System and methods for aircraft landing platform control

A landing platform control system and methods used for refuel or recharge purposes by a fleet of unmanned aerial vehicles (UAVs) performing aerial surveys are disclosed. The system can include a plurality of landing platforms positioned at predetermined locations within the area of interest, each landing platform comprising a mount connecting the landing platform to a surface, a mount component for coupling a floor, a floor to support a UAV while docked at the landing platform, a cover enclosing the floor; a battery charger; and a communications interface. The floor can be rotated to clear any accumulated debris. The cover can be coupled to the floor. The cover can alternate between open and closed position via rotating along the same axis as the floor.

TECHNICAL FIELD

The disclosed technology relates generally to aerial vehicle landing platforms, and more particularly, some embodiments relate to enhanced-feature platforms for unmanned aerial vehicles.

DESCRIPTION OF THE RELATED ART

Aerial vehicles such as unmanned aerial vehicles (UAVs) can be used conduct aerial-survey operations including, for example, exploration, observation, investigation, inspection and monitoring of ground-based systems or areas for military and civilian applications. Aerial surveys can include, for example, operations such as crop mapping; inspection of power, gas, and rail lines; reconnaissance operations; area or event monitoring, and other infrastructure inspection and monitoring for determined areas of responsibility.

UAV flights are typically controlled by computer or by a navigator or pilot at a remote location. For example, the pilot can control the aircraft from a command center on the ground or even from another vehicle. During their flights, UAVs may collect data, carry a payload and/or perform additional functions. Collected data may need to be transferred to the command center prior to the conclusion of a fight mission.

A UAV may be powered by an on-board rechargeable battery. In some instances, a UAV may need to travel a distance that will exceed the available charge on the on-board battery. This may severely limit the range and utility of the UAV.

BRIEF SUMMARY OF EMBODIMENTS

According to various embodiments of the disclosed technology, systems and methods can be provided to control and monitor landing platforms used for refuel or recharge purposes by a fleet of unmanned aerial vehicles (UAVs) performing aerial operations or surveys, such as aerial infrastructure inspection and monitoring. In various embodiments, a fleet of multiple autonomous, or relatively highly automated UAVs can be configured so that each UAV in the fleet is configured to conduct an aerial survey of its respective defined area of responsibility. More particularly, the particular path computed during individual flight missions can take into account the location of landing platforms thus maximizing the covered territory by each UAV in the fleet.

In further embodiments, the system and methods for controlling the landing platform are disclosed. The system can include a plurality of landing platforms positioned at predetermined locations within the area of interest, each landing platform comprising a mount connecting the landing platform to a surface, a floor to support a UAV while docked at the landing platform, a mount component for coupling a holding floor, a cover enclosing the holding floor; a battery charger; and a communications interface; a plurality of UAVs distributed among the plurality of landing platforms.

In further embodiments, the landing platform can include a cover to protect the aircraft from the elements or from vandals after landing. In some embodiments, the cover can be half-barrel or dome shaped to provide a weatherproof or whether-shielded housing to shield the UAV and equipment from the environment.

In further embodiments, the holding floor is configured to provide a support platform for the UAV. The holding floor can comprise a top surface and a bottom surface. Each of the surfaces of the floor can be implemented to include a multitude of conductive surfaces with positive and negative polarities arranged in a determined pattern such that when the UAV is parked on the floor corresponding conductors on the docking elements (e.g., feet) of the UAV make the appropriate electrical contact. The floor can contain structural elements and be composed of such a material so as to provide a weatherproof and/or weather-resistant platform to support the UAV and equipment. The floor can include circuitry to support a number of sensors configured to detect the presence of debris, elements, or undesirable objects within the floor. The information generated by the sensors may show environmental information around the landing platform. Debris sensors can be configured to include debris sensing elements configured to generate and/or transmit signals.

In further embodiments, the mount can be configured to provide support to the landing platform by connecting the landing platform to a surface. For example, a surface to which landing platform is connected can be a roof of a building, a pole or tower, a tree, a bridge or other man-made structure, or any such element that would be suitable for placement of the landing platform. The mount can couple to the holding floor via a mount component. The mount component can include a coupling mechanism, which can further include a motor driving the coupling mechanism. The motor of the coupling mechanism can be actuated to effectuate rotation of the floor about a fixed axis. Each 90° rotation of the floor about a fixed axis can change position of the floor such that floor can be in a horizontal or a vertical position. By rotating the floor of the landing platform, any debris accumulated on the floor as a result of the floor being uncovered during UAV landing, including unresponsive UAVs can fall away from the floor. This allows for a faster, cheaper, and more reliable maintenance of the landing platforms by reducing the need for a service technician to perform the debris clearing function manually.

In further embodiments, the cover can be coupled to the landing floor. The coupling of the cover to the floor can be achieved via the coupling mechanism of mount component or via a separate coupling mechanism. The motor of the coupling mechanism of the mount component can be actuated to effectuate rotation of the cover. In some embodiments, this rotation is about the same axis as floor's axis of rotation. Thus, both the cover and the floor can rotate about the same axis. Each 90° rotation of the cover about a fixed axis can change position of the cover such that the cover can be in a closed position (i.e., when the cover is covering the floor), an open position (i.e., when the cover is rotated 180° from the closed position), and a side holding position (i.e., when the cover is rotated 90° or 270° from the closed position).

In further embodiments, the simultaneous rotation of the cover and the floor during the last quarter turn of the cover can be performed by a single motor via a single cam mechanism. Reducing the number of moving and electrical parts greatly increases system performance while keeping maintenance and cost low.

DETAILED DESCRIPTION OF THE EMBODIMENTS

Embodiments of the technology disclosed herein are directed toward devices, systems, and methods that provide an aircraft landing platform (“landing platform”) and a control and maintenance scheme for an interaction between an aerial vehicle and the landing platform. Aerial vehicles may include an unmanned aerial vehicle (UAV) or any other type of movable object. The interaction between the UAV and the landing platform may include landing the UAV onto the landing platform, docking between the UAV and the landing platform for purposes of UAV refueling or recharging, UAV data transmission, and/other interactions. The UAV may detect the landing platform and may discern if the platform is available for landing. The UAV may form wireless and/or wired connections with the landing platform while docked with the platform. The landing platform may have a cover that can protect the docked UAV and/or the landing platform when it is not in use by the UAV. According to various embodiments of the disclosed technology, the present disclosure can be provided to support a conduct of aerial surveys, such as aerial infrastructure inspection and monitoring, using a fleet of UAVs to perform missions along designated flightpaths.

FIG. 1is a diagram illustrating an example implementation of an automated fleet of small, unmanned aerial vehicles for aerial surveys. In particular, the example disclosed inFIG. 1includes a network of UAVs, AC1-ACN-1, and a plurality of N ground elements or landing platforms142to support the network of UAVs. Further in this example, landing platforms142are distributed about the linear infrastructure element, which as noted above in this example is assumed to be a rail line144.

Also shown in the example ofFIG. 1is a system controller146, which can be a central system controller such as, for example, a server system located at a base of operations to control the operation of the network of landing platforms and/or UAVs. In other embodiments, system controller146can be a distributed system of controllers to provide this operational control. System controller146can include hard wired and wireless communications to allow remote control of landing platforms, UAVs in the fleet as well as to exchange C3(Command, Control and Communications) information, telemetry and other data and information with the landing platforms or the UAVs (either directly or by way of a communication relay through landing platforms). For example, the system controller can be configured to download mission parameters and other mission information to the UAVs, provide remote control for UAV flight operations, receive telemetry from the UAVs, retrieve data gathered by the UAVs during their flight missions, provide software or other updates to the UAVs and the landing platforms, and otherwise exchange other information with the landing platforms and UAVs, provide remote control for landing platforms operations, including opening landing platform cover, closing landing platform cover, rotating landing platform to clear any debris or an unresponsive UAV, monitor individual landing platform use, receive maintenance notifications informing of individual components within landing platforms being compromised, receive notifications of debris or unresponsive UAVs present on the landing platforms.

In this example, assume that it is desired to inspect rail line144on a periodic basis using aircraft flying along the rail line so that a visual and a non-visual sensor-aided inspection can be made. In various embodiments and as shown in the diagram, landing platforms142are distributed at spaced-apart intervals along the rail line144. Landing platforms142are populated with one or more UAVs in each station so that the aircraft can be staged from their respective landing platforms142for a given mission.

When a survey mission is initiated, an aerial vehicle leaves its landing platform142, flies in a pattern (e.g., preprogrammed as part of a mission or controlled in real-time based on what is discovered during flight) within its range of its landing platform142, gathers data using its sensor package, and returns to its landing platform for recharging or refueling. Accordingly, in this configuration, UAVs AC can remain stationed at their respective landing platforms and perform out-and-back missions without landing at a different landing platform.

In other embodiments, the UAVs can conduct a survey missions while flying from one landing platform to the next along the infrastructure element. For example, when a mission is initiated, an aerial vehicle leaves its landing platform142, flies along its intended route to gather data, and terminates its mission at the next landing platform142. For example, in the illustrated example UAV AC1is staged at LP1, departs LP1upon initiation of the mission to inspect the rail line144between LP1and LP2and terminates the mission at LP2. Upon docking, the UAV AC1can be refueled or recharged at LP2landing platform142and it can also download image data and other sensor data for review and inspection. For the next mission, the UAV may be programmed to return to its original landing platform142(e.g., UAV AC1surveys the sector between LP1and LP2and returns to LP1) at the conclusion of its mission. Alternatively, for the next mission, the UAV may be programmed to continue surveying another sector (e.g., the next adjacent sector) down the line. For example, UAV AC1may depart LP2and survey the sector between LP2and LP3and terminates its mission at LP3.

As also shown in the example ofFIG. 1, the other aircraft in the fleet staged at their respective landing platforms142are also deployed to inspect the rail line144each between their respective initiating and terminating landing platforms142. That is UAV AC2is staged at LP2, inspects the rail line144between LP2and LP3and terminates the mission at Dock3and so on until the last segment of the rail line in this survey is inspected by UAV AVN-1which departs from dock N-1and terminates at Dock N. In various embodiments, UAVs AC1through AVN-1can be deployed one at a time in a serial fashion or some or all of them can be deployed simultaneously to perform their inspections. Once all of the UAVs AC1through AVN-1have made flight from their respective initiating to their terminating landing platforms142, the entire infrastructure element between LP1and LP N has been surveyed.

For a subsequent survey, the mission can be flown in reverse such that each UAV flies the mission from its current landing platforms (where the last mission terminated) to its original initiating landing platform. In this way, each UAV can be dedicated to survey particular sector of the infrastructure element between two landing platforms142. This can be advantageous in situations where different UAV requirements may be specified for different sectors of the infrastructure element to be surveyed. For example, different sectors of the infrastructure element may be at altitudes that are sufficiently different from one another that it would be advantageous to have different aircraft configured to handle the unique altitude requirements. As another example, different sectors of the infrastructure element may have different inspection and monitoring requirements such that different sensor packages can be included for the aircraft in different sectors.

As noted above, in some configurations, after the rail-line survey is complete, the direction of travel can be reversed for the next survey. In other configurations, additional UAVs can be stationed at the system entry point (e.g., LP1) and the next survey completed in the same direction with the UAVs continuing to hop down the line from one landing platforms142to the next for each survey. As this example serves to illustrate, a fleet of UAVs can be used to inspect a rail line or other linear infrastructure element by sequentially hopping from one landing platform to the next and performing sensor operations to gather sensor data. Although the example described above illustrates a sequential hopping from one end of the infrastructure element to the other, alternative flight arrangements between landing platforms can be configured.

FIG. 2is a diagram illustrating an example of a landing platforms142in accordance with one embodiment of the technology described herein. Referring now toFIG. 2, this example includes communications capability and battery charging capability, and can also be configured to provide support, shelter and security for a docked UAV.

A floor226is configured to provide a support platform for the UAV. Floor226can be appropriately sized for a single UAV or it can be large enough for multiple UAVs. Additionally, in other embodiments, multiple floors can be provided within a single landing platform. Accordingly, landing platforms142can be configured to contain or support multiple UAVs.

Floor226can comprise a top surface and a bottom surface. Each of the surfaces of floor226can be implemented to include a multitude of conductive surfaces with positive and negative polarities arranged in a determined pattern such that when the UAV is landed on floor226corresponding conductors on the docking elements (e.g. feet) of the UAV make the appropriate electrical contact. The determined pattern for these conductive surfaces on the platform can include, for example, a checkerboard pattern. The pattern can be sized and configured such that when one foot of the UAV is on a pattern element of a given polarity, the opposite foot of the UAV will be positioned on a pattern element of the other polarity. Lnsulative spacing between the pattern elements can be large enough such that a foot of the UAV cannot cause a short between adjacent pattern elements of opposite polarities.

Floor226can contain structural elements and be composed of such a material so as to provide a weatherproof and/or weather-resistant platform to support the UAV and equipment. For example, cover225can include drainage holes, sloped edges to ensure precipitations do not pool on floor226. Similarly, floor226can be composed of weather and rust resistant material such as polycarbonate, rubber, or other such material.

Floor226can include circuitry to support a number of sensors configured to detect presence of debris, elements, or undesirable objects within floor226. For example, sensors may include a debris sensor, a pressure sensor, a humidity sensor, a force sensor, a light sensor, a gas concentration sensor, a magnetic or electrical field sensor, a conductivity sensor, or another other suitable sensor. The information generated by the sensors may show environmental information around the landing platform142. For example, environmental conditions, such as temperature, wind speed and/or direction, sunniness, precipitation, or air pressure may be shown.

Debris sensors can be configured to include debris sensing elements configured to generate and/or transmit signals. Landing platform142may be configured to include a user directed response or an automated response to signals generated by the debris sensing sensors. The user directed response or automated response may include an activation of the rotation mechanism designed to rid floor226of accumulated debris. In some implementations, floor226may include cleaning apparatus configured to remove debris from floor226. For example, a cleaning apparatus may include a vacuum, a mechanically operated brush or sweeper or other cleaning apparatus. The cleaning apparatus may be activated by the signal generated by the debris sensor.

A mount223is provided to provide support the landing platform142by connecting landing platform142to a surface251to which landing platform142is connected. For example, a surface to which landing platform142is connected can be a roof of a building, a pole, or any surface that would be suitable for placement of landing platform142. As another example, poles, platforms, towers, bridges, water towers, or other structures typically present with the infrastructure element (e.g., power poles, light poles, antenna platforms, signal poles, and so on) can also be modified or configured to provide structural support for landing platforms142.

Mount223can be configured as a rod construction of a certain height. Height of mount223may be fixed and be appropriately sized to accommodate access of UAV to the landing platform142, rotation of floor226, rotation of cover225, debris clearance from floor226and/or other functions of landing platform142. For example, mount223connected to a roof of a building may be of such height as to provide an unobstructed access to landing platform142. Obstructions can include objects located at or near location of mount223that can hinder UAV's access. In certain embodiments, the height of mount223may be adjustable. For example, a mount supporting a landing platform on top a building roof may be raised in response to a debris accumulated on the building roof hindering UAV's access.

Mount223can couple floor226via a mount component221on one of the sides of floor226. For example,FIG. 3depicts an exemplary landing platform142with single mount323coupling floor226via mount component321. Cover225is mounted to floor226. Referring back toFIG. 2, mount component221can include a coupling mechanism, a motor driving the coupling mechanism, and/or other components. The coupling mechanism can include sleeve coupling, box coupling, flexible coupling, beam coupling, and/or other coupling mechanism. The motor of the coupling mechanism can be actuated to effectuate rotation of the floor about a fixed axis. Each 90° rotation of floor226about a fixed axis can change position of floor226such that floor can be in a horizontal position (i.e., when floor226is parallel to surface251) or a vertical position (i.e., when floor226is perpendicular to surface251).

In certain embodiments, mount223can couple floor226via two mount components located on opposite sides of floor226. Mount223coupled to floor226on both floor sides can include an intermediate element connecting two mount components. The intermediate element can be placed lower than floor226at a distance required to accommodate rotation of floor226and/or cover225. In certain embodiments, mount223can be configured as having two individual mount structures on opposite sides of floor226. For example,FIG. 4depicts an exemplary landing platform142with mount423coupling floor226via first mount component427and second mount component428, each connected to an intermediate element430. Intermediate element430further connects to mount423. The space between intermediate element430and floor226is dimensioned to accommodate floor226in a vertical position and cover225in an open position.

Referring again toFIG. 2, landing platform142may be configured such that when floor226is in the horizontal position, either the top surface or the bottom surface can serve as the landing surface. Landing platform142may be configured to rotate between the top and bottom surface in the event that one of the surfaces is not functioning and/or is unresponsive. Accordingly, in some embodiments both the top and bottom surfaces can include features such as the charging elements, sensors and cleaning apparatus. This can be useful for example in the event of a fault in the charging elements, sensors, cleaning apparatus or other features. If there is a fault in one or more of these features on one surface, the platform can be rotated such that the opposite surface is oriented in the upward direction to support aircraft. In other embodiments, landing platform142may be configured such that only the top surface has one or more of these features, as described herein. However, such embodiments may still be configured such that the bottom surface can be used as a landing platform even if features such as charging features or sensors are not available for this surface.

As noted, landing platform142may be configured such that floor226can be rotated to the vertical position (i.e. perpendicular to surface251), the opposite horizontal position, or some other non-horizontal position. Such positions in which debris including dust, leaves, birds, rocks, an and/or unresponsive UAV or other objects accumulated on floor226can fall away from the floor. This may be referred to herein for purposes of description as a debris-clearing position.

Landing platform142can include a cover225to protect the aircraft from the elements or from vandals while docked. Cover225can be of such shape and made from such a material so as to provide a weatherproof or weather-shielded housing to shield the UAV and equipment from the environment. For example, cover225can be half-barrel or dome shaped to ensure precipitation does not pool on top of cover225. Similarly, cover225can be composed of weather and rust resistant material such as polycarbonate, stainless steel or other such material. Cover225can be configured to fully and/or partially open for takeoff and landing operations and to be closed at all other times to secure the aircraft inside, to secure the other equipment within cover225, as well as to protect floor226of landing platform142from debris, elements, and any other undesirable objects. For example, closing cover225can prevent birds, insects, and other objects from landing on floor226. Cover225can close subsequent to a UAV docking at landing platform142. In some implementations, cover225can include aircraft bay doors to allow cover225to be closed even for takeoff and landing operations as well as at all other times to secure the aircraft and other equipment within cover225.

Cover225can be coupled to landing floor226. The coupling of cover225to floor226can be achieved via the coupling mechanism of mount component221. The motor of the coupling mechanism of mount component221can be actuated to effectuate rotation of cover225about the same fixed axis as floor226. Thus, both cover225and floor226can rotate about the same axis. Each 90° rotation of cover225about a fixed axis can change position of cover225such that cover225can be in a closed position (i.e., when cover225is covering floor226), an open position (i.e., when cover225is rotated 180° from the closed position), and a side holding position (i.e., when cover225is rotated 90° or 270° from the closed position).

In some implementations, cover225can be mounted to floor226via a bracket, a hinge, and/or other mechanism that allows cover225to alternate between open and closed positions. Cover225can be mounted directly to mount223. Alternatively, cover225may be configured such that the movement between open and closed positions can be achieved by way of retracting, folding, sliding or otherwise removing cover225. Cover225can enclose floor226such that a space between floor226and cover225can accommodate one or more UAV docked on landing floor226, as well as instruments, communications equipment or other devices that may be accommodated within.

Cover225can be rotationally coupled with the floor226through a single drive mechanism (e.g., a single motor and cam or gearing mechanism). Accordingly, in some embodiments a single motor (or combination of motors in a single drive mechanism) can be used to drive both cover225and floor226, without requiring a separate drive mechanism for each. For example, the motor and gearing mechanism can be used to drive rotation of cover225which in turn can selectively cause rotation of floor226through the desired orientations or vice versa.

A more specific example of this is illustrated inFIGS. 5A-5C. InFIG. 5A, landing platform142is shown with cover225in a closed position. Cover225encloses floor226to which it is coupled via mount component516of mount512. In this example, the drive mechanism can be configured to rotate cover225from the closed position as shown inFIG. 5Ato a fully open position at 180° of rotation as shown inFIG. 5B. In this position, cover225is in an open position and floor226ready to accept a UAV for landing. As seen in this example, the platform can be configured such that floor226does not rotate while the cover rotates 180° from the closed position to the fully open position.

As shown inFIG. 5C, the drive mechanism can be configured to cause a further rotation of cover225by 90° from the fully open position to a vertical position. Tabs, extensions or other structures can be provided on cover225(trailing based on direction of rotation) to engage complementary structures on floor226to cause floor226to rotate from its horizontal position to the vertical position as also shown inFIG. 5C.

After the debris is cleared, the drive mechanism causes cover225to rotate from the vertical position inFIG. 5Cback to the horizontal position (FIG. 5B). Tabs extensions or other structures can also be used to allow rotation of cover225to cause floor226to also rotate back to the horizontal position. The cover can then be closed, returning the structure to the configuration shown inFIG. 5A.

Rotation of cover225first opens the platform to allow a UAV to launch prior to the rotation of floor226. The subsequent simultaneous rotation of both cover225and floor226can be achieved by using a single motor or drive mechanism. This can reduce a number of mechanical parts, lower the cost of the unit and the cost of repair and maintenance. This may also increase performance reliability and reduce the frequency of required manual inspections.

FIG. 6illustrates an exemplary single drive mechanism to drive both cover225and floor226without requiring a separate drive mechanism for each. More specifically, in this example a drive pin mechanism on cover225translates rotation of the cover into rotation of the floor via a secondary wheel driven by the drive pin. The rotational motion can be driven by utilizing a pin mechanism, such as, for example, a Geneva mechanism.

As seen in the example ofFIG. 6, Drive pin602is positioned on a drive wheel604, which is driven by a motorized mechanism. Drive pin602is connected to cover225(protrudes through cover225in the illustrated example) such that drive pin602rotates cover225with rotation of drive wheel604. Drive pin602is positioned at a distance from the axis of rotation such that it follows an arcuate path. When drive wheel604is rotated to open the hood (clockwise in this example), drive pin602follows the arcuate path from a start position to an end position (608and610in this example, but other orientations are permitted). Movement of drive pin602can cause opening of cover225. At end position610, drive pin602can engage secondary wheel620at a predetermined engagement site. In the illustrated example, drive pin engages first stop612of secondary wheel620. Accordingly, movement of drive pin602, and hence cover225, by 180 degrees causes drive pin to reach approximately the position of first stop612. Further rotation of drive wheel604(and hence drive pin602and cover225) in a clockwise direction causes drive pin602to engage first stop612. This causes secondary wheel620, and floor226to which it is fixedly connected, to rotate with the rotation of drive wheel604. Rotating drive wheel another 90° beyond the first 180° rotation, for example, brings cover225and floor226into the vertical position as seen inFIG. 5C.

Rotation 180° counter-clockwise from the vertical position allows cover225to close and brings drive pin602back adjacent to second stop614. Further counter-clockwise rotation by 90° brings the full assembly back to the horizontal and closed position. Thus, this or other more conventional forms of a Geneva mechanism can be used for selective rotation of floor226in response to rotation of cover225.

Referring again toFIG. 2, an inductive or other wireless battery charger224can be included to charge the batteries of the UAV while it is docked on the holding floor226. Wireless battery charger224can include any of a number of different wireless charging techniques including, for example, inductive chargers using coils to induce current in a corresponding coil in the UAV. As another example, battery charger224can include a low-frequency electromagnetic radiation source that transmits its energy to a power-harvesting circuit in the UAV.

Alternatively, wired connections can be made with the UAV by docking the UAV on floor226such that electrical contacts on the UAV lineup with and connect to corresponding electrical contacts on platform226.

A power supply232can be included to provide power to battery charger224as well as to the communications equipment (described below). In some embodiments, power supply232can be a dedicated power supply for the UAV equipment. In other embodiments, power supply232can be an existing power supply used to provide power to other components of the landing platform. For example, where the landing platform is part of the control box used for signaling controls on a rail line, power supply232can be the power supply used to supply power to the signals or other instrumentalities associated with that railroad control box. Power supply232can include the appropriate AC to AC, AC to DC, DC to AC, or DC to DC power conversion needed to supply the appropriate power to the various devices.

In the example ofFIG. 2, landing platform142also includes communications equipment, which in this example include a wireless transceiver202a UAV transceiver220and an antenna214. UAV transceiver220can include a wireless transmitter and receiver to communicate with UAV via a wireless communication link. Any of a number of wireless communication protocols can be used for the communication link between UAV transceiver220and the UAV. The MAC and PHY layers of the communication link between UAV transceiver220and the UAV can be configured to allow communications dedicated to a particular one of the plurality of UAVs in the landing platform142. This can allow dedicated or specific communication links with individual UAVs. Accordingly, UAV-specific communications can take place. This can allow, for example, mission-specific data to be loaded into a particular UAV. Although not shown, UAV transceiver220can also include an antenna to facilitate the wireless communications.

Wireless transceiver202is configured to communicate between landing platform142and external entities such as, for example, a system controller146or other servers. For example, wireless transceiver202can be implemented using any of a number of wireless communication systems such as, for example, cellular communications. In other embodiments, hardwired communications can be provided to the landing platform.

Landing platform142can also include a microcontroller242, which can include one or more processors and memory devices to control the operation of landing platform142. This can be a dedicated controller to control the landing platform, UAV and mission operations, or a shared controller to also control other functions that might be unrelated to the UAV and its missions.

In some implementations, controller146may be configured to effectuate operation, maintenance, and control of landing platform142by facilitating interaction between users and landing platform142. For example, controller146may be configured to include a user interface configured to display information received from landing platform142as well as to receive user input from the user. By way of non-limiting example, landing platform information and user input may be viewed through a client application on the wireless communication device. An input device may include a key entry device, a touch entry device, an imaging device, a sound device, and/or other input devices.

The user interface may display information pertaining to landing platform142. The For example, the landing platform information may include usage information, connectivity information, battery information, environmental information, information pertaining to individual components of landing platform142, and/or other landing platform information. For example, if a malfunction has occurred on landing platform142, such information notifying the user may be displayed. The user interface may display whether cover225is open or closed, whether floor226is rotated form horizontal to vertical position, whether the top or bottom surface is currently serving as the landing surface. The user interface may show whether the UAV is currently docked to landing platform142.

Landing platform information may include environmental information around landing platform142. For example, environmental conditions, such as temperature, wind speed and/or direction, sunniness, precipitation, or air pressure may be displayed. In some implementations, the user interface may show information based on data received from the UAV docked at landing platform142. For example, if a camera of the UAV is capturing video, live streaming video may be shown on the user interface. The user interface may show information relating to the UAV, such as a state of the UAV. The user interface may display landing platform information in real-time or be updated periodically based on predetermined time parameter.

The user interface may also display user input components configured to receive user input for controlling landing platform142. The received user input may include a selectable icon, a selectable command, a textual information, a textual command, a voice command, and/or other information that facilitates entry or selection of landing platform control information by the user. For example, a touchscreen may show one or more regions for a user to touch to provide user input components. The user input components may be displayed simultaneously with the landing platform information displayed on the user interface. For example, a user may input a command that may rotate floor226of landing platform142. The information pertaining to the orientation of floor226displayed in real-time to the user interface. Thus, the user may be able to see the adjustment of landing platform responsive to the user's input in real-time.

In some embodiments, location assistance devices244can also be provided with the landing platform to assist the UAV in locating and recognizing the landing platform. For example, an IR beacon or a visual pattern generator can be used to provide information that can be recognized by the UAV to allow the UAV to home in on and locate landing platform142. In further embodiments, GPS receivers can be used to allow the UAV to locate its intended landing platform142. In some embodiments, differential GPS can be used to allow one GPS receiver (for example in the base station at a known location) to measure timing errors and provide correction information to the GPS receivers in the UAVs. This can allow timing errors to be eliminated, and can allow more accurate position determination by the UAV.

In some embodiments, landing platforms142can be dedicated stations intended solely to house the one or more UAVs and the associated equipment such as UAV battery chargers and communications equipment. In other embodiments, the landing platform can include a housing, cover, enclosure, or other components that provides shared utilization between the UAV and its associated equipment, and equipment or machinery associated with the survey area. For example, enclosures that house switching equipment, signaling equipment and other equipment on a rail line can be modified to accommodate a UAV platform and the associated UAV equipment. As another example, poles, platforms, towers or other structures typically present with the infrastructure element (e.g., power poles, light poles, antenna platforms, and so on) can also be modified or configured to include landing platforms142. Landing platforms can also be located in portable facilities such as in a trailer, van or transportable storage pod, or they can be constructed as a more permanent structure.

FIG. 7is an operational flow diagram illustrating a process for clearing debris from the landing platform. At operation702, a landing platform is in operation in the environment shown inFIG. 1. At operation704, assume a landing platform is rendered inoperable by debris. For purposes of illustration assume that a UAV expected to land on the landing platform is unable to land and leaves affected landing platform. At operation706the system controller146or other element in the system determines the affected landing platform and identifies the type of debris. For example, the landing platforms can be configured to transmit landing platform information to the system controller if debris is present on floor of the landing platform. Thus, in this example affected landing platform can send a notification to the system controller alerting it of the presence of debris accumulated as a result of a strong wind gusts in the area. At this time, the system controller can compute a path for clearing the debris (or paths can be precomputed or manually determined and entered into the system in advance or in real time). In this example, a cover of the affected landing platform is open. Accordingly, at operation708, a rotational mechanism is engaged to rotate the a cover of the landing platform 90° from the open position to a debris clearing position. Next, the rotational mechanism engages a cam such that the rotation of the cover to a closed position causes a simultaneous rotation of a floor from a horizontal to a vertical position. This rotation causes the debris accumulated on the floor to fall off. And at operation710, a determination is made whether the debris was cleared successfully and the landing platform may accept UAVs for landing and docking.

Where controllers are implemented in whole or in part using processors executing software, in one embodiment, these elements can be implemented as a processor capable of carrying out the functionality described with respect thereto. One such example processing unit is shown inFIG. 8. Various embodiments are described in terms of this example processing unit1000. After reading this description, it will become apparent to a person skilled in the relevant art how to implement the technology using other processing configurations or architectures.

Computing module1000might include, for example, one or more processors, controllers, control modules, or other processing devices, such as a processor1004. Processor1004might be implemented using a general-purpose or special-purpose processing engine such as, for example, a microprocessor, controller, or other control logic. In the illustrated example, processor1004is connected to a bus1002, although any communication medium can be used to facilitate interaction with other components of computing module1000or to communicate externally.

Computing module1000might also include one or more memory modules, simply referred to herein as main memory1008. For example, preferably random access memory (RAM) or other dynamic memory, might be used for storing information and instructions to be executed by processor1004. Main memory1008might also be used for storing temporary variables or other intermediate information during execution of instructions to be executed by processor1004. Computing module1000might likewise include a read only memory (“ROM”) or other static storage device coupled to bus1002for storing static information and instructions for processor1004.

The computing module1000might also include one or more various forms of information storage mechanism1010, which might include, for example, a media drive1012and a storage unit interface1020. The media drive1012might include a drive or other mechanism to support fixed or removable storage media1014. For example, a hard disk drive, a floppy disk drive, a magnetic tape drive, an optical disk drive, a CD or DVD drive (R or RW), or other removable or fixed media drive might be provided. Accordingly, storage media1014might include, for example, a hard disk, a floppy disk, magnetic tape, cartridge, optical disk, a CD or DVD, or other fixed or removable medium that is read by, written to or accessed by media drive1012. As these examples illustrate, the storage media1014can include a computer usable storage medium having stored therein computer software or data.

In alternative embodiments, information storage mechanism1010might include other similar instrumentalities for allowing computer programs or other instructions or data to be loaded into computing module1000. Such instrumentalities might include, for example, a fixed or removable storage unit1022and an interface1020. Examples of such storage units1022and interfaces1020can include a program cartridge and cartridge interface, a removable memory (for example, a flash memory or other removable memory module) and memory slot, a PCMCIA slot and card, and other fixed or removable storage units1022and interfaces1020that allow software and data to be transferred from the storage unit1022to computing module1000.

Computing module1000might also include a communications interface1024. Communications interface1024might be used to allow software and data to be transferred between computing module1000and external devices. Examples of communications interface1024might include a modem or softmodem, a network interface (such as an Ethernet, network interface card, WiMedia, IEEE 802.XX or other interface), a communications port (such as for example, a USB port, IR port, RS232 port Bluetooth® interface, or other port), or other communications interface. Software and data transferred via communications interface1024might typically be carried on signals, which can be electronic, electromagnetic (which includes optical) or other signals capable of being exchanged by a given communications interface1024. These signals might be provided to communications interface1024via a channel1028. This channel1028might carry signals and might be implemented using a wired or wireless communication medium. Some examples of a channel might include a phone line, a cellular link, an RF link, an optical link, a network interface, a local or wide area network, and other wired or wireless communications channels. In this document, the terms “computer program medium” and “computer usable medium” are used to generally refer to media such as, for example, memory1008, storage unit1020, media1014, and channel1028. These and other various forms of computer program media or computer usable media may be involved in carrying one or more sequences of one or more instructions to a processing device for execution. Such instructions embodied on the medium, are generally referred to as “computer program code” or a “computer program product” (which may be grouped in the form of computer programs or other groupings). When executed, such instructions might enable the computing module1000to perform features or functions of the disclosed technology as discussed herein.