or assigned altitude, or assigned maximum speed, or assigned stops for amenities, or planned refueling, or planned recharging, or assigned maximum altitudes, or assigned border stops and assigned restrictions.
  • Passengers parameters Parameters of passengers aboard a flying object. Parameters include but not limited to: identification, or name, or age, or gender, weight, or height, or eye color, or health signs, or disabilities, or special needs and special equipment required.
  • Payload Humans, animals or cargo aboard a flying object or transportation object.
  • PCD Personal Computing Device. Commonly used by operators on a personal device such as a laptop, tablet or cell phone.
  • PCU Pod Control Unit.
  • PFS Parking Functional Server for parking management, calculations and tolling.
  • Planned route A route that is defined by the system for allowing a flying object to get from a starting point to an ending point at a certain date and time according to planned route parameters.
  • the planned route may include a plurality of positions and estimated time associated with each of the positions.
  • the position may include X any Y coordinates as well as altitude coordinate.
  • Planned-route-parameter Parameters that are used for generating a planned route such parameters include but not limited to: route type, starting point, ending point, starting date, starting time and type of flying object.
  • Pod A platform extending from a building for FO dock.
  • PPAS Pilot Payload Authorization System. A system for pilots to authorize the payload manifest prior to departure.
  • Presenting Issuing an alarm and/or issuing an audio and/or visual notification and/or issuing visual depiction.
  • Rapid route Fastest routing possible.
  • RCD Remote Computing Device.
  • An RCD is commonly used by operators as an Operator Working Position (OWP) within a Command Center.
  • OTP Operator Working Position
  • Remote operator An operator of a flying object not present aboard the flying object itself.
  • a remote operator may also be an RPAS (Remotely Piloted Aircraft System).
  • Restricted area An area border that is restricted for certain operations or personnel or object types with several restrictions and their parameters.
  • An example of a would be the perimeter of an airport similar to the physical ground fencing, but with no altitude restriction.
  • Restricted border Multiple X/Y points that are joined to form a restricted border.
  • the area may also optionally include altitude range. Area may be of any size from a few centimeters to hundreds and thousands of kilometers.
  • Restricted classification Restrictions that are used in but not limited to emergency, military training and the like.
  • RFS Registration Functional Server, management and DBR for all registration types.
  • Route creation The processes of generating single or multiple optimized routes for selection. Route creation includes optimization based on weather and status of traffic, refueling, recharging, amenities and junctions.
  • Route type Used in planning a flying object route for example scenic route, rapid route, emergency route, etc.
  • the route includes positions of X and Y coordinates coordinate and speed and arrival time associated with the positions.
  • the route may also include stops.
  • the route is for a flying object the route includes altitude associated with each position.
  • RPAS Remotely Piloted Aircraft System. RPAS may or may not be operated remotely by a human.
  • RPFS Route Planning Functional Server, all future route planning operations.
  • RTRFS Real-time Routing Functional Server, all real-time operations.
  • Runway path A preconfigured restricted area set by CWP area restriction. The area creates a protected airspace for each landing or takeoff from a particular runway, whereby only the flying object executing a landing or takeoff on a particular runway can use the restricted runway path. All other Flying Objects are not allowed to enter this preconfigured restricted area.
  • a Runway also includes a road that can be used for takeoff and landing of Flying Objects on any paved or unpaved road supporting such operations.
  • Scenic route Requesting a route that includes scenery for humans within vehicle.
  • Specifications apply to both areas and routes, whereby the specifications apply to both allowed and restricted Flying Objects within an area or throughout any point of a route, with parameters including but not limited to start date, start time, end date, end time, altitude layer, restricted border, minimum speed, maximum speed, minimum acceleration rate, maximum acceleration rate, minimum deceleration rate, maximum deceleration rate, minimum climb rate, maximum climb rate, minimum descend rate, maximum descend rate, maximum payload of humans as a count or as weight, maximum payload weight for non-human cargo, specific restriction of cargo types allowed or restricted such as hazard materials and the like, and, minimum fuel or minimum battery energy requirements as per regulatory requirements, types and classifications of the Flying Objects, including but not limited to emergency, police, fire, lifeline, evacuation, military, fireworks, construction, maintenance, government and dignitary
  • SPI Solution and/or Product and/or package and/or Installation
  • SPI Solution and/or Product and/or package and/or Installation
  • SWIM System Wide Information Management. An Infrastructure used to convey data between systems related to Air Traffic Control.
  • Three dimensional space Any combination of coordinates that form a 3 dimensional space.
  • the space forms an area. Typically used to create or amend a restricted area by ATC.
  • Transportation object Any vehicle or flying object capable of autonomous control.
  • Undockable The state where at least the two side rods of a Pod are not fully extended to their full potential length of 60% of the tube length from the tubes of a Pod, thus, a flying object cannot safely perform docking nor safely attach itself to the rods.
  • Undocking The event or process when a flying object is detaching itself from the rods of a Pod.
  • Unguaranteed route A route that is defined in real time based on current traffic, weather and for a specific FO.
  • the unguaranteed route may also change during the actual progression of the FO through the route and can be also considered as dynamic, as the route may change several times while airborne.
  • Wanted status A status set by authorities for wanted people or cargo within a particular state or country. The status is used to alert operators, pilots, airlines and relevant authorities when an identified wanted person or cargo is aboard a flying object.
  • One exemplary embodiment of the disclosed subject matter is an apparatus, the
  • apparatus comprises: a plurality of enlarged rods positioned to support a flying object when parking; the enlarged rods are connectable to a wall or to a roof or to the ground; the enlarged rods are positioned parallel to each other; wherein a space between the enlarged rods is adaptable to support a flying object within a certain weight range and within a certain size range for enabling the flying object to park on the enlarged tracks.
  • One other exemplary embodiment of the disclosed subject matter is an apparatus, the apparatus comprises: a camera; the camera is adapted for identifying an identification of an at least one payload entering a flying object; an electronic identification reader, the electronic identification reader is adapted for reading an electronic identification of the at least one payload entering or leaving the flying object; and a processor, the processor is configured for detecting an event of the identifying the identification of the at least one payload by the camera and of not receiving the reading the electronic identification of the at least one payload within a predefined timeout; wherein the processor is further configured for sending a control message to a remote computing device as a result of the event; the control message indicating a presence of the payload to the flying object without the electronic identification.
  • the technology used for both the electronic identification reader as well as the electronic identification may be of any technology, including: identification chips, identification tags, RFID, Bluetooth tags, Zigbee tags, WiFi tags, skin tags and the like.
  • One other exemplary embodiment of the disclosed subject matter is a method, the method comprises: receiving a specification of an at least one new or amended restricted area wherein the specification comprises an at least one member selected from a group consisting of: start date or start time, end date or end time, altitude layer, restricted border, minimum speed, maximum speed, minimum acceleration rate, maximum acceleration rate, minimum deceleration rate, maximum deceleration rate, minimum climb rate, maximum climb rate, minimum descend rate, maximum descend rate and types and classifications of the flying objects or emergency or police or fire or lifeline or evacuation or military or fireworks or construction or maintenance or government and dignitary; the specification is received from an operator of a CWP (Controller Worker Position); receiving by the operator of the CWP a graphic definition of a border of the new or amended restricted area; the graphic definition is being graphically defined by a drawing an at least one cube by the operator on a three dimensional map; calculating an at least one inner border or an at least one outer border for the graphic definition; associating in a data Re
  • Repository for an at least one route associated with bypassing the restricted area and retrieving an at least one flying object; wherein the flying object is associated in the data
  • the calculation of an inner border and an outer border be may be in a single calculation as the border calculation is the same., whereby the inner border is the result of the shortest distance between multiple X/Y/Z points, and the outer border is assigned to other areas not included in the inner area.
  • An example for the calculation of an inner border and outer border includes, multiple sets of X/Y/Z, whereby for each altitude Z range the X and Y sets are used, thus allowing the formation of formation of various 3- dimentional spaces, including but not limited to any types or variations of any of the following: dodecahedron, icosahedron, octahedron, tetrahedron, torus, sphere, pyramid, cone, prism.
  • the calculation of the border is part of the specification of a restricted area, whereby the specification may include any of the following parameters or restrictions per flying object type, including but not limited to: start date, start time, end date, end time, altitude layer, restricted border, minimum speed, maximum speed, minimum acceleration rate, maximum acceleration rate, minimum deceleration rate, maximum deceleration rate, minimum climb rate, maximum climb rate, minimum descend rate, maximum descend rate, types and classifications of the Flying Objects, including but not limited to emergency, police, fire, lifeline, evacuation, military, fireworks, construction, maintenance, government and dignitary, minimum allowable altitude, maximum allowable altitude, minimum allowable speed, maximum allowable speed, maximum payload of humans as a count or as weight, maximum payload weight for non-human cargo, specific restriction of cargo types allowed or restricted such as hazard materials and the like, and, minimum fuel or battery energy requirements.
  • One other exemplary embodiment of the disclosed subject matter is a method, the method comprises: receiving from a flying object a request for clear to flyn the request comprises an electronic identification of a payload and an electronic identification of a flying object; retrieving from a data repository an at least one permission associated with the electronic identification and the flying object; and if the at least one permission authorized clear to fly (CTF) for the payload on the flying object then transmitting a DTF control message to the flying object.
  • CTF clear to fly
  • An example would be when the person operating the FO as a pilot has passed the maximum hours allowed to fly by regulation then DTF is not given.
  • the CTF is only given when the total hours for the complete destination and return is not over the regulatory maximum.
  • the regulatory maximum may be different for every state and country.
  • the technology used for both the electronic identification of payload may be of any technology, including: identification chips, identification tags, RFID, Bluetooth tags, Zigbee tags, WiFi tags, skin tags and the like.
  • One other exemplary embodiment of the disclosed subject matter is a method, the method comprises: receiving a request for calculating a refueling or a recharging stop for a planned route of a flying object; receiving a reading from a sensor of the flying object of current charging or refueling status; calculating an availability of the flying object to perform the planned route without recharging or refueling; wherein the calculating taking into account the current charging or fueling status, type of the flying object and environmental condition; as a result of the calculating approving the planned route if the availability exists or, otherwise, selecting from a data Repository a recharging stop or a refueling stop; wherein the selecting taking into account an at least one member selected from a group consisting of: current charging or fueling status, the type of the flying object, the planned route and the environmental condition; wherein the a recharging stop or a refueling stop is not included in a restricted area associated with the flying object; and updating the planned route to include a
  • Reading from a sensor is agnostic to technology as long as it supports protocols with an IP address for communications, such as http, ftp and the like.
  • the communication may be via Satellite communication, WiFi, Zigbee, CPDLC, wireless and the like.
  • the sensor of refueling or charging status includes API used to query the flying object’s onboard computer at least every lOOms, to check for 100% recharge or fuel availability.
  • the calculation for recharging or refueling is based on FO manufacturer performance properties such as energy required per a defined distance in different conditions such as winds, whereby the amount of charged energy or fuel required for the trip for each refueling or recharging leg is calculated by the distance available divided by the performance of the flying object.
  • FO manufacturer performance properties such as energy required per a defined distance in different conditions such as winds
  • the amount of charged energy or fuel required for the trip for each refueling or recharging leg is calculated by the distance available divided by the performance of the flying object.
  • One other exemplary embodiment of the disclosed subject matter is a method, the method comprises: retrieving from a data Repository an at least one permission associated with electronic identification of a payload and the a flying object. If the permission authorized clear to fly for the payload on the flying object then transmitting a clear to fly control message to the flying object.
  • the person operating the FO as a pilot has passed the maximum hours allowed to fly by regulation then DTF is not given.
  • the CTF is only given when the total hours for the complete destination and return is not over the regulatory maximum. The regulatory maximum may be different for every state and country.
  • receiving a request for calculating a refueling or a recharging stop for a planned route of a flying object receiving a reading from a sensor of the flying object of current charging or refueling status; calculating an availability of the flying object to perform the planned route without recharging or refueling; wherein the calculating taking into account the current charging or fueling status, type of the flying object and environmental condition; as a result of the calculating approving the planned route if the availability exists or, otherwise, selecting from a data repository a recharging stop or a refueling stop and updating the planned route to include a route to the recharging stop or the refueling stop.
  • One other exemplary embodiment of the disclosed subject matter is a method, the method comprises: receiving a request from a flying object for approving a route; the route comprises docking parameters, the docking parameters comprise an at least one member selected from a group consisting of: dock-location, time, date and duration for parking or for recharging or for refueling, type of the flying object and an at least one recharging or refueling option for the flying object; checking in a data repository available dock in accordance with the docking parameters; and if an available dock is found in the search then updating the route to include the dock and defining in the data Repository a location of the dock as a restricted area for the time, date and duration, the defining is for excluding the dock within the time data and duration from being included in a second route generated for an at least one other flying object.
  • the properties for each dock are entered to the Repository at the time of dock ownership registration, and includes mandatory properties such as maximum weight and size supported.
  • the selecting taking into account the at least one member selected from a group consisting of: current charging or fueling status, the type of the flying object, the planned route and the environmental condition;
  • Selecting refers to the process of querying a data repository for a list of available dock located within for example 100 meters of a particular location, whereby the query result of the data repository returns a sorted list be preference of the parameters, taking into account weight, price, availability hours and the like.
  • One other exemplary embodiment of the disclosed subject matter is a method, the method comprises: receiving a request from a computing device for scheduling a parking spot for a transportation object; the request comprises parameters; the parameters comprise:
  • the docking parameters comprise an at least one member selected from a group consisting of: dock-location, time, date and duration for parking or for recharging or for refueling, type of the flying object and an at least one recharging or refueling option for the flying object.
  • the transportation object is a flying object
  • the parking lot is a Pod; wherein the Pod comprises a plurality of enlarged rods positioned to support a flying object when parking; the enlarged rods are connectable to a wall or to a roof or to a ground; the enlarged rods are positioned horizontal to each other; wherein a space between the enlarged rods is adaptable to support a flying object within a certain weight range and a certain size range for enabling the flying object to park on the enlarged tracks.
  • the transportation object is a flying object and the parking lot is a Pod; wherein the Pod comprises a plurality of enlarged rods positioned to support a flying object when parking; the enlarged rods are connectable to a wall or to a roof or to a ground; the enlarged rods are positioned horizontal to each other; wherein a space between the enlarged rods is adaptable to support a flying object within a certain weight range and a certain size range for enabling the flying object to park on the enlarged tracks.
  • the parameters comprise: location, time, date and duration for parking, type of the transportation object or weight of the transportation object or size of the transportation object.
  • One other exemplary embodiment of the disclosed subject matter is a method the method comprises: receiving a message indicating a confirmation for scheduling parking of a flying object in a Pod; receiving an event indicating the arrival of the flying object in an area of the Pod; as a result of the event sending a control message to the dock, the control message causing an opening of the dock for allowing docking of the flying object in the dock.
  • the method comprises receiving an event indicating a change in location of the flying object and as a result of the event sending a control message to the Pod, the control message causing a closing of the dock.
  • the FSI server relays the location data to the Docking FS [215] associated with the Pod, controlling the motor movement moving rods within tubes of the Pod.
  • One other exemplary embodiment of the disclosed subject matter is a method, the method comprises: receiving from an operator of a flying object a request for generating a route; wherein the request comprises a presentation of a route; the route being drawn on a map by the operator and a route type; transforming the presentation of the route into a plurality of X/Y positions (coordinates); associating an altitude with each X/Y position
  • the action of transforming the presentation of the route into a plurality of positions refers to a process to extract each of the dots from the presentation of the drawn route into X/Y positions, whereby each first X/Y position is the starting position at a given altitude and speed and the following X/Y position is the final position at a given altitude and speed, thus the specification is transformed to a starting X/Y position at a particular altitude and speed and a final X/Y position at a particular altitude and speed, thus allowing changing altitude (descending or climbing) as well as changing speed (slowing down and speeding up) from the first position to the second position of any given position of positions.
  • each X/Y position with its associated altitude and speed is transformed to Xl,Yl,Zl,Sl,X2,Y2,Z2,S2 dataset, whereby Xl/Yl is the starting position, Zl is the starting altitude at the first position, Sl is the starting speed at the first position, X2/Y2is the destination position, Zl is the final altitude at the second position, S2 is the final speed at the second position; an example of a complete dataset of a position and its assigned altitude and speed would -22.24133, 1.21374,300,60 -22.27673, 1.21314, 400, 50, whereby the flying object would be climbing from 300 feet to 400 feet and slowing down from initial 60 kilometers per hour to 50 kilometers per hour.
  • One other exemplary embodiment of the disclosed subject matter is a system, the system comprises: a server; the server is configured for controlling operation of an at least one flying object or an at least one transportation object; and an at least one flying object module installable in the at least one flying object or an at least one transportation module installable in the at least one transportation object; wherein the controlling comprises transmitting a control message to the at least one transportation module for controlling movement or route of the at least one transportation object; or wherein the controlling comprises transmitting a control message to the at least one flying object module for controlling movement or route of the at least one flying object; wherein the at least one transportation modules is configured for receiving the control message and for transmitting the control message to a transportation object command system for the controlling the movement or the route of the transportation object in accordance with the message; or wherein an at least one flying module is configured for receiving the control message and for transmitting the control message to a flying object command system for the controlling the movement or the route of the flying object in accordance with the message.
  • method comprises: receiving a message from a flying object; wherein the message comprises an at least one electronic identification of an at least one payload present in the flying object; calculating number of payloads in the flying object, associated with the at least one electronic identification; retrieving from a data Repository an expected number of payloads associated with the flying object; comparing the number of payloads with the expected number of payloads; and sending a control command to an RCD (Remote Computing Device) in a command center associated with a route of the flying object; the control command comprises the identification or the number of payloads or an indication of a mismatch between the number of payloads and the expected number of payloads.
  • method comprises: receiving a message from a flying object; wherein the message comprises an at least one electronic identification of an at least one payload presented in the flying object; retrieving from a data Repository an expected identification of an at least one expected payload associated with the flying object; comparing the expected identification with the electronic identification; and if a mismatch is found in the comparing then sending a control command indicating the mismatch to an RCD (Remote Computing Device) of a command center associated with a route of the flying object.
  • RCD Remote Computing Device
  • One other exemplary embodiment of the disclosed subject matter is method, the method comprises: receiving a first control message of a new or amended restricted area; wherein the first control message comprises a specification of the new or amended restricted area; in response to the receiving the first control message, retrieving from an at least one data Repository an at least one flying object; wherein a location of the at least one flying object corresponding to the specification of the new or amended restricted area, or wherein anticipated or planned location of the at least one flying object corresponding to the specification of the new or amended restricted area or wherein an at least one permission rule associated with the at least one flying object; corresponding to the specification of the new or amended restricted area; as a result of the retrieving, setting in the at least one data
  • an at least one parameter of flying permission of the at least one flying object generating a second control message, or a third control message or a forth control message; the second control message, the third control message and the forth control message comprise the at least one parameter of flying permission; and transmitting the second control message to an at least one FOTOM (Flying Object and Transportation Object Module) associated with the at least one flying object, the second control message causing the at least one FOTOM to operate the flying object in accordance with the at least one parameter of flying permission; or transmitting the third control message to an at least one DAM (Dynamic Aerospace Map), the third control message causing the at least one DAM to present an at least one notification to an operator of the flying object to operate the flying object in accordance with the at least one parameter of flying permission; or transmitting the forth control message to an at least one CWP of an at least one ACC (Authority Command Centre); the transmitting is for presenting the at least one parameter of flying permission.
  • the setting is for allowing
  • One other exemplary embodiment of the disclosed subject matter is a method, the method comprises: receiving a first control message of canceling a restricted area; wherein the first control message comprises an identification of the restricted area; as a result of the receiving the first control message, retrieving from a data Repository an identification of an at least one flying object associated with the restricted area; and setting an at least one parameter associated with flying permission in the at least one flying object; the setting is for removing flying restriction associated with the restricted area.
  • One other exemplary embodiment of the disclosed subject matter is the method comprises: receiving a control message of canceling a restricted area; wherein the control message comprises an identification of the restricted area; as a result of the receiving the control message, searching in the data Repository for an at least one route associated with bypassing the restricted area and retrieving an at least one flying object associated in the data
  • Repository with the route and recalculating the route wherein the recalculating including the restricted area.
  • the recalculating uses the same processes and parameters as the calculation for the best possible route used prior to the departure from the initial originating point, where the only difference is that the calculation is done while the flying object is airborne.
  • the first control message comprises: receiving a first control message from a flying object; the first control message is for allowing the use of a runway path by a flying object; wherein the first control message comprises an identification of the flying object and an operation code; wherein the operation code is for landing the flying object or for a taking-off of the flying object within the runway path; querying from a data Repository for an at least one other flying object operating in or near two miles of area of the runway path; and transmitting a second control message to an at least one FOTOM (Flying Object and Transportation Object Module) associated with the at least one other flying object, the second control message causing the at least one FOTOM to restrict access of the at least one other flying object in the runway path.
  • FOTOM Fluoroperability to Microwave Access
  • the method further comprising generating a second control message or a third control message or a forth control message; the second control message, the third control message and the forth control message comprises the at least one parameter of flying permission; and transmitting the second control message to an at least one FOTOM (Flying Object and Transportation Object Module) associated with the at least one flying object, the second control message causing the at least one FOTOM to operate the flying object in accordance the at least one parameter of flying permission; or transmitting the third control message to an at least one DAM (Dynamic Aerospace Map), the third control message causing the at least one DAM to present an at least one notification to an operator of the flying object to operate the flying object in accordance with the at least one parameter of flying permission; or transmitting the forth control message to an at least one CWP
  • FOTOM Fluor Object and Transportation Object Module
  • One other exemplary embodiment of the disclosed subject matter is the method comprises: receiving a request for generating a planned route; wherein the request comprises an at least one planned-route-parameter for an at least one flying object; calculating the at least one planned route for the at least one flying object; the generating is in accordance with the least one planned-route-parameter and in accordance with an at least one criterion;
  • the at least one criterion comprises an at least one member selected from a group consisting of environmental condition, a refueling or recharging requirement and regulation restriction; and generating a first control message, a second control message and a third control message; the first control the second control message and the third control message comprise the at least one planned route associated with the at least one flying object.
  • the planned route parameter comprises an at least one member selected from a group consisting of: route type or type of flying object or starting point, or ending point, start date or start time or end date or end time or altitude layer or restricted border or minimum speed or maximum speed or minimum acceleration rate or maximum acceleration rate or minimum deceleration rate or maximum deceleration rate or minimum climb rate or maximum climb rate or minimum descend rate or maximum descend rate or types and classifications of the Flying Objects or including but not limited to emergency or police or fire or lifeline or evacuation or military or fireworks or construction or maintenance or government and dignitary or minimum allowable altitude or maximum allowable altitude or minimum allowable speed or maximum allowable speed or minimum fuel or minimum battery energy requirements or maximum payload of humans as a count or as weight or maximum payload weight for non-human cargo or specific restriction of cargo types allowed or restricted such as hazard materials and the like.
  • the method further comprising transmitting the first control message to an at least one FOTOM (Flying Object and Transportation Object
  • the first control message causing the at least one FOTOM to operate the flying object in accordance with the planned route; or transmitting the second control message to an at least one DAM (Dynamic Aerospace Map), the second control message causing the at least one DAM to present the at least one planned route to an operator of the flying object to operate the flying object in accordance with the at least one route; or transmitting the third control message to an at least one CWP of an at least one ACC (Authority Command Centre); the transmitting is for presenting the planned route.
  • DAM Dynamic Aerospace Map
  • One other exemplary embodiment of the disclosed subject matter is receiving a specification of a restricted or amended area
  • the specification of restricted area comprises an at least one member selected from a group consisting of: start date or start time or end date or end time or altitude layer or restricted border or minimum speed or maximum speed or minimum acceleration rate or maximum acceleration rate or minimum deceleration rate or maximum deceleration rate or minimum climb rate or maximum climb rate or minimum descend rate or maximum descend rate or types and classifications of the flying objects or emergency or police or fire or lifeline or evacuation or military or fireworks or construction or maintenance or government and dignitary.
  • the method further comprising: transmitting the specification and the definition to an at least one remote computing device; the transmitting is for controlling the operation of an at least one flying object in accordance with the specification and with the at least one inner border or the at least one outer border.
  • the method further comprising controlling the operation of an at least one flying object in accordance with the specification and with the at least one inner border or the at least one outer border.
  • the method comprises: receiving a message from a flying object; wherein the message comprises an at least one identification of an at least one payload presenting in the flying object and an identification of the flying object; sending the message to an at least one computing device of an at least one authority; the sending is for validating in a data Repository associated with the at least one computing device a status or location associated with the payload; receiving from the at least one computing device an expected status associated with the payload; and sending an alert message to an RCD (Remote Computing Device) of a command center associated with a route of the flying object, or sending an alert message to a second computing device of an at least one other authority or sending an alert message to the flying object, the alert message comprises the expected status, an identification of a mismatch between the expected status and actual status of the payload, the identification of the at least one payload and the identification of the flying object.
  • RCD Remote Computing Device
  • Validating in a data Repository refers to the querying the data Repository for all payload items that are still onboard versus the identification process of what payload is physically identified onboard, thus looking for a mismatch between what is supposed to be as oppose to the real physical count.
  • control message comprises: receiving from a plurality of transportation objects a control message; the control message comprises an at least one member selected from a group consisting of: transportation object type, location, route and speed of each of the plurality of transportation objects; and receiving from a data Repository an at least one route associated with each of the plurality of transportation objects; and controlling an operation of an at least one transportation object from the plurality of transportation objects in an at least one junction associated with a route from the at least one route associated with the at least one transportation object; wherein the controlling taking into account the speed, the location and the at least one routes of the plurality of transportation objects.
  • the controlling comprises controlling the speed of the transportation object or causing the transportation object to stop at the junction.
  • Some examples of controlling an operation of a transportation object including sending control messages to the TO controlling computer to slow down or speed up, or causing the car to move a lane to the right or move a lane to the left, or to place the hazard lights on due to slower speed of the TO versus other TO around the vehicle, flashing the turn signals to the left or right on prior to changing lanes, stopping the vehicle on the shoulder of the road and the like.
  • TO transportation object
  • One other exemplary embodiment of the disclosed subject matter is a method, the method comprises: receiving from a plurality of transportation objects a first control message; the first control message indicating a location, a route, a heading, and a speed of each of the plurality of transportation objects; receiving from a data Repository a plurality of routes associated with each of the plurality of transportation object; and controlling an operation of an at least one traffic light associated with the plurality of routes; the controlling is in accordance with the plurality of routes and in accordance with the location and the speed of each of the transportation object.
  • Controlling an operation of a traffic light refers to the changing the status of any traffic light between its possible states such as green, flashing green, yellow, flashing yellow red and flashing red, whereby the controlling is a result of extracting from a data repository transportation objects (TO) with their position and incoming route, counting the number of TO objects per route, and providing a weight representing the percentage of the TO count per route from the total TO count for all incoming routes associated with the junction.
  • TO data repository transportation objects
  • method comprises: within a computing device associated with a transportation object:
  • One other exemplary embodiment of the disclosed subject matter is a method the method comprises: receiving a request for updating a planned route of an at least one flying object, wherein the request comprises an at least one member selected from a group consisting of: a specification of new or amended restricted area, a change in environment condition, a change in destination and a gap between a planned arrival time and anticipated arrival time; wherein the planned route comprises a plurality of positions, speed and an arrival time associated with each of the positions; wherein each position in the plurality of positions comprises an X coordinate, a Y coordinate and an altitude coordinate; updating the planned route in accordance with the request wherein the updating comprises updating an at least one position from the plurality of positions or updating the arrival time associated with the at least one position; or updating the speed associated with the at least one position;
  • the first control message, the second control message and the third control message comprises the updated planned route; and transmitting the first control message to an at least one FOTOM (Flying Object and Transportation Object Module) associated with the at least one flying object, the first control message causing the at least one FOTOM to operate the flying object in accordance with the updated planned route; or transmitting the second control message to an at least one DAM (Dynamic Aerospace Map), the second control message causing the at least one DAM to present the updated planned route; or transmitting the third control message to an at least one CWP of an at least one ACC (Authority Command Centre); the transmitting is for presenting the updated planned route.
  • FOTOM Fluority Object Module
  • One other exemplary embodiment of the disclosed subject matter is a method, the method comprises: receiving from a flying object or from a transportation object a request for generating a route; the request comprises date, approximate time, approximate current location and destination location; searching in a data Repository for a performed route; the performed route previously performed by the flying object or the transportation object; the performed route comprises the current location, the destination, and the approximate time; and transmitting the performed route to the flying object or to the transportation object; the transmitting is for presenting the performed route on a display of the flying object or the transportation object for enabling an operator of the transportation object to operate the flying object in accordance with the performed route, or for operating the flying object or the transportation object in accordance with the performed route.
  • a method comprises: receiving from a flying object or from a transportation object a request for generating a route; the request comprises current location and destination location; searching in a data Repository for an at least one previously performed route; the previously performed route being performed by the flying object or the transportation object; the previously performed route comprises the destination and the current location; the previously performed route being used most frequently by the flying object or the transportation object comparing to other previously performed routes performed by the flying object or the transportation object from the current location to the destination; and transmitting the previously performed route to the flying object or to the transportation object; the transmitting is for presenting the previously performed route on a display of the flying object or the transportation object for enabling an operator of the transportation object to operate the flying object in accordance with the previously performed route, or for operating the flying object or the transportation object in accordance with the performed route.
  • One other exemplary embodiment of the disclosed subject matter is an apparatus for docking or parking a flying object
  • the apparatus comprises: an at least one tube connectable to wall or to a roof; wherein the at least one tube is associated with a rod and with a motor wherein the rod is positioned inside the at least one tube, wherein the motor is adapted for moving the rod into and out of the at least one tube; and a control unit configured for receiving a first event indicating an arrival of the flying object within for example 200 feet from the apparatus and for commanding the motor to perform the moving the rod out of the at least one tube in response to the first event; the moving out is for supporting the docking or the parking of the flying object; or wherein the control unit is further configured for receiving a second event of detaching of the flying object from the apparatus and for commanding the motor for performing the moving the rod into the tube in response to the second event.
  • the first event or the second event is sent from a remote computing device only if a first identification of an owner of the apparatus is associated in a data Repository with a second identification of the flying object or if the first identification of the owner of the apparatus is associated in a data Repository with a third identification of an at least one payload of the flying object.
  • One other exemplary embodiment of the disclosed subject matter is a method, the method comprises: receiving a first control message of a new or amended restricted area; wherein the first control message comprises a specification of the new or amended restricted area; in response to the receiving the first control message, retrieving from an at least one data Repository an at least one flying object; wherein a location of the at least one flying object corresponding to the specification of the new or amended restricted area, or wherein anticipated or planned location of the at least one flying object corresponding to the specification of the new or amended restricted area or wherein an at least one permission rule associated with the at least one flying object; corresponding to the specification of the new or amended restricted area; transmitting a second control message to an at least one FOTOM (Flying Object and Transportation Object Module) associated with the at least one flying object, the second control message causing the at least one FOTOM to marshal the flying object outside of the new or amended restricted area or marshaling the flying object outside of the new or amended restricted area.
  • FOTOM Field-Object and Transportation Object Module
  • One other exemplary embodiment of the disclosed subject matter is a system, the system comprises: a data Repository configured for storing an at least one specification of a restricted area; the at least one specification of the restricted area defines an area in the air or ground; the at least one specification of the restricted area defines rules for restricting traffic for an at least one flying object in the restricted area; and an at least one computing device configured for controlling the operation of the at least one flying object in accordance with the specification; the controlling comprises defining or amending routes for the at least one flying object in accordance with the restricted area definition.
  • One other exemplary embodiment of the disclosed subject matter is a system, the system comprises: an at least one sensor; the at least one sensor is positioned in a flying object; the at least one sensor is adapted for identifying an identification of an at least one payload entering a flying object; an electronic identification reader, the electronic
  • the electronic identification reader is positioned in the flying object, the electronic identification reader is adapted for reading an electronic identification of the an at least one payload entering or leaving the flying object; and an at least one computing device, the at least one computing device is configured for receiving a control message indicating presence and identity of the payload in the flying object and for controlling an operation of the flying object in accordance with the control message.
  • One other exemplary embodiment of the disclosed subject matter is a method, the method comprises: retrieving from a data Repository an at least one route or an at least one route request of an at least one flying object or for an at least one transportation object;
  • the at least one route or the at least one route request comprises a restricted area; and calculating an at least one alternate route for the at least one flying object or for an at least one transportation object the calculating omitting a usage of the restricted area.
  • method comprises receiving from a computing device associated with a flying object or a transportation object a request for a guaranteed route wherein the request comprises route type, current position and destination; retrieving from a data Repository an at least one guaranteed route wherein the at least one guarantied route comprises the route type, the current position and the destination; and selecting from the at least one guaranteed route a selected route; the selecting is in accordance with speed in the selected route arrival time of the selected route, load balancing with other routes and separation from an at least one other flying object or an at least one transportation object.
  • One other exemplary embodiment of the disclosed subject matter is a method, the method comprises receiving from a computing device associated with a flying object or a transportation object a request for an unguaranteed route wherein the request comprises route type, current position and destination; retrieving from a data Repository an at least one unguaranteed route wherein the at least one unguaranteed route comprises the route type, the current position and the destination; and calculating per each of the at least one unguaranteed rout a speed range throughout the route to ensure guaranteed separation and load balancing on multiple routes selecting from the at least one unguaranteed route a selected route; the selecting is in accordance with the speed range in the selected route and arrival time of the selected route.
  • a method comprises: retrieving from a data Repository an at least one route of an at least one flying object or for an at least one transportation object; wherein the at least one route comprises a restricted area; and calculating an at least one alternate route for the at least one flying object or for an at least one transportation object the calculating omitting a usage of the restricted area.
  • One other exemplary embodiment of the disclosed subject matter is a system, the system comprises: a first computing device, the first computing device comprises: an electronic identification reader, the electronic identification reader is configured for reading an electronic identification of an at least one payload entering or leaving a flying object; and a processor the processor is further configure for storing said electronic identification in a data Repository; and a second computing device wherein the second computing device is configured for retrieving the electronic identification from the data Repository and for sending a control message to a computing device associated with a pilot, for approval, for receiving an at least one message comprises the approval of the pilot, for storing the approval in the data Repository and for transmitting a manifest to a third computing device wherein the manifest comprises the electronic identification and the approval.
  • method comprises: receiving a reading of an electronic identification of an at least one payload entering or leaving a flying object; and storing the electronic identification in a data Repository; retrieving the electronic identification from the data Repository and sending a control message to an ADAMS computing device for pilot approval; receiving a message comprises the approval of the pilot, storing the approval in the data Repository;
  • the manifest comprise the electronic identification and the approval.
  • a problem dealt with by the present disclosure relates to that human operators are unable to issue multiple simultaneous takeoff and/or landing clearances to multiple flying objects simultaneously.
  • ATC announced via ATC as voice or NOT AM or ATIS.
  • Another problem dealt with by the present disclosure is that there is no fast way to evacuate people from buildings during a fire or other emergencies requiring an evacuation.
  • Another problem dealt with by the present disclosure is that there is no known way to marshal the movement of flying objects within a closed airspace. [49] Another problem dealt with by the present disclosure is that there is no way to schedule a reservation of a parking spot for future date or time.
  • autonomous Traffic Control system for controlling and marshalling any type autonomous- enabled flying objects and any autonomous-enabled transportation objects.
  • the control is done by bidirectional communication with flying objects and transportation objects.
  • Communication uses any available communication infrastructures including but not limited to air/ground, CPDLC, cellular, satellite.
  • control messages with parameters for sending and receiving data, commands and requests.
  • AMASO autonomous Marshaling System of autonomous- enabled Flying Objects and Transportation Objects
  • AMASO is a network of processing devices, providing control, or marshalling to transportation objects, including flying objects, whereby control messages are sent to the transportation objects to execute operations, where operations depend on the content of the control message.
  • ATC air traffic controller
  • Another technical solution is to provide a door on each floor of a building that can be used for evacuation purposes, whereby the door opens and a flying emergency vehicle can carry people from each opening.
  • Another technical solution is to have a flexible opening apparatus on floor of a
  • the dock position can be attached to a wall of any building type, on the ground or on a roof of any building type.
  • Another technical solution is to have autonomous control over the timing of traffic lights.
  • autonomous-enabled vehicles specifically speed and braking.
  • Another technical solution is to have autonomous control over autonomous-enabled vehicles in case of emergency.
  • Another technical solution is to have autonomous control over autonomous-enabled vehicles in case driver loses control.
  • Another technical solution is to have a protected geo-fencing of the runway, its arrival and departure areas to ensure drones cannot enter the area.
  • FIG. 1001 is a diagram of the communication between the autonomous system for controlling and marshalling flying objects (FO) or Transportation Objects (TO) with various endpoints, in accordance with some embodiments of the disclosed subject matter;
  • FIG. 1002 is a diagram representing the ground-based network between all
  • CA Coverage Area
  • FIG. 1003 depicts the result route allocations and assignments for each FO or TO from the initial route calculations and route recalculations for multiple flying objects (FO) and transportation objects (TO) by the (FSI), in accordance with some embodiments of the disclosed subject matter;
  • FIG. 1004 is a block diagram for the real-time calculations of guaranteed routes of all types, in accordance with some embodiments of the disclosed subject matter
  • FIG. 1005 is a system diagram showing all functions of the system responsible for marshalling FO and TO movements, restricted areas, routing, the dependency of the routing with restricted area, Pod docking and scheduling;
  • FIG. 1006 is a system diagram showing all functions of the system responsible
  • FIG. 1021 is a block diagram for receiving and processing any Control Message (CM) by the Functional Server Infrastructure (FSI) via the Area Communications Server over the ATN, from any Flying Object or Transportation Object Module (FOTOM) aboard any Flying Object (FO) and/or aboard any Transportation Object (TO), in accordance with some embodiments of the disclosed subject matter;
  • CM Control Message
  • FSI Functional Server Infrastructure
  • FOTOM Transportation Object Module
  • FIG. 1022 is a block diagram for processing a CM by a FS or CCC sent by an FSI server for processing and/or by another FS and/or by another CCC, in accordance with some embodiments of the disclosed subject matter;
  • FIG. 1023 is a block diagram for processing and sending any Control Message (CM) by the Functional Server Infrastructure (FSI) a of a Coverage Area (CA) to any Flying Object or any Transportation Object Module (FOTOM) that originated by any FS, CCC or CWP, in accordance with some embodiments of the disclosed subject matter;
  • CM Control Message
  • FSI Functional Server Infrastructure
  • CA Coverage Area
  • FOTOM Transportation Object Module
  • FIG. 1031 is a block diagram for any Control Message (CM) received from the
  • FSI Functional Server Infrastructure
  • CA Coverage Area
  • FOTOM Transportation Object Module
  • FIG. 1101 is an apparatus used for parking flying objects on externally on building walls, in accordance with some embodiments of the disclosed subject matter
  • FIGS. 1102A through 1102J are a set of depictions showing the various modes and stages of the Flying Object Building Apparatus (FOBAP) from fully collapsed through its opening and becoming dockable, in accordance with some embodiments of the disclosed subject matter;
  • FOBAP Flying Object Building Apparatus
  • FIG. 1103 depicts the mechanical parts of the apparatus for extending and retracting the rod from a single tube to make the apparatus dockable, in accordance with some embodiments of the disclosed subject matter;
  • FIG. 1104 depicts the mechanical parts of the apparatus for extending and retracting the rod from a two tube to make the apparatus dockable by using a single motor, in accordance with some embodiments of the disclosed subject matter;
  • FIG. 2002 is a block diagram of an FS, CCC or CWP showing CM transmission, in accordance with some embodiments of the disclosed subject matter
  • FIG. 2003 is a diagram for a control message of a new or amended restricted area, in accordance with some embodiments of the disclosed subject matter.
  • FIG. 2004 is a block diagram for a control message of a cancellation of a restricted area, in accordance with some embodiments of the disclosed subject matter
  • FIG. 2005 is a diagram for creating dynamic route, in accordance with some embodiments.
  • FIG. 2006 is a diagram for a control message of route definition, in accordance with some embodiments of the disclosed subject matter.
  • FIG. 2007 is a diagram for a control message of updating a route, in accordance with some embodiments of the disclosed subject matter.
  • FIG. 2008 is a diagram for specification of a restricted area, in accordance with some embodiments of the disclosed subject matter;
  • FIG. 2801 is a diagram for setting the runway path marshaling through a CWP and the FSI within an airport area, in accordance with some embodiments of the disclosed subject matter;
  • FIG. 2802 depicts the selection by an ATC over the CWP HMI for runway path
  • FIG. 2803 is a diagram for the FSI marshaling FO operations nearby airports, in
  • FIG. 2804 displays the virtual view of the marshalling flying objects associated with a landing or takeoff path of an aircraft, in accordance with some embodiments of the disclosed subject matter
  • FIG. 3001 is a diagram for setting area restriction parameters, in accordance with some embodiments of the disclosed subject matter.
  • FIGS. 3002A-3002D show the progressive selection of an operator on a CWP HMI of an area for the area restriction, in accordance with some embodiments of the disclosed subject matter;
  • FIG. 3011 is a diagram for the CWP area restriction retrieving a flying object (FO) associated with a restriction cancelation, in accordance with some embodiments of the disclosed subject matter;
  • FIG. 3021 is a diagram for the setting of a new or amended control message of a
  • FIG. 3071 is a diagram for authorizing a clear to fly to a flying object, in accordance with some embodiments of the disclosed subject matter
  • FIG. 3101 is a diagram for operator requests a route with flight type, in accordance with some embodiments of the disclosed subject matter
  • FIG. 4011 is a diagram for the creation of a route with specification of bypassing a restricted area.
  • FIG. 4031 is a diagram for smart route, in accordance with some embodiments of the disclosed subject matter.
  • FIG. 4101 is a diagram for calculating refueling or recharging stops, in accordance with some embodiments of the disclosed subject matter
  • FIG. 5101 is a diagram for dock scheduling, in accordance with some embodiments of the disclosed subject matter.
  • FIG. 5501 is a diagram for operating dock, in accordance with some embodiments of the disclosed subject matter;
  • FIG. 6011 is a diagram for payload identification, in accordance with some embodiments.
  • FIG. 6021 is a diagram for payload count, in accordance with some embodiments of the disclosed subject matter.
  • FIG. 6031 is a diagram for flying object (FO) identification alert, pilot payload
  • FIG. 6041 is a diagram for controlling traffic lights, in accordance with some embodiments.
  • FIG. 7001 is a block diagram of the system for controlling traffic object (TO) without lights, in accordance with some embodiments of the disclosed subject matter.
  • FIG. 7201 is a block diagram for marshalling emergency on a traffic object (TO), in accordance with some embodiments of the disclosed subject matter.
  • Coupled means that one element/feature is directly or indirectly joined.
  • each block in the flowchart or block diagrams may represent a module, segment, or portion of program code, which comprises of one or more executable instructions for implementing the specified logical function(s).
  • the functions noted in the block may occur out of the order noted in the figures. For example, two blocks shown in succession may, in fact, be executed substantially concurrently, or the blocks may sometimes be executed in the reverse order, depending upon the functionality involved.
  • the disclosed subject matter may be embodied as a System, method or computer program product. Accordingly, the disclosed subject matter may take the form of an entirely hardware embodiment, an entirely software embodiment (including firmware, resident software, micro-code, etc.) or an embodiment combining software and hardware aspects that may all generally be referred to herein as a“circuit,”
  • module or“System.”
  • present invention may take the form of a computer program product embodied in any tangible medium of expression having computer-usable program code embodied in the medium. Any combination of one or more computer usable or computer readable medium(s) may be utilized.
  • the computer-usable or computer-readable medium may be, for example but not limited to, an electronic, magnetic, optical,
  • electromagnetic, infrared, or semiconductor System, apparatus, device, or propagation medium including a portable computer diskette, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or Flash memory), an optical fiber, a portable compact disc read-only memory (CDROM), a portable pluggable device (USB), an optical storage device, a transmission media such as those supporting the Internet or an intranet, electrical connection with one or more wires, a local area network connection (LAN), a wide area wireless network connection (WAN), or a magnetic storage device.
  • LAN local area network connection
  • WAN wide area wireless network connection
  • magnetic storage device such as those supporting the Internet or an intranet
  • the computer-usable or computer-readable medium could even be paper or another suitable medium upon which the program is printed, as the program can be electronically captured, via, for instance, optical scanning or photographic device with optical character recognition (OCR) processing abilities of the paper or other medium, then compiled, interpreted, or otherwise processed in a suitable manner, if necessary, and then stored in a computer memory.
  • a computer-usable or computer-readable medium may be any medium that can contain, store, communicate, propagate, or transport the program for use by or in connection with the instruction execution System, apparatus, or device.
  • the computer-usable medium may include a propagated data signal with the computer-usable program code embodied therewith, either in baseband or as part of a carrier wave.
  • the computer usable program code may be transmitted using any appropriate medium, including but not limited to wireless, wire, optical fiber cable, RF,
  • Computer program code for carrying out operations of the present invention may be written in any combination of one or more programming languages, including an object oriented or procedural programming language or script-enabled language such as C, C++, Pascal, Python, Visual Basic, Perl, Java, .net, Rubi (any type), Pascal, Delphi, SQL, lisp, Java script, VB script, CSS, HTML, any ML
  • any Server or computer or device may be connected to any other Server or computer or device through any type of network, including a local area network (LAN) or a wide area network (WAN), RF, satellite, Wi-Fi, Microwave or any type of Area Traffic Network (ATN) protocol support for transferring data for the Aircraft industry.
  • LAN local area network
  • WAN wide area network
  • ATN Area Traffic Network
  • CM Control Messages
  • CWP also includes a human computer operator as opposed to only an air traffic controller (ATC).
  • ATC air traffic controller
  • the word user describes any authorized human operator, including but not limited to ATC, pilot, passenger and the like.
  • proximity is 200 feet or less, and may depend on the type of flying object (FO)
  • Area Communications Server is used, depending on the context, it already includes the transmission or transmitting or reception or receiving of any type of communications via the Area Traffic Network (ATN).
  • ATN Area Traffic Network
  • the term selection in the context of an option that is not related to an area or perimeter is simply a possible choice from at least one choice available on the HMI for selection
  • the term selection in the context of an area or perimeter selected by a user is the action of a user marking the perimeter of an area on a display by using a mouse or marking with an at least one finger on a touch-screen or with at least one finger in the air via motion sensor, all which are translated to result with the same action as if an area or perimeter were selected by mouse action.
  • FIG. 1001 is a diagram of the communication between the autonomous system for controlling and marshalling flying objects (FO) or Transportation Objects (TO) with various endpoints, in accordance with some embodiments of the disclosed subject matter.
  • the diagram depicts different types of flying objects (FO) such as RPAS or autonomous drone or autonomous transportation object [1], a piloted FO or a human driven transportation object TO [2] .
  • RPAS flying objects
  • Both [1] and [2] under RPAS configuration include an HMI display unit aboard the FO or TO [3].
  • Both [1] and [2] include a Flying Object and/or Transportation Object Module (FOTOM) [4] for communication between the onboard Command Unit (FOTOCU) [5] with the functional server infrastructure (FSI) (201) for the coverage area (CA) [11], [22] is the wireless Area Traffic Network communication (ATN) connecting any FO [1] or TO [2] with the FSI [201] of the CA[l l]
  • FOTOM Flying Object and/or Transportation Object Module
  • FIG. 1002 is a diagram representing the ground-based network between all
  • CA Coverage Area
  • CCC command & control centers
  • FSI functional server infrastructure
  • NCS Network Connection Server
  • FSI connectivity is within the same state or country or at the border points.
  • each FSI also include special Function Servers (FS) with their associated CWP [202-299], whereby each type of FS is in its own secured network representing special functionality and/or Controller Working Position (CWP) and/or CCC capabilities that communicate with the 201 network, and as a result, communicating with the rest other FS or CCC within the FSI, and although not shown within the figure, all networks are connected to all the other networks within the same CA, including the NCS [200].
  • CWP Controller Working Position
  • the FS and CCC types include: [203] Registration FS (RFS) - an FS for all registration types, including users, flying objects, operators and the like, [205] Real-Time FS (RTRFS) - all real-time operations required for assigning routes, resolving conflicts registration types, including users, flying objects, operators and the like, [215] Docking FS - for managing docking apparatuses of different types, [217] Metering FS (MFS) - for managing parking scheduling metering, tolls and related charges, [219] routes FS - for managing the airways, routes, related tolls and charges, [221] Regulatory CCC for managing overall air traffic control regulations such as types of required FO and personnel certifications, minimum operational standards (MOPS) and minimum system performance standards (MASPS), [231] ATS CCC - for managing overall air traffic control within the CA, whereby an ATC can manage, control and marshal areas and perimeters with regulatory parameters such as types of FO and required
  • Each FS/CCC may have multiple CWP connected to it on its same network whereby operators interact with the said FS/CCC for functionality and inter-operational functionality within the same CA.
  • the following CWP correspond to their FS/CCC
  • any changes made on any of the CWP or FS or CCC are automatically updated throughout the FSI on all CWP and FS and CCC. All changes within the FSI of the CA are also synchronized through the NCS [200] to nearby CA’s through their respective FSI NCS.
  • FS and CCC functionality include management, calculations DBR and synchronization with other FS and CCC types within the same CA through the FSI.
  • FS and CCC functionality include management, calculations DBR and synchronization with other FS and CCC types within the same CA through the FSI.
  • redundancy and better security for each FS and CCC FS type typically an FS and CCC are configured with multiple FS or CCC of same type in their own network.
  • FIG. 1003 depicts the result route allocations and assignments for each FO or TO
  • the green routes represent guaranteed routing and the grey routes are dynamic changed routes given to FO or TO that are not following the assigned routing parameters such as speed, the route itself or the altitude.
  • FIG. 1004 is a block diagram for the real-time calculations of guaranteed routes of all flying object (FO) types, in accordance with some embodiments of the disclosed subject matter. The following blocks are true for both TO and FO alike aside from the variations related to altitude and vectoring that are unavailable for road-based TO.
  • Block 100401 retrieves the route of an FO or TO that is either requesting a new route or is known to abide by the parameters of a guaranteed route such as altitude range, altitude layer, speed range and the like.
  • Block 100402 retrieves available predetermined guaranteed routes as well as possible dynamic routes from current position to destination or stop, in addition, the retrieval may look at different route types as per route request, such as direct(fastest), scenic (nature route), mass transportation (like a flying bus or even a large mothership), commercial transport of goods, lifeline (for lifeline tasks such ambulance, fire), security(police, local authorities, dignitaries, federal authorities, homeland security, military, air force and the like).
  • Block 100403 retrieves all other guaranteed routes to ensure required separation as well as alternate routes related to the routing type requested.
  • Block 100404 looks at the fastest available routes by checking unguaranteed and alternate FO or TO routes and their future positions, while allowing for variations in speed range, altitude range and sometimes even altitude layers, whereby calculations related to FO also include future altitudes.
  • Block 100405 calculates optimal speeds throughout the route to ensure guaranteed separation and load balancing on multiple routes, for TO, balancing also may also include actual lanes on multi-lane roads/highways.
  • Block 100406 retrieves historical statistics of following guaranteed routes.
  • Block 100407 calculates if the FO or TO historically abide to guaranteed routes.
  • Block 100408 will assign a guaranteed route if historically the FO or TO abide to guaranteed route.
  • Block 100409 updates the FO or TO record in the DBR is updated with a new or amended route.
  • Block 100410 logs the new or updated calculated route.
  • FIG. 1005 is a system diagram showing major functions of the system responsible for marshalling FO and TO movements, restricted areas, routing, the dependency of the routing with restricted area, Pod docking and scheduling, whereby each of the following functional sections are related or some functions are dependent on at least one function from another functional section.
  • Section 100510 for Restricted Area includes the creation of a new restricted area or amendment to restricted area [Fig. 2003], restricted area cancellation [Fig. 2004], restricted area specifications [Fig. 2008], Runway path marshalling [2801] which is a specific restricted area for airport runways and their respective arrival and departure paths, selection of runway marshalling through a CWP HMI [Fig.2802], set restriction parameters [Fig.
  • Section 100520 for Routes and Routing includes the recalculation and assignment [Fig. 1003], generating a guaranteed route
  • FIG. 1004 dynamic route allocation [Fig. 2005], definition of a route [Fig. 2006], updating a route [Fig. 2007], authorizing clear to fly (CTF) [Fig. 3071], route request by an FO operator [Fig. 3101], creation of a route bypassing a restricted area [Fig. 4011], creation of a smart route [Fig. 403l[ and calculating refueling or recharging stops [Fig. 4101], whereby the creation of routes bypassing restricted areas is dependent on the restricted area section.
  • CTF clear to fly
  • Section 100530 is the management of Docking and Pods, including the scheduling [Fig. 5101] and operating the Pod (dock spot) [Fig.5501], whereby the operation of the Pod (dock spot) is dependent on the location of the FO in relation to its position within its route from the routing section and the controlling of the FO within the controlling section [100540].
  • Section 100540 is for the controlling and marshalling of multiple FO and TO including FSI marshalling of FO near airports [Fig. 2803] which depends on the restricted area section
  • FIG. 1006 is a system diagram showing all functions of the system responsible
  • FIG. 1021 is a block diagram for receiving and processing any Control Message (CM) by the Functional Server Infrastructure (FSI) via the Area Communications Server over the ATN, from any Flying Object or Transportation Object Module (FOTOM) aboard any Flying Object (FO) and/or aboard at least one Transportation Object (TO), in accordance with some embodiments of the disclosed subject matter.
  • CM Control Message
  • FOTOM Transportation Object Module
  • This process is used to process all CM types, both for airborne above ground as well as land and road operations.
  • Block 102101 receives the CM from the ACS, block 102102 decrypts the message, block 102103 decodes the message content, block 102104 inserts the original encoded and encrypted CM into the DBR the message and its content (for data security purposes), block 102105 sends a CM with the newly created DBR record id to the proper FS or CCC for further processing, block 102106 moves the original ACS incoming record to a log DBR.
  • FIG. 1022 is a block diagram for processing a CM by a FS or CCC sent by an FSI server for processing (FIG. 1021) and/or by another FS and/or by another CCC, in
  • Block 102201 marks the status of the DBR record as“in-progress”, Block
  • 102202 retrieves the original encrypted and decoded CM from the DBR based on the DBR id received from the FSI, block 102203 decrypts the message, block 102204 decodes the message content, block 102205 processes the CM based on the content, In block 102206 If further processing is required by another FS, CCC or CWP, DBR record will be moved to another FS or CCC DBR (102207). Block 102207 and if not the DBR record is moved to a log DBR 102207.
  • FIG. 1023 is a block diagram for processing and sending any Control Message (CM) by the Functional Server Infrastructure (FSI) a of a Coverage Area (CA) to any Flying Object or Transportation Object Module (FOTOM) aboard at least one Flying Object (FO) and/or aboard at least one Transportation Object (TO), that originated by any FS, CCC or CWP, in accordance with some embodiments of the disclosed subject matter.
  • CM Control Message
  • FSI Functional Server Infrastructure
  • CA Coverage Area
  • FOTOM Transportation Object Module
  • TO Transportation Object
  • Block 102301 retrieves at least one unhandled CM from the DBR into a queue
  • block 102302 updates the progress of each retrieved records within the
  • block 102303 decrypts a message from the queue
  • block 102304 decodes the decrypted message
  • block 102305 searches the DBR for all affected FO and TO
  • 102306 creates a target distribution list for the message
  • block 102307 creates multiple copies of the messages, whereby each message is decoded and encrypted one by one based on each of the targets
  • block 102308 sends the messages each of the targets FO and/or TO via the
  • block 102309 moves the record to a log DBR.
  • FIG. 1031 is a block diagram for any Control Message (CM) received from the
  • Block 103101 receives a CM from the FSI of a CA, block 103102 decrypts the message, block 103103 decodes the message content, block 202104 send the CM for execution to the onboard Command Unit (FOTOCU) via the FOTOM (Flying Object and Transportation Object Module), block 202105 sends back an acknowledgement to the FSI.
  • FOTOCU onboard Command Unit
  • FIG. 1101 is a diagram showing the Flying Object Building Apparatus (FOBAP) allowing any new or existing building to insert the apparatus into the building structure whereby the rods extend from the balcony to support FO docking, parking and recharging.
  • This apparatus is typically suitable for office buildings and apartment buildings without existing balconies.
  • 110101 is a Pod that can be either a“crisscrossing fence like” strong steel structure secured to the building, or as a complete concrete“balcony- like” as per local building codes, therefore, the FOBAP may or may not include the 110101, thus for reader convenience and clarity, the Pod 110101 Pod is used throughout this application regardless if a concrete Pod is required for the apparatus.
  • a balcony rail 110102 is on each side of the Pod, where each rail extends from the building wall to the depth of the Pod.
  • An additional gate 110103 with 2 sections 110103A and 110103B are located at the end of each side rail at the edge of the Pod, this gate opens inwards or outwards towards the rails prior to an arriving flying object.
  • a movable rod 110105 inside each tube can be pushed outwards from the tube to support the docking of a flying object (FO), whereby the rod can extend from the tube’s (110104) full length all the way under the stairs within the building, whereby the rod is moved by a controlling motor in and out of the tube, therefore each rod from each tube form a DOCK.
  • FO flying object
  • the Pod is Undockable, and when at least the two side rods are fully extended the Pod is dockable.
  • 110106 is a motor capable of moving the rod (110105) in and out of the tube (110104), whereby the motor has teeth-like wheel 110107 attached to it, and where the rod (110105) has its grooves with intervals and spacing matching the wheel teeth (110107), changing the position of the rod (110105) in and out of the tube (110104).
  • the motor capable of moving the rod (110105) in and out of the tube (110104), whereby the motor has teeth-like wheel 110107 attached to it, and where the rod (110105) has its grooves with intervals and spacing matching the wheel teeth (110107), changing the position of the rod (110105) in and out of the tube (110104).
  • (110107) is controlled by a small computer 110108, whereby the computer is connected via a network to the CA.
  • the authorization for an FO to dock by extending the rods from the tubes only when there is a match between the ownership of both the Pod and the FO.
  • the authorization for an FO to dock by extending the rods from the tubes only when there is a match of a payload registered to the owner of the Pod.
  • the apparatus is a Flying Object Pod Extension Kit (FOPEK), allowing any existing balcony in any building to be transformed as a FO dock, whereby the rods extend from the balcony to support docking of flying objects, parking and recharging.
  • FOPEK Flying Object Pod Extension Kit
  • This apparatus is typically suitable for apartment buildings with existing balconies.
  • FOPEK is similar to the FOBAP, but without the side rails nor the Pod, whereby the existing balcony itself serves as the Pod and the tubes, rods, motor and control unit function the same as the FOBAP.
  • rods and tubes may be of different width and height (sizes) as well as with different space between the number of tubes, for example, the tubes may be over 1 meter in width and 30 centimeter in height, thus supporting from a small 30cm drone up to a bus-size whereby several tubes are used.
  • the only physical limitations are a: the wall length and the supporting construction to allow for weight limits, b: the material and thickness of the tubes and rods to support different weights, c: the strength of the motor used to drive the rods within the tubes.
  • An example of implementation with the different modes is clearly shown in Fig 1102A through 1102J.
  • FIGS. 1102A through 1102J are a set of depictions showing the various modes and stages of the Flying Object Building Apparatus (FOBAP) from fully collapsed through its opening and becoming dockable, in accordance with some embodiments of the disclosed subject matter.
  • the apparatus is a Pod and regardless if the building already has a balcony or not, the Pod rails and gates are shown as part of the Pod, therefore, the depictions includes the Pod and may or may not require rails depending if the Pod is attached to a balcony or directly to the building wall.
  • 1102A depicts when the Pod is fully collapsed and undockable.
  • 1102B depicts the Pod when it is .
  • 1102C depicts the Pod when the rods are fully extended from the tubes to support a flying object (FO) while the gates are still closed, meaning the FO can safely dock, but payload cannot be loaded nor unloaded.
  • 1102D depicts the Pod when the gates are opening inward and payload cannot be loaded nor unloaded.
  • 1102E depicts the Pod when dockable while the FO is approaching for docking, and payload can be loaded and unloaded once the FO is docked.
  • 1102F depicts the Pod when the FO is docked but still no payload is being loaded or unloaded.
  • 1102G depicts the Pod when the FO allows loading and unloading of payload.
  • 1102H depicts the Pod when the FO is ready for departing and payload has already been loaded and unloaded.
  • 11021 depicts the Pod when the gates are closing not allowing for any payload to be loaded nor unloaded.
  • 1102J depicts the Pod when the FO is departing and changing its status to undockable until the next FO approaches for docking.
  • the Docking FS retracts the rods into the tubes and also controls if dockable and undockable.
  • FIG. 1103 depicts the mechanical parts of the apparatus for extending and retracting the rod from a single tube to make the apparatus dockable, in accordance with some embodiments of the disclosed subject matter.
  • 110301 is the tube that is stationary
  • 110302 is the rod that extends and retracts from the tube and is movable by the motor
  • 110303 is the motor with the teeth that is attached to the tube to extend and retract the rod.
  • the control of the motor for extending and retracting the rods is managed by the FOBAP control unit. For example, when the Pod is dockable, the rods are extended to support the size of the flying object (FO) and may not require the rods to be fully extended, when the FO is not in the vicinity of the Pod, the rods are completely retracted.
  • FO flying object
  • FIG. 1104 depicts the mechanical parts of the apparatus for extending and retracting the rod from a two tube to make the apparatus dockable by using a single motor, in accordance with some embodiments of the disclosed subject matter.
  • the difference from the single tube is that the motor is used to extend and retract 2 tube rods at the same time while the motor is attached to a plate supported by one of the tubes.
  • the figure shows the left tube being used to support the motor, however, the right tube can be used as well.
  • the motor can be placed in the middle of a plate, whereby the plate is supported by both tubes to even the load on both sides of the motor.
  • FIG. 2002 is a block diagram of an FS, CCC or CWP CM transmission, in accordance with some embodiments of the disclosed subject matter.
  • Block 200201 encodes the data message per based on the message data structure
  • block 200202 encrypts the message to ensure data is securely obfuscated from tampering during the transmission
  • block 200203 stores the data in the DBR for further handling by the FSI (FIG. 1001).
  • FIG. 2003 is a block diagram for a control message of a new or amended restricted area, in accordance with some embodiments of the disclosed subject matter. This process is triggered in several ways but typically by selecting either an option to trigger the creation process for a new area such as“create area” option or“create perimeter” option, or by selecting an already existing area and selecting an“amend” option.
  • Block 200301 creates a new area ID only if a new area or new perimeter was selected, if the area is amended the area ID will be the area ID of the selected area.
  • Block 200302 translates the ATC/operator area selection to a set of X/Y coordinates of the selected perimeter.
  • 200303 ATC/operator select minimum altitude and maximum altitude for the said area selection.
  • 200304 merges the data from both 200301 and 200302 resulting in upper and lower boundaries in the form of C,U,Z, whereby the UPPER boundary merges X,Y 200301 with the maximum altitude (Z) from 200302, and the lower boundary merges the X,Y in 200301 with the minimum to altitude (Z) from 200302.
  • 200305 translates the user selection of specific regulation settings to data.
  • 200306 creates a data structure by concatenating data from 200304 and 200305.
  • Block 200308 inserts new or amended record into the log DBR.
  • FIG. 2004 is a block diagram for a control message of a cancellation of a restricted area, in accordance with some embodiments of the disclosed subject matter. This process is triggered by selecting the area.
  • Block 200401 checks for the parameters if the area can be cancelled.
  • Block 200402 presents the operator of a CWP with options to amend or to cancel the restricted area, if the operator selects to amend figure 2003 is triggered. If the operator selects to cancel the restricted area, Block 200403 will create subscription list for sending notifications to possibly affected FO and TO that might want to use this area.
  • Block 200404 logs the cancellation in the DBR and deletes the restriction record.
  • FIG. 2005 is a block diagram for the real-time calculations of unguaranteed dynamic routes of all types, in accordance with some embodiments of the disclosed subject matter. The following blocks are true for both TO and FO alike aside from the variations related to altitude and vectoring that are unavailable for road-based TO.
  • the main difference between guaranteed and unguaranteed (dynamic) routes is the historical statistics of a FO or a TO abiding to the parameters of a guaranteed route
  • typically delivery type FO of goods and lifeline and authority type FO are designated dynamic routing for better performance in areas and altitude layers that are not common for most FO activity such as in the embodiment of transferring a patient from one location to another at a higher altitude layer for faster arrival to destination.
  • Block 200501 retrieves the route of an FO or TO that is either requesting a new route or a request for rerouting.
  • Block 200502 retrieves available predetermined unguaranteed routes as well as possible alternate dynamic routes from current position to destination or stop, in addition, the retrieval may look at different route types per route depending on parameters as altitude range and future traffic flow.
  • Block 200503 looks at the fastest available routes by checking other related FO or TO routes and their future positions, calculations related to FO also include future altitudes.
  • Block 200504 calculates speed ranges throughout the route to ensure guaranteed separation and load balancing on multiple routes, for TO, balancing also may also include actual lanes on multi-lane roads/highways. Block assigns an unguaranteed route. Block 200506 assigns altitude ranges and altitude layers to FO routes. Block 200507 updates the FO or TO record in the DBR is updated with a new or amended route. Block 200508 logs the new or updated calculated route. Block 200509 sends a CM to the FSI to be sent to the affected FO or TO.
  • FIG. 2006 is a diagram for a CM of route definition, in accordance with some embodiments of the disclosed subject matter.
  • Block 200601 sets the identification of the FO or TO.
  • Block 200602 sets the route.
  • Block 200603 sets the speed ranges for various points or paths along the routes.
  • Block 200604 sets the FO altitude ranges for various points or paths within the route.
  • Block 200605 sets any special regulatory specifications for various points or paths within the route, the FO or TO will have to abide by such specifications.
  • Block 200606 sets additional information related to various points or paths within the route.
  • Block 200607 the raw CM is created.
  • Block 200608 cyphers the CM specifically for the FO or TO.
  • Block 200609 encrypts the CM specifically for the FO or TO.
  • Block 200610 does any special compression or other required permutation to the final CM.
  • FIG. 2007 is a diagram for a control message of updating a route, in accordance with some embodiments of the disclosed subject matter.
  • Block 200701 retrieves the current route assigned to a FO or TO.
  • Block 200702 retrieves the actual performance of the FO or TO.
  • Block 200703 calculates the deltas between the assigned route and the performance of the FO or TO.
  • Block 200704 decides if the delta is not within the acceptable range of route deviation a recalculation is required (FIG. 1001).
  • FIG. 2008 is a diagram for specification of a restricted area, in accordance with some embodiments of the disclosed subject matter.
  • Block 200801 sets the perimeter.
  • Block 200802 sets the speed range.
  • Block 200803 sets the altitude layer if used by FO.
  • Block 200804 sets the altitude range if used by FO.
  • Block 200805 sets the type of FO or TO that can enter the perimeter, such as lifeline, police and the like.
  • Block 200806 sets acceptable deviations related to the perimeter.
  • Block 200807 sets additional regulations to be followed and possibly marshalled related to the perimeter.
  • Block 200808 sets additional autonomous executions to be followed as given by the FSI.
  • FIG. 2801 is a diagram for setting the runway path marshaling through a CWP and the
  • Block 280101 receives an HMI input from ATC on the CWP.
  • Block 280102 updates the DBR within the FSI of the selected runway path and related perimeter.
  • FIG. 2802 depicts the selection by an ATC over the CWP HMI for runway path
  • FIG. 2803 is a diagram for the FSI marshaling FO operations nearby airports, in accordance with some embodiments of the disclosed subject matter.
  • the method sends marshalling CM to nearby FO.
  • Marshalling CM include new coordinates or route for the FO to execute in order to be far enough from the runway path area set in FIG. 2801.
  • Block 280301 retrieves the area set for marshalling from the DBR.
  • Block 280302 continuously receives positions of FO from any radar type that a are nearing the said perimeter.
  • Block 280303 continuously sends a marshalling CM to all FO that are nearing or already near the perimeter, whereby the marshalling CM consists of parameters to be executed by the autonomous-enabled or RPAS enabled FO, including but not limited to, altitude, new coordinates, notifications, regulatory information of area, and any additional information the RPAS operator may require to safely move the FO from the said area.
  • the marshalling CM consists of parameters to be executed by the autonomous-enabled or RPAS enabled FO, including but not limited to, altitude, new coordinates, notifications, regulatory information of area, and any additional information the RPAS operator may require to safely move the FO from the said area.
  • FIG. 2804 displays the virtual view of the marshalling flying objects associated with a landing or takeoff path of an aircraft, in accordance with some embodiments of the disclosed subject matter. Shown is the result of the marshalling CM sent to the FO right on the outside of the runway path that is being protected.
  • the slope of the landing path is 3 degrees but may vary depending on aircraft type and generally as a parameter within an ILS approach, takeoff operations use a wide range of both horizontal and vertical angles when taking off, therefore, typically and depending on the airport and region, a complete span of 90 degrees to both the right and left of the runway to typically at least 20 Nautical Miles from the end of the runway will be used and usually up to 10,000 feet.
  • the protected area may or may not include restriction for aircrafts, and particular FO types such as lifeline, police, air force and the like.
  • the general restriction is typically on private drones and other types of flying objects from endangering the vicinity of runways at airports.
  • a common example for a landing protected area would be at least 2000 meters from each side of an ILS path for a landing protected profile and at least 2,500 meters vertically from both the top and the bottom of the assigned approach altitude at any particular point of the approach path.
  • the example can be applied to departures of aircraft taking off.
  • the protected altitude ceiling is typically 2,500 but may vary for each runway by the airport or its responsible Air Navigation authority.
  • FIG. 3001 is a diagram for setting area restriction parameters, in accordance with some embodiments of the disclosed subject matter.
  • Block 300101 retrieves the selection made by the ATC.
  • Block 300102 retrieves all regulations related to the selected area.
  • Block 300103 retrieves and sets the default FO or TO type allowed or denied.
  • Block 300104 retrieves and sets the default allowable speed ranges.
  • Block 300105 retrieves and sets the altitude layer and range that are applicable to FO .
  • Block 300106 retrieves and sets any additional information related to the restricted area.
  • FIGS. 3002A-3002D show the progressive selection of an operator on a CWP HMI of a perimeter for the area restriction, in accordance with some embodiments of the disclosed subject matter.
  • the selection can be made via mouse or via HAGSH as well.
  • the restriction parameters are set (FIG. 3001).
  • 3002A the operator starts the selection
  • 3002B, 3002C and 3002D show the progress of the selection until the area is selected whereby the starting point and the ending are either the same or close enough to conclude the proximity to be seen as being the same point.
  • the perimeter is not circular and can be of any shape.
  • FIG. 3011 is a diagram for the CWP area restriction retrieving a flying object (FO) associated with a restriction cancelation, in accordance with some embodiments of the disclosed subject matter.
  • Block 301101 retrieves route and route requests of all FO that requested to travel through the restricted area.
  • Block 301102 creates a list of FO or TO for route recalculations.
  • Block 301103 sends the list of possible FO or TO for recalculation
  • FIG. 1004 for guaranteed routes and FIG. 105 for unguaranteed dynamic routes.
  • FIG. 3021 is a diagram for the setting of a new or amended control message of a
  • Block 302101 retrieves the selected area from the DBR.
  • Block 302102 retrieves parameters for the area being restricted such as perimeter.
  • Block 302103 retrieves speed range allowed within the perimeter.
  • Block 302104 retrieves applicable information for FO operations, especially allowed altitude layers and altitude ranges.
  • Block 302105 retrieves authorized FO or TO types that can enter and/or exit the area being restricted, typically the types would include lifeline, authorities and dignitaries.
  • Block 302106 retrieves special conditions for operations that may apply to either specific FO or TO types, or operators such as valid security clearances, certifications and the like.
  • Block 302107 retrieves the new or amended perimeter.
  • Block 302108 retrieves regulatory data for the area being restricted .
  • Block 302109 retrieves special any special NOT AMs, weather information and the like especially required for FO operations or lifeline TO based operations.
  • FIG. 3071 is a diagram for authorizing a clear to fly to a flying object, in accordance with some embodiments of the disclosed subject matter.
  • Block 307101 retrieves FO route information.
  • Block 307102 retrieves nearby FO positions and vectors, including altitude change, rate of altitude change, speed change and rate of speed change .
  • Block 307103 checks if the area is clear for the clearance to fly based on other FO operations.
  • Block 307104 gives the clearance to the FO to fly.
  • FIG. 3101 is a diagram for operator requests a route creation, in accordance with
  • Block 310101 operator selects destination.
  • Block 310102 operator selects flight type, such as scenic, direct and the like.
  • Block 310103 operator selects additional parameters for the travel, such as route stops, amenities and the like.
  • Block 310104 send the request for a route calculation (FIG. 1004 for guaranteed route or FIG. 2005 for unguaranteed dynamic route).
  • FIG. 4011 is a diagram for the creation of a route with specification of bypassing a restricted area.
  • Block 401101 retrieves the route associated with a FO
  • Block 401102 retrieves all restricted areas known at the time throughout the rout from current position
  • Block 401103 generates the best sub-route to go-around or above or under the restricted area and uses The dynamic route allocation as described in Fig. 2005 and guaranteed route as described in Fig. 1004.
  • Block 401104 updates the repository and sends a CM to the FO.
  • FIG. 4031 is a diagram for smart route, in accordance with some embodiments of the disclosed subject matter.
  • Block 403101 retrieves all previous travels taken by operator with the FO or TO.
  • Block 403102 calculates the number of times each route was taken.
  • Block 403103 sorts the routes from most used to least used.
  • Block 403104 displays the routes for the operator on the HMI.
  • FIG. 4101 is a diagram for calculating refueling or recharging stops, in accordance with some embodiments of the disclosed subject matter.
  • Block 410101 retrieves the most used routes if available (FIG. 4031).
  • Block 410102 retrieves the fuel or battery level available aboard the FO or TO.
  • Block 410103 calculates the remaining distance prior to refuel or recharge is required.
  • Block 410104 retrieves the available amenities available on any of the available routes based on refuel or recharge as the critical factor in selecting a route.
  • Block 410105 adjusts the available list of routes that solve the refuel / recharge criteria.
  • FIG. 5101 is a diagram for dock scheduling, in accordance with some embodiments of the disclosed subject matter.
  • Dock scheduling is used typically used by a FO.
  • the operator requests a scheduled dock slot on a particular Pod, meaning a“parking spot reservation” for a particular date, time and duration.
  • the FSI reserves the dock and also does any toll collection if required based on the specifications of the Dock that is within the registration DBR. Once reservation is confirmed, the Dock will be guaranteed to be available, if previous FO did not undock and the dock is unavailable to the reserved FO, the FSI maintains numerous such scheduled docks just for these cases.
  • the percentage of reserved docks depend on the weekday, time of day as normal parking lots operate.
  • Block 510101 receives a CM requesting a dock schedule .
  • Block 510102 retrieves the FO type and required docking capabilities, including any weight classification, duration and recharging requirements, etc.
  • Block 510103 retrieves available docks from the DBR for the requested date, time and duration, the schedule also supports multi-day scheduling from time till time.
  • Block 510104 schedules the FO with the primary selected dock.
  • Block 510105 looks at the available docks within an area based on other scheduled FO in the same time frame.
  • Block 510106 reserves additional backup docks based on the number of other scheduled docks in the area.
  • Block 510107 sends a confirmation to the FO operator or the FO with the schedule details.
  • a parking schedule Repository includes the schedules for each parking, including some of the following parameters but not limited to: scheduled date, time, from time, till time, FO type, FO weight, recharging requirements.
  • FIG. 5501 is a diagram for operating dock, in accordance with some embodiments of the disclosed subject matter.
  • a Dock is any Pod capable of scheduling parking services and possibly recharging for a FO.
  • Block 550101 retrieved dock information from the registration DBR.
  • Block 550102 retrieves available slots for scheduling.
  • Block 550103 retrieves the maximum weight and FO class types supported.
  • Block 550104 retrieves the charge rate for the dock.
  • Block 550105 retrieves the latest status of the dock from the DBR to ensure current availability, certification and capabilities are sufficient.
  • FIG. 6011 is a diagram for payload identification, in accordance with some embodiments.
  • Block 601101 scans for identification of an entering or exiting payload, the identification is triggered every time an object is detected by a camera, whereby the identification is typically by RFID or Zigbee or any other electronic tagging including but not limited to barcode.
  • Block 601102 retrieves the identification of the tag from the DBR and registers all entries and exits with a payload DBR.
  • Block 601103 updates a payload manifest DBR, available to the FO operator as well as any authorities requiring access, this typically includes but not limited to immigration, police, homeland security and the like.
  • FIG. 6021 is a diagram for payload count, in accordance with some embodiments of the disclosed subject matter.
  • Block 602101 retrieves all known identifications (FIG. 6011).
  • Block 602102 triggers a payload counter every time a payload enters or exits an FO.
  • Block 602103 checks for matched count versus the identified objects.
  • Block 602104 notifies of any mismatches.
  • FIG. 6031 is a block diagram for retrieving from a data repository all items of a payload associated with a flying object prior for pilot authorization prior to clear to fly (CTF) authorization is issued.
  • CTF clear to fly
  • Block 603101 the list of count mismatch and payload manifest is presented to the pilot on a computing device for authorization, possibly including but not restricted to any of the following: list of passengers, their age, health, criminal notes, security notes, list of animals, list of cargo and its content, list of hazardous materials, list of firearms, list of monies transferred on the flight and the like.
  • Block 603102 the payload DBR is updated with the authorization and the authorized payload manifest is then broadcasted to the relevant authorities and agencies in Block 60310, for example, a list of cargo is broadcasted to all customs agencies where the FO will be landing, this includes police, immigration, customs, and the like.
  • FIG. 6041 is a diagram for controlling traffic lights, in accordance with some embodiments.
  • Block 604101 retrieves all TO and associated routes within the vicinity of a junction with traffic lights.
  • Block 604102 calculates the count of all TO for each of the lanes and turns to be made at the junction.
  • Block 604103 calculates the best timing required for each light for each direction and lane.
  • Block 604104 sends a CM to the traffic light system with the duration and priority.
  • FIG. 7001 is a block diagram of the system for controlling traffic object (TO) without lights, in accordance with some embodiments of the disclosed subject matter.
  • the system uses marshalling of autonomous enabled vehicles to force the vehicles to execute specific commands related to junctions, including any combination of the following: slowing down, speeding up, stopping, turning and switching lanes, furthermore, the system can compensate for manually driven vehicles whereby the autonomous enabled vehicle will always give-way to a manually driven vehicle if needed, and based on local regulations of which vehicle has right of way and with what circumstances.
  • Block 700101 retrieves all TO and associated routes and performance that are within the vicinity of a junction without traffic lights.
  • Block 700102 retrieves the current speed of each TO.
  • Block 700103 calculates the operation required to be executed by every autonomous enabled vehicles that is at or near the junction, taking into account manually driven vehicles.
  • the execution CM includes but not limited to: speed, turn direction, turn rate, speed-up rate, slow-down rate, stopping and lane switching.
  • Block 700104 sends each vehicle the CM to be executed.
  • the process is continuous and has an autonomous error correction due to any mechanical, manual traffic, road conditions and other external forces.
  • the system gives way to lifeline vehicles such as PD, FD, AD and the like.
  • FIG. 7201 is a block diagram for marshalling emergency on any flying object (FO) or traffic object (TO), in accordance with some embodiments of the disclosed subject matter.
  • FO flying object
  • TO traffic object
  • an extension of marshalling is available in case of emergency, whereby clearing of areas, lanes or complete roads is required. Controlled by local authorities through the FSI, any authorized CWP operator may define an emergency area, similar to previous restricted area based embodiments.
  • Block 720101 retrieves the identification of all FO and TO within the specified emergency area that have been identified by the operator.
  • Block 720102 retrieves the marshalling required as per the CWP operator .
  • Block 720103 FSI creates special CM to selected FO and TO.
  • Block 720104 FSI send the CM for execution to each if the selected FO or TO.
  • FIG. 7201 is a block diagram for marshalling emergency on any flying object (FO) or traffic object (TO), in accordance with some embodiments of the disclosed subject matter.
  • FO flying object
  • TO traffic object
  • an extension of marshalling is available in case of emergency, whereby clearing of areas, lanes or complete roads is required.
  • any authorized CWP operator may define an emergency area, similar to previous restricted area based embodiments. Once an operator of a CWP creates or amends a restricted area, the FSI will generate CM to all FO and TO affected in the restricted area as shown in previous embodiments. In addition, there may be a requirement to marshal specific vehicles within the emergency area.
  • Block 720101 retrieves the identification of all FO and TO within the specified emergency area that have been identified by the operator.
  • Block 720102 retrieves the marshalling required as per the CWP operator .
  • Block 720103 FSI creates special CM to selected FO and TO.
  • Block 720104 FSI send the CM for execution to each if the selected FO or TO.

Abstract

La présente invention concerne des appareils, des systèmes et des procédés de commande et de placement autonomes d'objets volants autonomes et d'objets de transport autonomes. Le système comprend un POD doté d'une pluralité de tiges agrandies parallèles les unes aux autres pour supporter un objet volant. Le système comprend un appareil doté d'une caméra pour identifier une charge utile entrant ou sortant d'un objet volant et un processeur pour détecter et signaler à un dispositif informatique une incompatibilité de charge utile et un manifeste de charge utile pour une autorisation de pilote. Le système comprend le calcul et la surveillance de zones restreintes que des objets volants doivent éviter selon les restrictions. Le système calcule des arrêts de ravitaillement ou de recharge pour un itinéraire prévu d'un objet volant, des procédés pour approuver des itinéraires, pour planifier l'amarrage et pour faire fonctionner un POD, pour générer des itinéraires, pour générer ou annuler des zones restreintes, pour commander le fonctionnement d'objets de transport, mettre à jour des itinéraires, générer ou modifier des itinéraires garantis et non garantis.
PCT/IB2018/060734 2017-12-31 2018-12-31 Appareils, systèmes et procédés de commande et de placement autonomes d'objets volants autonomes et d'objets de transport autonomes WO2019130280A2 (fr)

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Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
FR3103577A1 (fr) * 2019-11-27 2021-05-28 Thales Systeme de pilotage d'aeronef
CN112990814A (zh) * 2021-02-20 2021-06-18 北京京东乾石科技有限公司 对象处理方法及装置

Family Cites Families (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP3748805A3 (fr) * 2014-08-08 2021-03-03 SZ DJI Technology Co., Ltd. Systèmes et procédés pour remplacement de batterie d'un véhicule aérien sans pilote
US20170275024A1 (en) * 2016-03-28 2017-09-28 Andrew Bennett System and method for docking unmanned aerial vehicles (uavs)

Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
FR3103577A1 (fr) * 2019-11-27 2021-05-28 Thales Systeme de pilotage d'aeronef
WO2021105303A1 (fr) * 2019-11-27 2021-06-03 Thales Système de pilotage d'aéronef
CN112990814A (zh) * 2021-02-20 2021-06-18 北京京东乾石科技有限公司 对象处理方法及装置

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