Mobile unmanned aerial vehicle infrastructure and management system and method

A mobile UAV infrastructure and management system for control and management of one or more unmanned aerial vehicles including at least one landing platform to facilitate operational readiness of the unmanned aerial vehicle, radio beacons for localization of the unmanned aerial vehicle, a command and control station in communication with the unmanned aerial vehicle, and an unmanned ground vehicle for deploying the landing platform, the radio beacons and the command and control station.

PRIORITY

This application claims priority from European Patent Application Number EP14382252.6 filed on Jul. 1, 2014, the entire contents of which are incorporated herein by reference.

FIELD

The present disclosure generally relates to deployment and operation of a mobile unmanned aerial vehicle (UAV) infrastructure and, more specifically, to methods for deploying a mobile UAV infrastructure and management system to one or more areas to facilitate operation of one or more unmanned aerial vehicles (UAVs).

BACKGROUND

Continuous operations with autonomous unmanned aerial vehicles is an ongoing problem to be solved. Currently, missions are being operated with single expensive unmanned aerial vehicles in large areas launched from a fully dedicated “permanent” command and control station, with the unmanned aerial vehicles having to fly back to the launch site to refuel, reenergize or repair before continuing with the current mission. The immobility of the unmanned aerial vehicle support infrastructure (launch site) drastically reduces the operation efficiency of the unmanned aerial vehicle and, therefore, of the missions carried out by the unmanned aerial vehicle, as unmanned aerial vehicles are unable to provide detailed, close and continuous information from a particular area.

As such, current unmanned aerial vehicle operations rely on stationary deployment and acquisition platforms that do not provide for long-term mission support and operational life as the unmanned aerial vehicles are limited by the need to return to the launch site to refuel, recharge or repair equipment.

SUMMARY

The subject matter disclosed herein provides a unique and flexible solution to the deployment of a mobile or portable infrastructure and management system to support unmanned vehicle operations in multiple areas that may be considered remote or hostile.

In one embodiment, disclosed is a method for deploying a mobile UAV infrastructure and management system for control and management of one or more unmanned aerial vehicles. The method includes: (1) defining a first area for deployment of the mobile UAV infrastructure and management system; (2) deploying in the first area, by means of unmanned ground vehicles, the mobile UAV infrastructure and management system including: (a) a landing platform to facilitate operational readiness of the unmanned aerial vehicle; (b) a plurality of radio beacons for localization of the unmanned aerial vehicle with the mobile UAV infrastructure and management system; and (c) a command and control station for communication between the mobile UAV infrastructure and management system and the unmanned aerial vehicle; (3) if needed, defining a second area for deployment of the mobile UAV infrastructure and management system; and (4) deploying in the second area, by means of unmanned ground vehicles, the mobile UAV infrastructure and management system.

In another embodiment, disclosed is a mobile UAV infrastructure and management system for control and management of one or more unmanned aerial vehicles. The mobile UAV infrastructure and management system includes a landing platform to facilitate operational readiness of the unmanned aerial vehicle; a plurality of radio beacons for localization of the unmanned aerial vehicle with the mobile UAV infrastructure and management system; a command and control station for communication between the mobile UAV infrastructure and management system and the unmanned aerial vehicle; and an unmanned ground vehicle for deployment of the mobile UAV infrastructure and management system to a first area and, if needed, for deployment of the mobile UAV infrastructure and management system to a second area.

These and other embodiments will become readily apparent to those skilled in the art from the following detailed description, the accompanying drawings, and the appended claims.

DETAILED DESCRIPTION

The mobile UAV infrastructure and management system described herein provides a solution for operating one or more unmanned aerial vehicles for extended operation times by providing an infrastructure and management system to support acquisition and recharging of the unmanned aerial vehicles.

The mobile UAV infrastructure and management system solves the limitations in current unmanned aerial vehicle missions in terms of the available payload and operation time of the unmanned aerial vehicles operating in remote or hostile areas where no appropriate infrastructure exists. The mobile UAV infrastructure and management system disclosed herein promotes unmanned aerial vehicle swarming, the use of multiple unmanned aerial vehicles, and a mixed fleet of unmanned aerial vehicles in an efficient manner by allocation of a moveable or mobile landing platform and associated communication and localization elements for managing arrival and departure of one or more unmanned aerial vehicles based on the current traffic and availability of landing platforms.

Exemplary embodiments will now be described with references to the accompanying figures, with like reference numerals referring to like elements throughout. The terminology used in the description is not intended to be interpreted in any limited or restrictive manner, simply because it is being utilized in conjunction with a detailed description of certain embodiments. Furthermore, various embodiments (whether or not specifically described herein) may include novel features, no single one of which is solely responsible for its desirable attributes or which is essential to practicing the subject matter described herein.

As shown inFIG. 1, in one embodiment, the disclosed unmanned aerial vehicle infrastructure and management system may include a landing platform2, communication and localization elements, such as radio beacons3, one or more command and control stations4, antennae5,6, one or more unmanned aerial vehicles7, and one or more unmanned ground vehicles1.

The transport and deployment of the mobile UAV infrastructure and management system to one or more areas may be carried out by the unmanned ground vehicles1. In this regard, the unmanned aerial vehicles7may be deployed with other elements of the mobile UAV infrastructure and management system by the unmanned ground vehicles1, or the unmanned aerial vehicles7may be remotely and/or autonomously deployed to the one or more areas independent of the unmanned ground vehicles1where the unmanned aerial vehicles7carry out their mission objectives.

Due to the mobility of unmanned ground vehicles1, transport and deployment of the mobile UAV infrastructure and management system, including the landing platforms2, to one or more areas may be accomplished in a relatively fast and efficient manner. Although the methods disclosed herein are described in the context of mobile operations for unmanned aerial vehicles, deployment of similar articles or apparatus, such as ground vehicles, are within the scope of the present disclosure.

The unmanned ground vehicles1may be provided with various apparatus for loading and unloading the different elements that form the mobile UAV infrastructure and management system, such as, the landing platform2, the radio beacons3, the command and control station4, antennae5and, optionally, the unmanned aerial vehicles7. In this regard, the mobile UAV infrastructure and management system may include cranes, magnets and the like for loading and unloading the various elements. The unmanned ground vehicles1may further include a ramp in order to facilitate loading and unloading the various elements of the mobile UAV infrastructure and management system.

The unmanned ground vehicles1may also include proximity sensors, positioning measurement systems, cameras, etc., for assisting in loading and unloading the various elements of the mobile UAV infrastructure and management system. Proximity sensors, cameras and positioning measurement systems may provide a visual picture for increased situational awareness during the attachment or uploading of the landing platform2from one location onto the unmanned ground vehicle1(e.g., onto the trailer or body of the unmanned ground vehicle1). The mobile UAV infrastructure and management system may then be deployed to a different location, where during the unloading operation of the various elements, the proximity sensors, cameras and positioning measurement systems may facilitate the positioning of the landing platform2on the ground assuring the safe and efficient deployment of the landing platform2and other elements of the mobile UAV infrastructure and management system.

The unmanned ground vehicles1may further include various apparatus for automatically securing the mobile UAV infrastructure and management system and associated elements during the transport operation, such as, for example, magnets on the unmanned ground vehicle1(e.g., on the trailer or body of the unmanned ground vehicle1). All the operations of the unmanned ground vehicles1may be preprogrammed into the unmanned ground vehicles1for complete autonomous operation or teleoperated by a user from a remote control station.

The position and number of the different elements (landing platforms2, radio beacons3and command and control stations4) deployed are selected for achieving optimal localization and ground based communication with the unmanned aerial vehicles7and the mobile UAV infrastructure and management system. Such determined efficiency of the mobile UAV infrastructure and management system will depend at least on the terrain encountered in the area.

In one embodiment, a minimum of four radio beacons3will be deployed in the area, as four is generally accepted as the minimum number of signals required for an accurate estimation of the position of the unmanned aerial vehicles7. Those skilled in the art will understand that fewer or more radio beacons3may be utilized or a similar technology may be employed depending on various factors including among other things, operational parameters, terrain, etc.

The command and control stations4may provide command and control communications between the unmanned aerial vehicles7and the command and control station4by way of data transmissions for operational command and control of the unmanned aerial vehicles7. The command and control stations4may facilitate command, control and management of the unmanned aerial vehicles7deployed by the unmanned ground vehicles1of the mobile UAV infrastructure and management system to ensure unmanned aerial vehicle operational readiness and mission success. The command and control stations4may be placed on the ground in the selected area, attached to the landing platforms2and/or on the unmanned ground vehicles1, etc.

In one embodiment, the mobile UAV infrastructure and management system may include the deployment of a remote communication system, such a satellite communication system, with a remote control center from which data from the deployment and operation of the mobile UAV infrastructure and management system is provided to facilitate operational control and supervision of the deployment operation. The remote communication system may be placed on the ground or on the unmanned ground vehicles1(e.g., a parabolic antenna6attached to the roof of the unmanned ground vehicle1).

The landing platforms2may be deployed to facilitate operational readiness of the one or more unmanned aerial vehicles7. The landing platforms2may be deployed to maintain a distance relative to each other that provides a safety radius during operation of the unmanned aerial vehicles7. The safety radius may be determined by a minimum distance needed for the unmanned aerial vehicles7to take-off and land.

The deployment of the radio beacons3may be configured to permit or allow a trilateration of the unmanned aerial vehicles7in an airport control area (see control area8inFIG. 2) of the mobile UAV infrastructure and management system, the airport control area being defined by a radio range of the radio beacons3. More specifically a trilateration may be achieved when the centroid of the positions of the landing platforms2has a horizontal dilution of precision (HDOP) value of about 1.

Deployment of the radio beacons3may include calculating a centroid of the positions of the deployed landing platforms2, the centroid having a horizontal dilution of precision (HDOP) value of about 1; calculating a radius of a circle centered in the centroid according to the radio range of the radio beacons3, a required localization accuracy in vicinity of the landing platforms2, a size of a control area around the mobile UAV infrastructure and management system where the localization service of the unmanned aerial vehicles7is provided, the control area being defined by the radio range of the radio beacons3; and, placing the radio beacons3equally spaced in the calculated circle.

A method for managing the mobile UAV infrastructure and management system previously described is also disclosed. The method may include deploying at least one unmanned aerial vehicle7, determining the position of the unmanned aerial vehicle7depending on the distance of the unmanned aerial vehicle7to the landing platforms2, assigning a landing platform2for the unmanned aerial vehicle7by means of the command and control station4, and landing the unmanned aerial vehicle7in the assigned landing platform2.

The method may calculate the position of the unmanned aerial vehicle7by means of a global positioning system (GPS) placed onboard the unmanned aerial vehicle7when the unmanned aerial vehicle7is out of the control area (see control area8inFIG. 2). As indicated above, the control area may be determined by a radio range of the airport area radio beacons. On the other hand, the position of the unmanned aerial vehicle7may be determined by means of a local positioning system comprising the radio beacons3when the unmanned aerial vehicle7is inside the control area.

In one method, the mobile UAV infrastructure and management system may switch from the global positioning system to the local positioning system based on the radio beacons3for calculating the position of the unmanned aerial vehicle7when the unmanned aerial vehicle7is inside of the airport control area (see control area8inFIG. 2) and an estimated position of the unmanned aerial vehicle7calculated by the global positioning system and an estimated position of the unmanned aerial vehicle7calculated by the radio beacons3is less than a predetermined value during more than a predetermined period of time. More specifically, the switching may be carried out when the Euclidean distance of the mentioned estimations is less than a predetermined value during a predetermined period of time. The computation of the estimated position of the unmanned aerial vehicle7calculated by the radio beacons3may run in parallel with the use of the GPS by the unmanned aerial vehicles7.

The method may further switch from the local positioning system to a relative localization system based on visual markers and ultrasonic devices for calculating the position of the unmanned aerial vehicle7when the unmanned aerial vehicle7is in proximity to the landing platform2and an estimated position of the unmanned aerial vehicle7calculated by the local positioning system and an estimated position of the unmanned aerial vehicle7calculated by the relative localization systems is less than a predetermined value during more than a predetermined period of time. More specifically, the switching may be carried out when the Euclidean distance of the mentioned estimations is less than a predetermined value during a predetermined period of time. The computation of the estimated position of the unmanned aerial vehicle7calculated by the relative localization system may run parallel with the use of the GPS by the unmanned aerial vehicles7.

In order to assign a landing platform2to an unmanned aerial vehicle7, the command and control station4may consider the position of each unmanned aerial vehicle7, current unmanned aerial vehicle traffic, and availability of each of the landing platforms2.

Automated air traffic management procedures may be simplified due to the vertical take-off and landing (VTOL) capabilities of the unmanned aerial vehicles7. Allocation of unmanned aerial vehicles7to landing platforms2may be done in a first step based on simple metrics, such as the distance between unmanned aerial vehicles7(the unmanned aerial vehicle7goes to the closest landing platform2). On the other hand, trajectory conflicts may be solved by changing altitudes of the unmanned aerial vehicles7involved in the potential collision. Additionally, in some circumstances, both allocation/conflicts can be simultaneously solved with algorithms that can compute optimal solutions during the operation of the system.

As indicated above, the deployment of the landing platforms2, radio beacons3, command and control stations4, antenna5,6, and the unmanned aerial vehicles7may be automatically carried out by means of unmanned ground vehicles1. An important aspect of the mobile UAV infrastructure and management system is that the positions of the landing platforms2are capable of being changed during the execution of any mission. In this regard, the entire mobile UAV infrastructure and management system may be moved during the mission and the unmanned aerial vehicles7may adapt to the change via reception of a communication reporting the location of the new centroid of the landing platforms2. These changes in the location of the entire portable airport infrastructure to address new threats or mission parameters are detected close to the initial location. The information related to the changes in the location of the airport is exchanged between the unmanned aerial vehicles7and the command and control stations4by means of conventional data links. These data links can be established by direct communication or by satellite communication between both parts.

In a method related to the mobile UAV infrastructure and management system, a first area is defined in which the mobile UAV infrastructure and management system is going to be deployed. In this regard, deployment of the mobile UAV infrastructure and management system may be in a relatively remote area. Such remote areas are generally places where, due to geographic, economic or political reasons, access to the area is difficult and construction of a permanent airport infrastructure is even more difficult.

In one embodiment, the unmanned aerial vehicles7are vertical take-off and landing unmanned aerial vehicles.

In another embodiment, the deployment of the mobile UAV infrastructure and management system is selected between a teleoperated deployment from a remote control station, an autonomous deployment and any combination thereof.

Once the remote area has been defined, the autonomous deployment of the components that form the mobile UAV infrastructure and management system is carried out.FIG. 1shows a schematic view of a deployment stage carried out by multiple unmanned ground vehicles1(e.g., trucks or similar transport carriers). The unmanned ground vehicles1are capable of transport and deployment of landing platforms2, radio beacons3, command and control stations4, antennae5,6, and one or more unmanned aerial vehicles7about a first designated area.

Each landing platform2for facilitating operational readiness of one or more unmanned aerial vehicles7is transported on the body of the unmanned ground vehicle1, and is equipped with one or more radio beacons3for communicating its relative localization to one or more unmanned aerial vehicles7. Other radio beacons3that are independent of the landing platform2and capable of communicating in a similar manner with unmanned aerial vehicles7are deployed strategically around the area in order to create a confinement or control area (see control area8inFIG. 2) so that the unmanned aerial vehicles7may be positioned using the plurality of radio beacons3.

In one embodiment, the unmanned ground vehicles1may be remotely sent and controlled from a permanent or mobile control infrastructure. The management of the unmanned ground vehicles1may be carried out by remote control, such as, for example, with the assistance of satellite communications antennae5placed on the ground and/or parabolic antennae6placed on the roof of the unmanned ground vehicles1. Alternatively, the unmanned ground vehicles1may be programmed to autonomously traverse to the designated area to deploy the mobile UAV infrastructure and management system.

Following deployment of the radio beacons3, the landing platforms2and the command and control stations4in the first area, the unmanned ground vehicles1may deploy one or more (e.g., a plurality of) unmanned aerial vehicles7. The unmanned aerial vehicles7may take-off directly from the unmanned ground vehicles1under remote control to begin a mission from the mobile UAV infrastructure and management system. Each unmanned aerial vehicle7may establishes a data link with the command and control stations4in order to exchange information, such as information relative to the location of the mobile UAV infrastructure and management system and the state of the unmanned aerial vehicle7.

When an unmanned aerial vehicle7performing a mission detects that some kind of tune up is needed, as for example, when it detects a low battery level or when it needs to replace or repair a payload, the unmanned aerial vehicle7returns to the landing platform2positioned in the control area8(FIG. 2) of the mobile UAV infrastructure and management system using the onboard GPS. In this way, the mobile UAV infrastructure and management system, and more specifically the landing platform2, ensures or facilitates the operational readiness of the one or more unmanned aerial vehicles7.

As shown inFIG. 2, when the unmanned aerial vehicles7are beyond the communication range of a control area8, which is determined by the radio range of the radio beacons3, the unmanned aerial vehicles7may be guided by GPS. The GPS location of the mobile UAV infrastructure and management system is reported to the unmanned aerial vehicles7through the data link during the mission. Accordingly, the mobile UAV infrastructure and management system may be moved by the unmanned ground vehicles1from one location (or first area) to another location (or second area) without disruption of the communication of the unmanned aerial vehicles7and the command and control station4to facilitate a continuous uninterrupted mission.

FIG. 3illustrates the arrival of an unmanned aerial vehicle7to the mobile UAV infrastructure and management system, specifically the arrival of an unmanned aerial vehicle7in a control area8(FIG. 2) defined by the radio beacons3, as determined by the range of the radio beacons3. In this regard, the localization system of the unmanned aerial vehicle7changes from the GPS global localization system to a radio beacon local positioning system. Switching between the GPS-based global localization system and the radio beacon-based local positioning system may be carried out when the Euclidean distance between the estimated position of the unmanned aerial vehicle7calculated by the GPS onboard the unmanned aerial vehicle7and the estimated position of the unmanned aerial vehicle7calculated by the radio beacons3is less than a predetermined value during more than a given period of time.

The benefits of using a local positioning system based on the airport area radio beacons3are that the relative localization of the unmanned aerial vehicles7in the control area8of the mobile UAV infrastructure and management system has an increased accuracy for collision avoidance purposes, and as the position of the landing platforms2is dynamic and can change with time the unmanned aerial vehicle7receives the current position of the landing platforms2relative to the unmanned aerial vehicle7.

As shown inFIG. 4, the unmanned aerial vehicle7may communicate with the command and control station4by way of the data link to facilitate landing at a landing platform2based on the current aerial traffic and availability of landing platforms2. The unmanned aerial vehicle7then proceeds to the designated landing platform2.

As the landing platforms2may be sized relatively small to allow easy transportation and deployment, the typical landing maneuver of the unmanned aerial vehicle7may require increased relative localization accuracy compared to that provided by the radio beacons3. As such, once the unmanned aerial vehicle7is in the vicinity of the landing platform2, localization may change from the radio beacon localization system to a localization system based on visual markers and ultrasonic devices. For example, as shown inFIG. 5, the unmanned aerial vehicle7may be provided with visual cameras9for detecting visual markers and ultrasonic sensors10for receiving ultrasonic signals, while the landing platform2is provided with fiducial or visual markers11and ultrasonic transmitters12.

The visual cameras9may provide situational awareness for remote operators of the unmanned aerial vehicles7or unmanned aerial vehicle system components to assist in landing the unmanned aerial vehicles7at the landing platforms2. The visual markers11and the ultrasonic transmitters12in the landing platform2may be placed at the corners of a landing area13of the landing platform2to delimit the dimensions thereof and its position with respect to the unmanned aerial vehicle7. The localization mode switching between the radio beacons3and the relative localization system based on visual markers11, camera9, ultrasonic sensors10, and ultrasonic transmitters12may be carried out when the Euclidean distance between the estimated position of the unmanned aerial vehicle7calculated by the radio beacons3and the estimated position of the unmanned aerial vehicle7calculated by the relative localization system is less than a predetermined value during more than a given period of time. The benefits of using a relative localization system based on visual markers11and/or ultrasonic devices (e.g., ultrasonic sensors10and ultrasonic transmitters12) is that the positioning of the unmanned aerial vehicle7has an increased accuracy, which is crucial for avoiding damage to the unmanned aerial vehicle7when landing on the landing area13of the landing platform2.

When the unmanned aerial vehicle7lands, the onboard battery used for aerial and communication power may be automatically changed or the payload may be automatically replaced. This operation is not shown in the figures, but in a particular embodiment, when the unmanned aerial vehicle7needs to automatically change its battery, a bar disposed on the landing platform2would move the unmanned aerial vehicle7towards a conveyor belt disposed on the landing platform2, which in turn would move the unmanned aerial vehicle7towards a device for battery changing. Then, the battery of the unmanned aerial vehicle would be automatically replaced. Then, the unmanned aerial vehicle7would be ready to take-off again and continue performing its cooperative mission.

The description of the different embodiments and implementations has been presented for purposes of illustration and description, and is not intended to be exhaustive or limited to the implementations in the form disclosed. Many modifications and variations will be apparent to those of ordinary skill in the art. Further, different embodiments and implementations may provide different attributes as compared to other embodiments and implementations. The embodiments or implementations selected are chosen and described in order to best explain the principles of the implementations, the practical application, and to enable others of ordinary skill in the art to understand the disclosure for various implementations with various modifications as are suited to the particular use contemplated. This written description uses examples to disclose various implementations, which include the best mode, to enable any person skilled in the art to practice those implementations, including making and using any devices or systems and performing any incorporated methods. The patentable scope is defined by the claims, and may include other examples that occur to those skilled in the art. Such other examples are intended to be within the scope of the claims if they have stages that do not differ from the literal language of the claims, or if they include equivalent stages with insubstantial differences from the literal languages of the claims.