U.S. patent application number 16/285968 was filed with the patent office on 2020-03-19 for unmanned aerial vehicle fleet management.
The applicant listed for this patent is Wing Aviation LLC. Invention is credited to Martin Kubie, Andre Prager, James Schmalzried.
Application Number | 20200086987 16/285968 |
Document ID | / |
Family ID | 69772756 |
Filed Date | 2020-03-19 |
United States Patent
Application |
20200086987 |
Kind Code |
A1 |
Schmalzried; James ; et
al. |
March 19, 2020 |
UNMANNED AERIAL VEHICLE FLEET MANAGEMENT
Abstract
An unmanned aerial vehicle (UAV) includes one or more sources of
propulsion, a power source, and communication system. The UAV also
includes a controller coupled to the communication system, the
power source, and the one or more sources of propulsion. The
controller includes logic that when executed by the controller
causes the UAV to perform operations, including measuring a power
source charge level of the UAV; sending a signal including the
power source charge level of the UAV to an external device;
receiving movement instructions from the external device; and
engaging the one or more sources of propulsion to move the UAV from
a first location on a storage rack to a second location within a
storage facility.
Inventors: |
Schmalzried; James; (San
Jose, CA) ; Prager; Andre; (Sunnyvale, CA) ;
Kubie; Martin; (San Francisco, CA) |
|
Applicant: |
Name |
City |
State |
Country |
Type |
Wing Aviation LLC |
Mountain View |
CA |
US |
|
|
Family ID: |
69772756 |
Appl. No.: |
16/285968 |
Filed: |
February 26, 2019 |
Related U.S. Patent Documents
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Application
Number |
Filing Date |
Patent Number |
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16132712 |
Sep 17, 2018 |
|
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16285968 |
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Current U.S.
Class: |
1/1 |
Current CPC
Class: |
B64C 39/024 20130101;
G05D 1/0027 20130101; B65G 1/1373 20130101; B64C 2201/042 20130101;
B64C 2201/146 20130101; B64C 2201/066 20130101; G05D 1/104
20130101; B64C 2201/128 20130101 |
International
Class: |
B64C 39/02 20060101
B64C039/02; G05D 1/00 20060101 G05D001/00; B65G 1/137 20060101
B65G001/137 |
Claims
1. An unmanned aerial vehicle (UAV), comprising: one or more
sources of propulsion coupled to provide propulsion to the UAV; a
power source coupled to power the one or more sources of
propulsion; a communication system coupled to the power source to
communicate with an external device; and a controller coupled to
the communication system, the power source, and the one or more
sources of propulsion, wherein the controller includes executable
instructions that when executed by the controller causes the UAV to
perform operations, including: measuring a power source charge
level of the UAV; sending a signal including the power source
charge level of the UAV to the external device; in response to
sending the signal, receiving movement instructions from the
external device; and in response to receiving the movement
instructions, engaging the one or more sources of propulsion to
move the UAV from a first location on a storage rack to a second
location within a storage facility, wherein the second location has
a shorter flight time to an egress point of the storage facility or
to a staging area within the storage facility relative to the first
location, and wherein the UAV moves to the second location instead
of other UAVs proximate to the first location when the power source
charge level of the UAV is higher than that of the other UAVs.
2. The UAV of claim 1, wherein the second location has a higher
elevation than the first location, and wherein the second location
is on the storage rack.
3. (canceled)
4. The UAV of claim 1, wherein the second location is closer to the
egress point of the storage facility than the first location.
5. The UAV of claim 4, wherein the UAV has a higher power source
charge level than that of one or more of the other UAVs disposed
further away from the egress point than the second location.
6. The UAV of claim 1, wherein the signal further includes
information about a UAV type.
7. The UAV of claim 6, wherein a range is calculated based on the
power source charge level and the UAV type, and wherein the
movement instructions are based on the range.
8. The UAV of claim 1, wherein the second location is a holding pad
disposed proximate to the staging area and the staging area
includes a merchant location in the storage facility, wherein the
storage facility contains the storage rack.
9. (canceled)
10. The UAV of claim 1, wherein the power source is irremovably
coupled to the UAV and receives charge via direct electrical
connection to a charging pad disposed on the storage rack.
11. A method of unmanned aerial vehicle (UAV) operation,
comprising: receiving a signal from a UAV including information
about a power source charge level of the UAV; calculating, based on
the information in the signal, movement instructions to move the
UAV from a first location on a storage rack to a second location
within a storage facility, wherein the second location has a
shorter flight time to an egress point of the storage facility or
to a staging area within the storage facility relative to the first
location, and wherein the movement instructions direct the UAV to
move, or be moved, to the second location instead of other UAVs
proximate to the first location when the power source charge level
of the UAV is higher than that of the other UAVs; and sending the
movement instructions to the UAV or an external device.
12. The method of claim 11, wherein the signal includes information
about UAV type, and wherein the movement instructions are
calculated using both the power source charge level and the UAV
type.
13. The method of claim 12, further comprising calculating a range
of the UAV using the information about the power source charge
level and the UAV type.
14. The method of claim 13, wherein calculating the range further
includes using information about at least one of payload type,
payload weight, environmental conditions outside the storage
facility, or elevation conditions outside of the storage
facility.
15. The method of claim 11, wherein the second location has a
higher elevation than the first location, and wherein the second
location is on the storage rack.
16. The method of claim 15, wherein the UAV has a higher power
source charge level than that of the other UAVs disposed at lower
elevations than the second location on the storage rack.
17. The method of claim 11, wherein the second location is closer
to the egress point than the first location.
18. The method of claim 17, wherein the UAV has a higher power
source charge level than that of one or more of the other UAVs
disposed further away from the egress point than the second
location.
19. The method of claim 11, wherein the second location is a
holding pad disposed proximate to the staging area and the staging
area includes a merchant location in the storage facility, wherein
the storage facility contains the storage rack, the method further
comprising: sending a package load request to the UAV to instruct
the UAV to move off of the holding pad when a package is ready for
delivery.
20. (canceled)
21. The method of claim 11, wherein the UAV is preferentially moved
to the second location over the other UAVs proximate to the first
location when the UAV is deemed to be more mission-ready than the
other UAVs.
22. A non-transitory computer readable storage medium including
instructions that when executed by a machine causes the machine to
perform operations, comprising: receiving a signal from an unmanned
aerial vehicle (UAV) including information about a power source
charge level of the UAV; generating, based on the information in
the signal, movement instructions to move the UAV from a first
location on a storage rack to a second location within a storage
facility, wherein the second location has a shorter flight time to
an egress point of the storage facility or to a staging area within
the storage facility relative to the first location, and wherein
the movement instructions direct the UAV to move, or be moved, to
the second location instead of other UAVs proximate to the first
location when the power source charge level of the UAV is higher
than the other UAVs; and sending the movement instructions to the
UAV or an external device to facilitate movement of the UAV.
Description
CROSS-REFERENCE TO RELATED APPLICATIONS
[0001] This application is a continuation-in-part of U.S.
application Ser. No. 16/132,712, filed Sep. 17, 2018, the contents
of which are incorporated by reference herein in their
entirety.
TECHNICAL FIELD
[0002] This disclosure relates generally to unmanned aerial
vehicles (UAVs).
BACKGROUND INFORMATION
[0003] An unmanned vehicle, which may also be referred to as an
autonomous vehicle, is a vehicle capable of travel without a
physically-present human operator. Various types of unmanned
vehicles exist for various different environments. For instance,
unmanned vehicles exist for operation in the air, on the ground,
underwater, and in space. Unmanned vehicles also exist for hybrid
operations in which multi-environment operation is possible.
Unmanned vehicles may be provisioned to perform various different
missions, including payload delivery, exploration/reconnaissance,
imaging, public safety, surveillance, or otherwise. The mission
definition will often dictate a type of specialized equipment
and/or configuration of the unmanned vehicle.
[0004] Controlling unmanned vehicles can be problematic especially
when there are a large number of vehicles in close proximity.
Crashes may irreparably damage the vehicles, and pose a hazard for
people in the vicinity of the moving vehicles.
BRIEF DESCRIPTION OF THE DRAWINGS
[0005] Non-limiting and non-exhaustive embodiments of the invention
are described with reference to the following figures, wherein like
reference numerals refer to like parts throughout the various views
unless otherwise specified. Not all instances of an element are
necessarily labeled so as not to clutter the drawings where
appropriate. The drawings are not necessarily to scale, emphasis
instead being placed upon illustrating the principles being
described.
[0006] FIG. 1 illustrates an unmanned aerial vehicle (UAV) having
multiple mission segments, in accordance with an embodiment of the
disclosure.
[0007] FIG. 2 is a perspective view illustration of a demonstrative
unmanned aerial vehicle (UAV), in accordance with an embodiment of
the disclosure.
[0008] FIGS. 3A-3C illustrate storage facilities for UAVs, in
accordance with several embodiments of the disclosure.
[0009] FIG. 4 is a method of controlling a plurality of UAVs, in
accordance with an embodiment of the disclosure.
[0010] FIG. 5 illustrates example UAV operation within a storage
facility, in accordance with an embodiment of the disclosure.
[0011] FIG. 6 illustrates a method of controlling UAV operation, in
accordance with an embodiment of the disclosure.
DETAILED DESCRIPTION
[0012] Embodiments of a system, apparatus, and method for unmanned
aerial vehicle (UAV) fleet management are described herein. In the
following description numerous specific details are set forth to
provide a thorough understanding of the embodiments. One skilled in
the relevant art will recognize, however, that the techniques
described herein can be practiced without one or more of the
specific details, or with other methods, components, materials,
etc. In other instances, well-known structures, materials, or
operations are not shown or described in detail to avoid obscuring
certain aspects.
[0013] Reference throughout this specification to "one embodiment"
or "an embodiment" means that a particular feature, structure, or
characteristic described in connection with the embodiment is
included in at least one embodiment of the present invention. Thus,
the appearances of the phrases "in one embodiment" or "in an
embodiment" in various places throughout this specification are not
necessarily all referring to the same embodiment. Furthermore, the
particular features, structures, or characteristics may be combined
in any suitable manner in one or more embodiments.
[0014] When UAV operations reach significant scale, UAV operators
(operators) need to maintain large fleets of UAVs. This is
particularly true in the case where UAVs are used for package
delivery. A likely scenario for UAV storage is for a UAV fleet to
be stored in some large facility (e.g., a warehouse) during times
of non-operation or during recharging. For these large scale
storage systems, operators will need methods to manage these
fleets, including how to get a UAV in and out of that storage
facility, and in the case of package delivery that originates at
the same facility, how to load packages onto aircraft in an
efficient manner that minimizes the time delay between a package
being ready for delivery and the customer receiving the package.
Presented here are ways to move, organize, and dynamically
rearrange UAVs inside of a storage facility.
[0015] There are several key high level points to this methodology:
(1) aircraft may arrange or rearrange themselves (under their own
power) inside of a facility dynamically based on the needs of the
fleet; (2) aircraft used for delivery purposes may be staged fully
charged waiting for a package to minimize delivery time of a
package to a customer; (3) these processes are not limited to
2-dimensional spaces, but can be extended to 3-dimensional spaces
as well.
[0016] Here, UAVs returning from a mission would enter a facility
through a known ingress point (e.g., a door, hatch, opening,
window, etc.) and head for a landing pad. Also important to note is
that landing pads may also contain aircraft recharging systems that
automatically re-charge the UAV batteries upon landing. In some
embodiments the batteries/power sources may be irremovably coupled
to the UAV, and the UAV may receive charge via direct electrical
connection (e.g., exposed electrodes) to a charging pad disposed on
a storage rack. Alternately, the landing pads may contain battery
exchange systems to remove a depleted battery from a UAV and
install a fully charged battery (this may also be referred to as "a
charging pad").
[0017] In one embodiment, UAVs arriving to the facility would enter
the facility through an ingress point and fly to an unoccupied
landing pad that is closest to the egress point. The UAV may land
on any un-occupied landing pad or it may be commanded to land on a
specific predefined landing pad by an external computing system
(e.g., a UAV control system). The UAV would wait until it is fully
re-charged, then fly to an egress staging location where the UAV
would wait until a package is loaded into/onto the UAV. Once the
package is loaded into the UAV, it would depart the facility
through the egress point.
[0018] In some embodiments, power consumption upon return from a
flight may be restricted or battery state of charge may be
extremely low in some cases. In those cases, it is possible that
the UAVs will land on a landing pad nearest the ingress point. If a
multitude of aircraft with low batteries accumulate near the
ingress point, it may be necessary to clear the landing pads near
the ingress point and keep them open for inbound aircraft. In this
case, the first UAVs that landed near the ingress point must be
moved away from the ingress point. It may be prohibitive for this
movement to be handled by human operators, and may be expensive for
this move to be handled by additional robotic systems in the
facility.
[0019] Therefore, the UAVs may be commanded to take flight inside
the facility and fly to a new unoccupied landing pad that is
further away from the ingress point, and is closer to the egress
point. The command to re-position may be initiated from the UAV
itself (based on on-board sensors and controllers such as battery
management systems) or it may come from a centralized system. The
command may be based on event triggers such as time_since_landed or
battery_state_of_charge (other triggers are possible as well).
[0020] As the UAVs continue to re-charge on landing pads, they may
continue to re-organize towards the egress point, based on event
triggers. This reorganization may be coordinated (by a central
computing system) or it may be ad-hoc and initiated by the UAVs. In
the latter case, the UAV may request to move to a new landing pad,
and a central computing system would inform the UAV which landing
pad to move to, and authorize it a time duration upon which to
complete the move. By a central system authorizing the move, the
central system can ensure that aircraft in motion will not collide
with other aircraft.
[0021] UAVs may navigate inside the facility using computer vision
systems that follow visual reference markers or cues located
throughout the facility for the UAV to refer to. These markers may
be in the form of fiducial markings, light beacons, or others.
There may be a marker that is located at each landing pad, and act
as an address for that landing pad (e.g., using a Quick Response
code or the like). The UAV may use these addresses as navigational
aids as it moves from one landing pad to another. The UAV may
optionally use navigational aids located not at landing pads as a
means of locating itself in the space and moving from one position
to another. Or, by simply recognizing specific visual cues from
inside the facility, the UAV has awareness of its location.
[0022] With this system and methodology in place, it is also
possible that the landing pads do not need to only be in a 2D
planar array, but may also be in a 3D structure. Aircraft may be
commanded to change vertical levels as well as lateral (XY)
positions. In some embodiments, different horizontal and vertical
pads are reserved for different class aircraft (e.g., larger or
smaller wingspan, different charge rates, different payload
capacities, etc.). Aircraft may be commanded to specific locations
based on their class of aircraft.
[0023] The package staging areas near the egress point may include
simple infrastructure that facilitates efficient package loading of
delivery aircraft. Physically locating the package staging areas
near the egress point will reduce the time from a package being
ready for delivery and the package being delivered.
[0024] The processes described herein may keep the aircraft staging
areas occupied with fully charged aircraft, and as soon as a spot
at a staging area was vacated by a departing aircraft, the
centralized system would command another aircraft to that position.
The staging areas may also have re-charging systems that maintain
aircraft at, or close to, 100% state of charge so the aircraft
always have maximum battery capacity for a delivery mission. The
system may let UAVs fly with less than 100% charge if the mission
is short enough for the UAV to not run out of battery.
[0025] The following disclosure will discuss the embodiments
described above, and other embodiments, as they relate to the
figures.
[0026] FIG. 1 illustrates an example UAV 101 having multiple
mission segments, in accordance with an embodiment of the
disclosure. First, the control system may pass mission instructions
(which may be generated by a user or the like) to UAV 101. In the
illustrated embodiment, UAV 101 has a mission wherein it launches
from an egress point in a nest location 105 (e.g., a storage
structure) and rises to its cruising altitude (mission segment 1:
hover profile), cruises to a waypoint 110 (mission segment 2:
cruise profile), descends vertically to acquire a package and then
ascends vertically back to its cruising altitude (mission segment
3: hover profile), cruises to a delivery destination 115 (mission
segment 4: cruise profile), descends vertically to deliver the
package and then ascends vertically back to its cruising altitude
(mission segment 5: hover profile), cruises back to nest location
105 (mission segment 6: cruise profile), and descends into an
ingress point of a nest 105 (mission segment 7: hover). In nest
105, UAV may be directed to a charging pad.
[0027] FIG. 2 is a perspective view illustration of a demonstrative
UAV 200, according to an embodiment of the disclosure. UAV 200 is
one possible implementation of UAV 101 illustrated in FIG. 1. UAV
200 is a fixed-wing UAV, which as the name implies, has a wing
assembly 202 that can generate lift based on the wing shape and the
vehicle's forward airspeed when propelled horizontally by cruise
rotors 206. For instance, wing assembly 202 may have an
airfoil-shaped cross section to produce an aerodynamic lift force
on the UAV 200. The illustrated embodiment of UAV 200 also includes
hover rotors 212 to provide vertical propulsion.
[0028] The illustrated embodiment of UAV 200 includes a fuselage
204. In one embodiment, fuselage 204 is modular and includes
battery module 221 (one example of a power source), avionics module
223, a mission payload module, and a fuselage cover. These modules
may be detachable from each other and mechanically securable to
each other to contiguously form at least a portion of the fuselage
or UAV main body.
[0029] The battery module 221 may include a cavity for housing one
or more batteries 221 for powering UAV 200. The avionics module 223
houses flight control circuitry of UAV 200, which may include a
controller 225 and memory, communication systems 227 and antennas
(e.g., cellular transceiver, WiFi transceiver, etc.), and various
sensors (e.g., global positioning sensor 229, inertial measurement
unit (IMU) 223, computer vision module 223 (e.g., LIDAR, image
sensors, time-of-flight systems, etc.), a magnetic compass, etc.).
The mission payload module houses equipment associated with a
mission of UAV 200. For example, the mission payload module may
include a payload actuator for holding and releasing an externally
attached payload. In another embodiment, the mission payload module
may include a camera/sensor equipment holder for carrying
camera/sensor equipment (e.g., camera, lenses, radar, LIDAR,
pollution monitoring sensors, weather monitoring sensors, etc.). In
yet another embodiment, the mission payload module may include an
additional battery holder to house additional or larger batteries
for extended flight times. Of course, the mission payload module
may provide mixed use payload capacity (e.g., additional battery
and camera equipment) for a variety of mix-use missions.
[0030] As illustrated, UAV 200 includes cruise rotors 206
positioned on wing assembly 202, which can each include a motor,
shaft, and propeller, for propelling UAV 200 horizontally. The
illustrated embodiment of UAV 200 further includes two boom
assemblies 210 that secure to wing assembly 202. Hover rotors 212
are mounted to boom assemblies 210. Hover rotors 212 can each
include a motor, shaft, and propeller, for providing vertical
propulsion. Vertical propulsion units 212 may be used during a
hover mode where UAV 200 is descending (e.g., to a delivery
location), ascending (e.g., following a delivery), or maintaining a
constant altitude. Stabilizers 208 (or tails) may be included with
UAV 200 to control pitch and stabilize the UAV's yaw (left or right
turns) during cruise. In some embodiments, during cruise mode hover
rotors 212 are disabled and during hover mode cruise rotors 206 are
disabled. In other embodiments, hover rotors 212 are merely powered
low during cruise mode and/or cruise rotors 206 are merely powered
low during hover mode.
[0031] During flight, UAV 200 may control the direction and/or
speed of its movement by controlling its pitch, roll, yaw, and/or
altitude. Thrust from cruise rotors 206 is used to control air
speed. For example, the stabilizers 208 may include one or more
rudders 208a for controlling the UAV's yaw, and wing assembly 202
may include elevators for controlling the UAV's pitch and/or
ailerons 202a for controlling the UAV's roll. As another example,
increasing or decreasing the speed of all the propellers
simultaneously can result in UAV 200 increasing or decreasing its
altitude, respectively.
[0032] As stated, UAV has one or more sources of propulsion (e.g.,
vertical propulsion units 212 and cruise rotors 206), and a power
source (e.g., battery or hybrid energy system) coupled to power
(e.g., with motors or the like) the one or more sources of
propulsion. Communication system 227 (e.g., RF transceiver,
Bluetooth transceiver, WiFi transceiver, or the like) is coupled to
communicate with an external device (e.g., the communication system
of an aircraft control system or fleet management system--for
example communication system 339 in FIGS. 3A-3C). Controller 225 is
coupled to communication system 227, power source (e.g., battery
221), and the one or more sources of propulsion (e.g., vertical
propulsion units 212 and cruise rotors 206), and controller 225
includes logic that when executed by controller 225 causes UAV 200
to perform a variety of operations. The operations may include:
measuring a status of UAV 200 (e.g., by employing voltage sensors
to measure a battery condition, stress/strain sensors to measure a
mechanical failure, retrieving UAV specifications--wingspan,
length, model number, etc.--from the internal memory of the UAV,
etc.). The status of UAV 200 may be sent to the external device
(e.g., UAV control system), and, in response to sending the status,
the external device may send movement instructions back to UAV 200.
UAV 200 may receive movement instructions from the external device,
and in response to receiving the movement instructions, engage the
one or more sources of propulsion to move UAV 200 from a first
location (e.g., a first charging pad, maintenance pad, or staging
area) to a second location (e.g., a second charging pad,
maintenance pad, storage location, or staging area) within a
storage facility. In some embodiments, the status includes a power
source charge level (e.g., 5% battery charge, 50% battery charge,
90% battery charge, etc.), and the movement instructions maybe
received when the power source charge level is less than a
threshold level (e.g., less than 20% charge). In this embodiment,
the first location may be closer to an egress point than the second
location. Put another way, the UAV control system may determine
that UAV 200 has too little charge to complete a mission, and
accordingly, the control system may move UAV 200 away from an
egress point to charge, so it is not in the way of other incoming
or outgoing UAVs. Conversely, UAV 200 may report a status when the
power source charge level is greater than one or more thresholds,
and UAV 200 may be moved closer to the egress point. Other UAVs
(which may have a lower power level) on pads closer to the egress
point may be directed to move out of the way of UAV 200 once it
reaches the threshold charge level. Mid-flight UAVs may also be
requested to move out of the fight path of UAV 200, while UAV 200
is flying.
[0033] In one embodiment, the status sent from UAV 200 includes a
maintenance request, and the second location may include a
maintenance pad (e.g., a place where UAV 200 may be taken out of
service, or repaired). However, in some embodiments, the status
update sent from UAV 200 may include an indicator of geographic
proximity (e.g., a specific signal is sent when the UAV is within
30 feet) to the storage location (e.g., a warehouse holding all of
the UAVs) after completing a mission, and the movement instructions
include directions to a charging pad that is unoccupied. Put
another way, when a returning UAV 200 reaches a threshold distance
from the storage facility, it may send a signal to the UAV control
system/facility. The control facility may send instructions to
direct the incoming UAV 200 to an optimal charging pad, and the
charging pad may be chosen based, at least in part, on a power
source charge level of UAV 200.
[0034] In some embodiments, UAV 200 may include computer vision
system 223 coupled to controller 225. UAV 200 may use the computer
vision system 223 to recognize fiducial markers positioned within
the storage facility, and in response to recognizing the fiducial
markers, direct UAV 200 to a landing pad or the like.
[0035] Many variations on the illustrated fixed-wing UAV are
possible. For instance, fixed-wing UAVs may include more or fewer
propellers, and/or may utilize a ducted fan or multiple ducted fans
for propulsion. Further, UAVs with more wings (e.g., an "x-wing"
configuration with four wings), are also possible. Although FIG. 2
illustrates one wing assembly 202, two boom assemblies 210, two
forward propulsion units 206, and six vertical propulsion units 212
per boom assembly 210, it should be appreciated that other variants
of UAV 200 may be implemented with more or less of these
components. Furthermore, the guidance systems and methods described
herein may be used with other types of UAVs, manned or unmanned
vehicles in general, or otherwise.
[0036] It should be understood that references herein to an
"unmanned" aerial vehicle or UAV can apply equally to autonomous
and semi-autonomous aerial vehicles. In a fully autonomous
implementation, all functionality of the aerial vehicle is
automated; e.g., pre-programmed or controlled via real-time
computer functionality that responds to input from various sensors
and/or pre-determined information. In a semi-autonomous
implementation, some functions of an aerial vehicle may be
controlled by a human operator, while other functions are carried
out autonomously. Further, in some embodiments, a UAV may be
configured to allow a remote operator to take over functions that
can otherwise be controlled autonomously by the UAV. Yet further, a
given type of function may be controlled remotely at one level of
abstraction and performed autonomously at another level of
abstraction. For example, a remote operator may control high level
navigation decisions for a UAV, such as specifying that the UAV
should travel from one location to another (e.g., from a warehouse
in a suburban area to a delivery address in a nearby city), while
the UAV's navigation system autonomously controls more fine-grained
navigation decisions, such as the specific route to take between
the two locations, specific flight controls to achieve the route
and avoid obstacles while navigating the route, and so on.
[0037] FIGS. 3A-3C illustrate storage facilities (e.g., a "nest"
location 105 from FIG. 1) for UAVs, in accordance with several
embodiments of the disclosure. One of skill in the art will
appreciate that the components/features depicted in FIGS. 3A-3C are
not mutually exclusive and can used interchangeably across storage
facilities in accordance with the teachings of the present
disclosure.
[0038] FIG. 3A illustrates a first enclosed storage facility 331
with separate ingress and egress points (e.g., windows that may
open and close) on opposite sides of the structure. Also depicted
are parts of a control system (e.g., a "control tower") for the
UAVs including network 333, storage 335, controller 337 (e.g.,
servers in a distributed system, local computer, a combination
thereof, or the like), and communication system 339 (e.g., RF
transceiver, WiFi transceiver, Bluetooth, or the like). Charging
pads 341, maintenance pads 345, and staging area 343 are also
depicted.
[0039] In the illustrated embodiment, the control system for the
UAVs receives, with a receiver (included in communication system
339), a status update from one of the UAVs. The control system may
calculate with controller 337 moving instructions based on the
status update. The system may then send, using communication system
339, the movement instructions to the one or more UAVs, and the
movement instructions include directions to move the UAVs from a
first location (e.g., a first charging pad 341, maintenance pad
345, staging area 343, or the like) to a second location (e.g., a
second charging pad 341, maintenance pad 345, staging area 343, or
the like) within storage facility 331A. Movement instructions may
be provided to rearrange the UAVs for the reasons described above.
In some embodiments, the status update may include a power source
charge level (e.g., battery level) of the UAV, and the movement
instructions are calculated, at least in part, based on the power
source charge level (e.g., determining that a power source charge
level is less than a first threshold level). In the depicted
embodiment, the movement instructions include sending directions to
move the UAV to the second location away from an egress point, thus
freeing up space near the egress points for fully charged aircraft.
This may minimize time for fully charged UAVs to fly to staging
areas 343 and complete missions. Conversely, in some embodiments,
the system here may promote moving fully charged UAVs towards the
egress point--as shown, all of the fully charged UAVs are clustered
proximate to the egress point. For example, calculating the
movement instructions may include determining that the power source
charge level is above a threshold level, and sending the movement
instructions includes sending directions to move the UAV to the
second location (e.g., staging area 343) proximate to an egress
point. UAVs may be moved one by one towards the egress point as
they become more fully charged.
[0040] In some embodiments, one or more UAVs may need to be moved
to accommodate new aircraft entering the structure. For example,
movement instructions may be sent to a second UAV that is
positioned in a second location, to move to a third location, prior
to sending the movement instructions to a first UAV that is
positioned in a first location, to move to the second location. In
this example, the second UAV may be more fully charged than the
first UAV, or have a new battery pack attached, and the third
location is closer to the egress point (since the second UAV is
more mission-ready).
[0041] In some embodiments, the status update set from the UAV may
include a maintenance request (e.g., because sensors in the UAV
detect a faulty rotor, a battery that is not able to maintain a
charge, a communication system that is not working properly, etc.),
and the second location includes maintenance pad 345.
[0042] FIG. 3B illustrates a different embodiment of storage
facility 331B including a design where the ingress and egress
points are the same--the aircraft come and go through the same
windows. In the depicted example, since there are shared ingress
and egress points, the communication system that controls the UAV
fleet may also have to control air traffic through the shared
openings. For example, the system may make sure that a single UAV
flies through a single opening to avoid crashes. The system may
also have UAVs, with sufficient battery, pause outside the
structure to wait their turn to enter the building. Similarly, if a
UAV has very little charge left or is damaged after completing a
mission, the control system may pause all air traffic in and out of
the building, as well as clear a landing pad next to the openings
in order for the damaged UAV to make a quick landing. In some
embodiments, the UAV control system (or the UAVs themselves) may
calculate their trajectory/vector to a new pad or location and
prevent other UAVs from entering this flight path. This may be
accomplished by the UAV sending the flight path to the other UAVs,
or the control system preventing UAVs from entering the path. It is
appreciated that the control system may send instruction to one or
more UAVs simultaneously. In some embodiments, UAVs and/or the
control system are programmed to keep UAVs a predetermined distance
apart to avoid crashes.
[0043] FIG. 3C illustrates a different embodiment of storage
facility 331C where there are no walls physically enclosing the
structure--the ingress and egress points surround the storage
facility on all sides. Put another way, the storage facility 331C
is a geographic area containing at least one charging pad 341,
maintenance pad 345, or staging area 343. Depicted here, the
charging pads 341 are disposed on the floor of a designated area,
and the staging areas 343 are positioned proximate to one side of
the area. Similarly, communication system 339 is disposed on the
floor with the pads. Also depicted is a multilayer rack 347 (e.g.,
a storage location) for housing UAVs, which may include charging,
storage, and/or maintenance pads. Multilayer rack 347 may be used
for long term storage (e.g., for UAVs that will be out of service
for a day, a week, a month, or any other amount of time). This
configuration depicted in FIG. 3C may be used in emergency response
situations (e.g., to deliver food/water) where buildings to house
the UAVs are in short supply.
[0044] FIG. 4 is a method 400 of unmanned aerial vehicle (UAV)
operation, in accordance with an embodiment of the disclosure. One
of ordinary skill in the art will appreciate that blocks 401-407
may occur in any order and even in parallel. Additionally, blocks
may be added to, or removed from, method 400, in accordance with
the teachings of the present disclosure.
[0045] Block 401 shows measuring a status of the UAV using a
controller in the UAV. In some embodiments, measuring the status
includes measuring a power source charge level of the UAV using
voltage sensors or the like. In another or the same embodiment,
measuring a status may include measuring damage to the UAV, or
degradation of the electronic components within. Similarly,
measuring a status may include the UAV recalling its model number,
type, dimensions or the like. In one embodiment, the status may
include a package/payload load status. In another embodiment, the
status may include a geographic proximity to the storage location
(e.g., within 30 feet of an entrance to the storage facility) after
completing a mission.
[0046] Block 403 illustrates sending the status of the UAV to an
external device using a communication system deposed in the UAV. As
depicted in FIGS. 3A-3C, the status may be received by a
communication system that is part of the UAV control system (e.g.,
a control tower for the UAVs) in the storage facility. One of skill
in the art will appreciate that there may be different
communication types used during the different stages of the UAV's
flight. For example, during a mission, RF communication or GPS may
be used to direct the UAV through open space. However, within a
storage facility, fiducial markers and WiFi/Bluetooth may be used
to direct the UAV in the smaller enclosed area, and may be used to
achieve better location accuracy. In some embodiments, the control
system may switch navigation modes for the UAV as it is
entering/leaving the storage facility.
[0047] Block 405 depicts in response to sending the status,
receiving movement instructions from the external device with the
communication system in the UAV. The instructions may be received
with an antenna in the UAV. It is appreciated that the UAV control
system may generate the movement instructions immediately after
receiving the status, or a delay may be present until the system
deems it necessary to send the movement data to the UAV. In some
embodiments, movement instructions are not sent until information
from more than one UAV is received (e.g., the system may not elect
to move a UAV until another UAV need its spot on a charging,
maintenance, or staging pad).
[0048] Block 407 shows, in response to receiving the movement
instructions, engaging one or more sources of propulsion to move
the UAV from a first location to a second location within a storage
facility. In some embodiments, the control system sends the
movement instructions when the power source charge level in the UAV
is less than a threshold level--telling the UAV to move to a
different location because its charge is too low. In some
embodiments, this may include moving the UAV away from an egress
point so it does not interfere with other outgoing aircraft.
Conversely, the UAV may be moved closer to the egress point as the
UAV has greater power reserves. In some embodiments, the UAV may be
moved based on its model type and dimensions (e.g., to a charging
pad that fits the specific model of UAV).
[0049] FIG. 5 illustrates example UAV 500 operation within a
storage facility, in accordance with an embodiment of the
disclosure. As depicted, a high density warehouse will require
careful planning and optimization of aircraft locations as it may
not be possible for all aircraft 500 to be able to take off or be
loaded with packages at all times. Aircraft 500 may have to be
charged in a queue or rack (e.g., storage rack 573) where only the
aircraft nearest the top/exit may be able to takeoff due to density
restrictions. Accordingly, packages may have to be loaded in
specific spots (see e.g., loading position 4) that should only be
occupied by aircraft ready for a mission.
[0050] Accordingly, a fleet management system (including
communication system 539 which may be a wireless router) may track
the battery charge status of each aircraft 500. As spots free
up--at the top of charging racks, or in package loading
positions--then aircraft 500 with the highest charge level should
be moved to one of these spots (see e.g., low-charge aircraft 500
in position 1 is moved to position 2 once charged). Put another
way, UAV 500 may measure its power source charge level (e.g.,
battery charge), and send a signal, including the power source
charge level, to an external device (e.g., the fleet management
system including communication system 539). Signals may be sent
continuously, periodically, or once certain events occur (e.g., a
threshold charge is reached). In response to sending the signal,
UAV 500 may receive movement instructions from the external device
(e.g., the fleet management system), and in response to receiving
the movement instructions, engage the one or more sources of
propulsion to move UAV 500 from a first location on storage rack
573 to a second location within a storage facility. In one
embodiment, the second location may be a higher elevation (e.g.,
position 2) than the first location on storage rack 573. It is
appreciated that UAV 500 may mover itself to position 2, or may be
moved with a conveyor system inside storage rack 573. UAV 500 in
the second location (e.g., position 2) may have a higher power
source charge level than one or more UAVs disposed at lower
elevations (e.g., position 1) on storage rack 573. In another or
the same embodiment, the second location (e.g., positions 2 or 3)
is closer to an egress point of the storage facility than the first
location, and UAV 500 may have a higher power source charge level
than one or more UAVs disposed further away (e.g., in position 1)
from the egress point than the second location. It is appreciated
that "further away" aircraft may be aircraft that are further away
from an egress point based on a flight distance or flight time, and
not actual linear distance. Moving aircraft into their appropriate
location based on charge/range may be a continual process ensuring
that the exit or package loading spots (e.g., position 4) are never
occupied by aircraft waiting to finish charging, whilst another
ready aircraft is blocked from accepting a mission.
[0051] In some embodiments, the signal that UAV 500 sends further
includes information about its UAV type (e.g., short range UAV,
medium range UAV, long range UAV, fast charging, slow charging,
etc.). In some embodiments, a range is calculated (e.g., either by
the UAV or by the fleet management system) based on the power
source charge level and the UAV type. The movement instructions
that are sent may be based on the range.
[0052] In the depicted embodiment, one example of a second location
is a holding pad (e.g., position 2) disposed proximate to merchant
location 571 in the storage facility. Here the holding pad is
disposed proximate to, and suspended from, the roof of the storage
facility to keep the floor space open to facility personnel.
Merchant location 571 is an industrial kitchen located in the
warehouse to prep meals and load them onto aircraft 500. This way,
healthy meals can be prepared and delivered fresh by UAVs 500 as
soon as they are ready. As shown, UAVs 500 may wait on the holding
pads until UAV 500 receives a package load request from the
external device (e.g., communication system 539). Then UAVs 500 may
fly down to the loading station (position 4) to receive a package
(e.g., food, personal goods, or the like) that can be attached to
UAV 500. UAVs 500 may then fly out the egress point to complete the
mission (e.g., position 5).
[0053] After the UAVs return from a delivery mission, incoming
aircraft may be sorted into the queue based on relative charge
status. In the depicted embodiment, the aircraft lands on top of
the rack (position 6), and it is determined that the aircraft has
very little battery charge so it is sent to the bottom of the rack
(position 7). Incoming aircraft with high remaining capacity may be
sorted with higher priority (e.g., higher up in charging rack or
closer to egress points) than any already parked aircraft with
lower charge.
[0054] FIG. 6 illustrates a method 600 of controlling UAV
operation, in accordance with an embodiment of the disclosure. One
of ordinary skill in the art will appreciate that blocks 601-607
may occur in any order and even in parallel. Additionally, blocks
may be added to, or removed from, method 600, in accordance with
the teachings of the present disclosure.
[0055] Block 601 shows receiving (e.g., by a communication
component in a fleet management system) a signal (e.g., via WiFi)
from a UAV, including information about a power source charge level
(e.g., battery level) of the UAV. In some embodiments, the signal
may also include information (e.g., a unique identification number,
string of text, or the like) about the type of UAV sending the
signal.
[0056] Block 603 depicts calculating a range of the UAV using the
information about the power source charge level and the UAV type.
For example, once the UAV fleet management system knows both the
charge level and type of UAV, it may be able to calculate the range
of the UAV (e.g., the distance it can travel without needing
recharging). In some embodiments, calculating the range further
includes using information about at least one of payload type,
payload weight, environmental conditions outside the storage
facility, or elevation conditions outside of the storage facility.
This is because all of these factors may contribute to the range
that the UAV can fly outside of the facility.
[0057] Block 605 illustrates calculating, based on the range,
movement instructions to move the UAV from a first location on a
storage rack in the storage facility to a second location within a
storage facility. In some embodiments, the second location has a
higher elevation than the first location, and the second location
is on the storage rack. The UAV may have a higher power source
charge level than one or more UAVs disposed at lower elevations
than the second location on the storage rack. In another or the
same embodiment, the second location is closer to an egress point
than the first location, and the UAV has a higher power source
charge level than one or more UAVs disposed further away from the
egress point than the second location. In some embodiments, the
second location may be a holding pad disposed proximate to a
merchant (e.g., restaurant, convenience store, drug store, or the
like) location in the storage facility.
[0058] Block 607 depicts sending the movement instructions to the
UAV or an external device (e.g., a conveyor system inside a storage
rack, other robots to move the UAVs, or the like). The UAV may then
move itself, in accordance with the movement instructions, by
engaging one or more sources of propulsion. Alternatively or
additionally, conveyor systems located inside storage racks may
receive the signal, and move the UAV around inside the storage
rack. In some embodiments, the conveyor system may include a series
of charging pads connected to belts, chains, or hydraulic lifts to
move the pads that the UAV is situated on in one or more
dimensions. The conveyor system may include a communications system
and controller (e.g., processor, or the like), to receive the
signals from the UAV control system and engage the moving
components (e.g., belts, chains, or hydraulic lifts). Thus, very
high density UAV storage may be achieved.
[0059] The processes explained above are described in terms of
computer software and hardware. The techniques described may
constitute machine-executable instructions embodied within a
tangible or non-transitory machine (e.g., computer) readable
storage medium, that when executed by one or more machines will
cause the machine(s) to perform the operations described.
Additionally, the processes may be embodied within hardware, such
as an application specific integrated circuit ("ASIC") or
otherwise.
[0060] A tangible machine-readable storage medium includes any
mechanism that provides (i.e., stores) information in a
non-transitory form accessible by a machine (e.g., a computer,
network device, personal digital assistant, manufacturing tool, any
device with a set of one or more processors, etc.). For example, a
machine-readable storage medium includes recordable/non-recordable
media (e.g., read only memory (ROM), random access memory (RAM),
magnetic disk storage media, optical storage media, flash memory
devices, etc.).
[0061] The above description of illustrated embodiments of the
invention, including what is described in the Abstract, is not
intended to be exhaustive or to limit the invention to the precise
forms disclosed. While specific embodiments of, and examples for,
the invention are described herein for illustrative purposes,
various modifications are possible within the scope of the
invention, as those skilled in the relevant art will recognize.
[0062] These modifications can be made to the invention in light of
the above detailed description. The terms used in the following
claims should not be construed to limit the invention to the
specific embodiments disclosed in the specification. Rather, the
scope of the invention is to be determined entirely by the
following claims, which are to be construed in accordance with
established doctrines of claim interpretation.
* * * * *