Abstract:
Methods and apparatus are disclosed for persistent deployment of aerial vehicles. The present application discloses a mission control system that is configured to control and manage one or more aerial vehicles for deployment to and from one or more docking stations. The one or more docking stations may be configured with a battery swapping device for removing the depleted battery from an aerial vehicle and for refilling a charged battery into the aerial vehicle. The mission control system may be configured to generate a priority list used to determine the recharging order of the one or more aerial vehicles.

Description:
PRIORITY CLAIM 
       [0001]    The present application claims priority to U.S. Provisional Application 61/771,054, filed on 28 Feb. 2013. 
     
    
     TECHNICAL FIELD 
       [0002]    The present application relates generally to controlling and managing deployment of aerial vehicles. 
       BACKGROUND 
       [0003]    Aerial vehicles are unmanned flying devices whose movements can be remotely controlled. Examples of aerial vehicles include tri-copters, quad-copters, multi-rotor flying crafts. An aerial vehicle is generally equipped with one or more motors. For example, T-Motor™ is excellent motors that are commercially available and can be used to build a multi-rotor craft. The motors drive one or more propellers and may be powered by batteries or combustion engines. Additionally, an aerial vehicle may be configured with a computer chip and may have antennas installed for communicating with a controlling device. 
         [0004]    Aerial vehicles can be used for different purposes, for example, aerial photography or merchandise delivery. An aerial vehicle has limited load capacity and can only carry a limited amount of payloads. Consequently, the number of batteries or the amount of combustion fuel an aerial vehicle can carry is limited, which in turn limits the aerial vehicle&#39;s flight time. During a mission, an aerial vehicle may be required to stop at a home station for refueling or recharging. 
         [0005]    Further during an aerial data collection mission, an aerial vehicle can generate a large amount of data. For example, a digital camera on the aerial vehicle collects image data or video data. The aerial vehicle can transmit the generated data to a controlling device via wireless communication. Alternatively, the aerial vehicle can return to the controlling device for data transfer, which may be faster than if the data is transferred wirelessly. 
         [0006]    As more and more aerial vehicles are deployed for commercial and military missions, persistent and accurate mission control becomes important for ensuring the successful completion of a critical mission. The present application discloses methods and apparatus that can be used for persistent deployment of aerial vehicles. 
       SUMMARY 
       [0007]    In some embodiments, a docking station for receiving and docking an aerial vehicle is disclosed. The docking station comprises a transceiver, a docking device, a power supply device and a processing circuit. The transceiver is configured for communicating with the aerial vehicle. The docking device is configured for receiving and docking the aerial vehicle. The power supply device is configured for supplying power to the aerial vehicle when the aerial vehicle is docked at the docking station. The processing circuit is configured to control the aerial vehicle while the aerial vehicle is docked at the docking station. In some embodiments, the docking station may further comprise a position sensor and/or an active docking mechanism. In some embodiments, the power supply device of the docking station is a battery charging mechanism or a battery swapping device. 
         [0008]    In some embodiments, a mission control system for controlling deployment of one or more aerial vehicles is disclosed. The mission control system comprises a transceiver, memory, an input/output device, and a mission control processing circuit. The transceiver is configured for communicating with the one or more aerial vehicles and with a docking station. The memory is configured for storing flight data of the one or more aerial vehicles. The I/O device is configured for receiving and outputting data. The mission control processing circuit is configured for controlling the deployment of the one or more aerial vehicles based on the flight data stored in the memory and the input and output data of the I/O device. In some embodiments, when there are multiple aerial vehicles but only one docking station, the mission control system can generate a priority list that indicates an order for each aerial vehicle to return to the docking station. 
         [0009]    In some embodiments, an aerial vehicle is disclosed. The aerial vehicle comprises a transceiver, a motor component, a power supply unit, and a processing unit. The transceiver is configured for communicating with a docking station and a mission control system. The motor component is configured for controlling movement of the aerial vehicle and the power supply unit is configured to supply power for the aerial vehicle. The processing circuit is configured to receive commands from the mission control system for deployment of the aerial vehicle and returning of the aerial vehicle to the docking station. Based on the receive commands, the processing circuit is further configured to direct the movement of the aerial vehicle. The aerial vehicle may optionally comprise a position sensor and/or a payload for transportation. 
         [0010]    In some embodiments, a system for persistent deployment of one or more aerial vehicles to and from a docking station is disclosed. The system comprises one or more aerial vehicles, one or more docking stations, and a mission control system. The one or more aerial vehicles are configured to perform a mission when deployed and to return to one or more docking stations for docking. The docking station is configured to receive and supply power to one or more aerial vehicles. The mission control system is configured for controlling and managing the one or more aerial vehicles and the one or more docking stations for persistent deployment of the one or more aerial vehicles. 
     
    
     
       BRIEF DESCRIPTION OF FIGURES 
         [0011]      FIG. 1  illustrates an exemplary aerial vehicle deployment system. 
           [0012]      FIG. 2  illustrates an exemplary aerial vehicle. 
           [0013]      FIG. 3  illustrates a block diagram of an aerial vehicle. 
           [0014]      FIG. 4  illustrates an exemplary docking station. 
           [0015]      FIG. 5  illustrates a block diagram of a docking station. 
           [0016]      FIG. 6  illustrates an aerial vehicle docked at a docking station. 
           [0017]      FIGS. 7 ,  8 ,  9 , and  10  each illustrate a different embodiment of a docking station. 
           [0018]      FIG. 11  illustrates an exemplary mission control system. 
           [0019]      FIG. 12  illustrates a flow chart illustrating a docking procedure of an aerial vehicle. 
           [0020]      FIG. 13  illustrates an exemplary method for managing multiple aerial vehicles for docking. 
           [0021]      FIG. 14-18  illustrate various arrangements of one or multiple docking stations. 
           [0022]      FIG. 19  illustrates an embodiment of an aerial vehicle deployment system. 
       
    
    
     DETAILED DESCRIPTION 
       [0023]    Certain specific details are set forth in the following description and drawings to provide a thorough understanding of various embodiments of the invention. Certain well-known details often associated with computing and software technology are not set forth in the following disclosure to avoid unnecessarily obscuring the various embodiments of the invention. Furthermore, those of ordinary skill in the relevant art will understand that other embodiments of the invention can be practiced without one or more of the details described below. Finally, while various methods are described with reference to steps and sequences in the following disclosure, the description as such is for providing a clear implementation of embodiments of the invention, and the steps and sequences of steps should not be taken as required to practice this invention. 
         [0024]      FIG. 1  illustrates an exemplary aerial vehicle deployment system  100 . The aerial vehicle deployment system  100  comprises three components: an aerial vehicle  101 , a docking station  102 , and a mission control system  103 . The docking station  102  is configured to receive the aerial vehicle  101  and to provide a dock for parking the aerial vehicle. Additionally, the docking station  102  can be configured to provide storage for the aerial vehicle  101 . The mission control system  103  is configured to control and manage the deployment of the aerial vehicle  101 . 
         [0025]    In  FIG. 1  and all other figures, the aerial vehicle  101  is depicted as a quadrotor, a four rotor formulation of a helicopter. However, the aerial vehicle  101  can be any type of unmanned flying device. An exemplary aerial vehicle  101  is shown in  FIG. 2 . The mission control system  103  comprises a programmable computer with various I/O capabilities. The functions and features of the mission control system  103  will be described in detail later on. In some embodiments, the mission control system  103  may be implemented as a unit or component separate from the aerial vehicle  101  and the docking station  102  as shown in  FIG. 1 . In other embodiments, the mission control system  103  may be implemented as part of the aerial vehicle  101  or as part of the docking station  102 . In yet other embodiments, the mission control system  103  may be implemented partly on the aerial vehicle  101  and partly on the docking station  102 . 
         [0026]    In  FIG. 2 , the aerial vehicle  101 , shown as a quadrotor, comprises a power supply unit  201 , an optional sensor  202 , an optional position sensor  203 , a vehicle processing circuit  205 , a propulsion mechanism  206 , a motor control component  207 , and a transmitter/receiver (transceiver)  208 . The aerial vehicle  101  in  FIG. 2  is shown to carry an optional payload  204 . In some embodiments, the power supply unit  201  comprises a lithium-polymer battery that is rechargeable when depleted. The sensor  202  provides sensing capabilities for the aerial vehicle. Examples of the sensor  202  include gas detection sensors, ultrasound sensors, infrared sensors, etc. The position sensor  203  collects information regarding the position of the aerial vehicle  101 . The position information of the aerial vehicle  101  may be expressed relative to a known object in the immediate surroundings or relative to a known reference point on the Earth. Examples of the position sensor  203  include Global Positioning System (GPS) receivers and Motion Capture System (MCS) receivers. Propulsion mechanism  206  often consists of a motor and a propeller. 
         [0027]    In  FIG. 2 , the vehicle processing circuit  205  receives input from the mission control system  103 , the optional sensors  202 , and the optional position sensor  203 . The vehicle processing circuit  205  sends control signals to the motors  206 . When the optional payload  204  comprises computerized components, the vehicle processing circuit  205  also interacts with the payload  204 . Examples of the payload  204  include cameras, video cameras, non-visual sensors, collected soil/water/waste specimens, and parcels of merchandise that need to be transported and delivered. 
         [0028]      FIG. 3  is an exemplary block diagram depicting the interaction between the different components of the aerial vehicle  101 . In  FIG. 3 , the motor control component  207 , the optional position sensor  203 , the optional sensor  202 , the optional payload  204 , the transmitter/receiver  208 , and the power supply unit  201  of the aerial vehicle  101  all interface with the vehicle processing circuit  206 . The transmitter/receiver  208  is equipped with antennae  307 . The antennae  307  are configured to communicate with the mission control system  103 . 
         [0029]    As shown in  FIG. 3 , the power supply unit  201  includes a power level detector  309  for monitoring the power level of the power supply unit  201 . In some embodiments, when the detected power level is low, the aerial vehicle returns to the docking station  102  for recharging or refueling of the power supply unit  201 . 
         [0030]      FIG. 4  depicts an exemplary docking station  102 . The docking station  102  comprises a landing zone  402 , a battery charging mechanism  403 , a battery swapping mechanism  404 , an active docking mechanism  405 , a position sensor  406 , a power supply unit  407 , a transmitter/receiver  408 , and a docking station processing circuit/CPU  409 . One or more of the battery charging mechanism  403 , the battery swap mechanism  404 , the position sensor  406 , the power supply unit  407 , and the transceiver  408  may be optional. The landing zone  402  is where the aerial vehicle  101  lands on the docking station  102 , and contains various components for servicing the aerial vehicle  101 . The optional battery charging mechanism  403  recharges the aerial vehicle  101  to replenish its power supply unit  201  while the aerial vehicle  101  is docked on the docking station  102 . Alternatively, instead of charging the depleted power supply unit  201  of the aerial vehicle  101 , the optional battery swap mechanism  404  is configured to remove the depleted power supply unit  201  from the aerial vehicle  101  and swap in a pre-charged power supply unit  201 . It may be a quicker alternative to charging the aerial vehicle  101 . 
         [0031]    As show in  FIG. 4 , some of the components of the docking station  102  are depicted as located outside of the landing zone  402 . These components of the docking station  102  may be located within the landing zone  402 , although not required. For example, the active docking mechanism  405  is shown as located beneath the landing zone  402  but can be located within the landing zone  402 . The active docking mechanism  405  is optional and is configured to actively locate the aerial vehicle  101  when it is away from the docking station  102  and bring the aerial vehicle  101  back to the docking station  102 . The position sensor  406  is also optional and is designed to assist the aerial vehicle to accurately land in the landing zone  402 . The power supply unit  407  supplies power to the docking station  102  in remote locations where there is no other power outlet or power source. The transceiver  408  enables the docking station to communicate with the mission control system  103 . The docking station processing circuit  409  is configured to control and manage the various components of the docking station  102 . 
         [0032]      FIG. 5  is a block diagram showing the various components of the docking station  102 . As shown in  FIG. 5 , the docking station processing circuit  505  interfaces with the optional battery charging mechanism  403 , the optional battery swapping mechanism  404 , the transceiver  408 , the optional active docking mechanism  405 , the optional position sensor  406 , and the optional power supply unit  407 . The docking station processing circuit  505  receives input data from the various components, processes the input data and generates output data to control and manage the components. The transceiver  408  connects to antennae  412  and communicates with the mission control unit  103  via the antennae  412 . 
         [0033]    As show in  FIG. 5 , the optional power supply unit  407  further comprises a power level detector  510 . The power level detector  510  monitors the level of the power supply unit  407  and may provide information about the power level of the power supply unit  407  to the docking station processing circuit  505 . 
         [0034]    The docking station  102  shown in  FIG. 4  and  FIG. 5  is configured to receive and dock the aerial vehicle  101 .  FIG. 6  depicts an aerial vehicle  101  docked at the docking station  102 . The landing zone  402  on the docking station  102  is rectangular and the aerial vehicle  101  is received into the landing zone  402 . 
         [0035]      FIGS. 7-10  show different designs of the landing zone  402 . In  FIG. 7 , the landing zone  402  has four slanted surfaces that can direct the aerial vehicle towards the docking surface  702  at the center of the landing zone  402 . The landing zone  402  in  FIG. 7  has a greater landing surface area than the landing zone  402  in  FIG. 6 . The design of the landing zone  402  in  FIG. 7  enables the aerial vehicle  101  to land and interact with the docking station  102  with greater tolerance. 
         [0036]      FIGS. 8   a  and  8   b  depict two exemplary docking stations equipped with position sensors  802 ,  803  interacting with the aerial vehicle  101 . In  FIG. 8   a  the aerial vehicle  101  relies on the position sensor  303  to interact with the docking station position sensors  802  to reduce positioning errors. Examples of the position sensors  303 ,  802  include sound propagation transmitters and emitters. In  FIG. 8   b , the aerial vehicle  101  is not equipped with a position sensor. The docking station position sensor  803  does not interact with the aerial vehicle  101 . Examples of the docking station position sensors  803  include visual cameras and infrared cameras. 
         [0037]      FIG. 9  illustrates another embodiment of the docking station  102 . In  FIG. 9 , the docking station  102  is configured with a landing zone  402  having a rectangular shape and the active docking mechanism  405  (not shown). The active docking mechanism  405  comprises a robotic arm  901  extending from the landing zone  402 . The robotic arm  901  can latch onto the aerial vehicle  101  and bring the aerial vehicle  101  into the landing zone  402 . 
         [0038]      FIG. 10  illustrates another embodiment of the active docking mechanism  405  (shown in dashed line). The active docking mechanism  405  comprises a suction device  1001  that generates a vacuum between the aerial vehicle  101  and the landing zone  402  when the aerial vehicle is parked at the landing zone  402 . The air pressure above the aerial vehicle  101  keeps the aerial vehicle  101  firmly docked at the docking station  102 . In some embodiments, the suction device  1001  generates a suction force that can draw the aerial vehicle  101  down into the landing zone  402  when the aerial vehicle is within a certain distance from the landing zone  402 . 
         [0039]      FIG. 11  shows an exemplary embodiment of the mission control system  103 . The mission control system  103  comprises a mission control processing circuit  1101 , a transmitter/receiver  1102 , a warning system  1103 , I/O device(s)  1104 , a server  1105 , and memory  1106 . The mission control processing circuit  1101  receives input data from and outputs data to the other components to control and manage the other components. The transmitter/receiver  1102  is connected to antennae  1108 . The mission control system  103  communicates with the aerial vehicle  101  and the docking station  102  via the transmitter/receiver  1102  and the antennae  1108 . 
         [0040]      FIG. 12  is a flow chart illustrating an exemplary docking process controlled by the mission control system  103 . The mission control system  103  transmits an order to the aerial vehicle  101  (step  1200 ). The aerial vehicle  101  executes the order, which directs the aerial vehicle  101  to return to the docking station  102  (step  1201 ). Then, the aerial vehicle returns to the docking station  102  (step  1202 ). The docking station  102  can optionally replenish the power supply unit  201  of the aerial vehicle  101  (step  1203 ), swap out the payload  204  of the aerial vehicle  101  (step  1204 ), and offload the sensor data collected by the optional sensor  202  and the position sensor  203  (step  1205 ). When the mission control system determines that the aerial vehicle  101  is to be deployed again, the aerial vehicle  101  is released from the docking station  102  (step  1206 ). Finally, the aerial vehicle  101  resumes its mission (step  1207 ). 
         [0041]    In some embodiments, the mission control system  103  controls and manages a plurality of aerial vehicles  101 . When there is only one docking station  102 , the mission control system  103  can arrange the plurality of aerial vehicles  101  to return to the docking station  102  in a pre-determined order. 
         [0042]      FIG. 13  illustrates an exemplary process implemented at the mission control system  103  for generating an ordered list of the aerial vehicles  101 . The list is generated according to the priorities assigned to each of the plurality of aerial vehicles  101 . The mission control system  103  is configured to receive appropriate flight paths for each of the aerial vehicles  101 . Based on the flight path information received from the aerial vehicles, the mission control system generates a set of focal variables. Examples of potential focal variables include, but are not limited to, the number of aerial vehicles in the system  1301 , the position of each aerial vehicle relative to the docking station  1302 , the payload weight on each aerial vehicle  1303 , and the charge status of the docking station power supply unit  1303 . These focal variables are inputted into function          (η, x, y, {circumflex over (k)}, l)  1305  for calculating the remaining flight time of each aerial vehicle. This vector of remaining flight times t=&lt;t 1 , t 2 , . . . &gt;  1308  is inputted into function G(t) to create an ordinal list of docking priorities expressed as a vector av=&lt;AV 1 , AV 2 , . . . &gt;  1309 . This ordinal list is processed to calculate the optimal flight paths for the set of aerial vehicles. In another embodiment, the flight path may be calculated locally on each of the aerial vehicles, not on the mission control system  103 . 
         [0043]      FIG. 14  illustrates an embodiment of the battery charging mechanism  403  of the docking station  102 . The battery charging mechanism  403  comprises a positive lead  1403  and a negative lead  1402 . The aerial vehicle  101  lands on the landing zone  402 . The power supply unit  201  of the aerial vehicle  101  is charged by interfacing with the positive lead  1403  and the negative lead  1402  of the battery charging mechanism  403 . 
         [0044]      FIGS. 15-17  illustrate different embodiments of the battery swapping mechanism  404  on the docking station  102 . In  FIG. 15 , the aerial vehicle  101  lands and docks into the landing zone  402  of the docking station  102 . The battery swap mechanism  404  comprises multiple slots  1502 . Each slot may contain a charged, charging, or uncharged battery  1501 . One or more of the multiple slots may be empty. When the aerial vehicle  101  lands on the docking station  102 , one of the empty slots in the battery swapping mechanism  404  accepts the depleted battery of the aerial vehicle  101 . The battery swapping mechanism  404  revolves until a slot containing a charged battery is aligned with the aerial vehicle  101 . The charged battery is then pushed up by the battery swapping mechanism  404  into the power supply unit  201  of the aerial vehicle  101 . A latching mechanism  1503  located on the battery can be used to latch the battery onto the aerial vehicle  101 . 
         [0045]      FIG. 16  shows a detailed illustration of the battery swapping mechanism  404  used to store and charge batteries, and swap batteries with the aerial vehicle  101 . The battery wheel  1601  holds and stores a number of battery or battery packs  1614 . The servo and lift mechanism  1612  is responsible for removing the depleted battery pack from the aerial vehicle  101 , aligning a charged battery pack under the aerial vehicle  101 , and latching the battery pack onto the aerial vehicle  101 . To swap a battery after the aerial vehicle  101  has docked onto the dock station  102 , the servo and lift mechanism  1612  aligns an empty slot under the depleted battery pack, unclips the depleted battery pack from the body of the aerial vehicle  101 , aligns a charged battery under the body of the vehicle  101 , lifts up the charged battery, and clips the battery in place. 
         [0046]      FIG. 17  illustrates an embodiment of the docking station  102  in which multiple aerial vehicles are paired with multiple docking zones  402 . In some embodiments the number of aerial vehicles  101  and the number of docking zones  402  are different. In some embodiments, different types of dock zones  402  can be incorporated into the docking station  102 . 
         [0047]      FIG. 18  illustrates an embodiment of the docking station  102  in which multiple docking stations  102  are stacked up vertically to save space. The stack of docking stations  1801  can allow for multiple aerial vehicles  101  to be stored. In some embodiments, each docking station  102  may be equipped with a cover for storing the aerial vehicle  101 . 
         [0048]      FIG. 19  illustrates an embodiment of the docking station  102  installed on a moving vehicle  1903 . The moving vehicle is depicted here as a pickup truck, but can also be a boat, a motorcycle, or another aerial vehicle  101 . In  FIG. 19 , the aerial vehicle  101  is carried over a long distance when not in use and may be deployed to carry out missions in the vicinity of the moving vehicle  1903 . The docking station  102  can also be transported to distant locations to service aerial vehicles. 
         [0049]    The present invention may be carried out in other specific ways than those herein set forth without departing from the scope and essential characteristics of the invention. One or more of the specific processes discussed above may be carried out in devices configured with processing circuits, which may in some embodiments be embodied in one or more application-specific integrated circuits (ASICs). In some embodiments, these processing circuits may comprise one or more microprocessors, microcontrollers, and/or digital signal processors programmed with appropriate software and/or firmware to carry out one or more of the operations described above, or variants thereof. In some embodiments, these processing circuits may comprise customized hardware to carry out one or more of the functions described above. The present embodiments are, therefore, to be considered in all respects as illustrative and not restrictive, and all changes coming within the meaning and equivalency range of the appended claims are intended to be embraced therein.