Unmanned aerial vehicle contingency landing system

Patent metadata

Field	Value
Publication number	US-11810463-B2
Application number	US-202016848159-A
Country	US
Kind code	B2
Filing date	Apr 14, 2020
Priority date	Apr 14, 2020
Publication date	Nov 7, 2023
Grant date	Nov 7, 2023

Abstract

Example methods and systems for contingency landing a UAV are provided, comprising sensors configured to detect a position of the UAV and a command module. The command module receives a mission profile comprising a travel path mapped out in multidimensional space over time from an origin to a destination, a first boundary circumscribing at least a portion of the travel path, a second boundary circumscribing the first boundary, and contingent landing sites. The command module sends instructions to the UAV to fly according to the mission profile and determines a position of the UAV relative to the first and the second boundaries. Responsive to determining that the UAV is positioned at the first boundary, the command module sends instructions to land at a contingent landing site, and responsive to determining that the UAV is positioned at the second boundary, the command module sends instructions to land immediately.

First claim

What is claimed is:

1. A system for contingency landing an unmanned aerial vehicle (UAV) comprising:
one or more sensors configured to detect a position of the UAV; and
a command module comprising a control unit having one or more processors configured to execute instructions stored in memory to perform functions of:
receiving a mission profile, the mission profile comprising a travel path mapped out in multidimensional space over time for the UAV from an origin to a destination, a plurality of first boundaries, each having a three-dimensional form and encompassing a respective different segment of the travel path, a second boundary having a three-dimensional form and encompassing an entirety of the plurality of first boundaries, and a plurality of contingent landing sites, each contingent landing site determined based on surface characteristics identified in a terrain map;
sending instructions to the UAV to fly according to the mission profile;
determining, via the one or more sensors, a position of the UAV relative to a desired position corresponding to the travel path and relative to the plurality of first boundaries and the second boundary, wherein the three-dimensional form of the second boundary moves along the travel path with reference to the desired position;
responsive to determining that the UAV is a threshold distance away from the desired position and intersects a portion of one of the plurality of first boundaries, sending instructions to the UAV to land at a corresponding one of the plurality of contingent landing sites; and
responsive to determining that the UAV intersects a portion of the second boundary, sending instructions to the UAV to land immediately on a ground surface located below the UAV and outside the plurality of contingent landing sites.

2. The system of claim 1 , wherein the one or more sensors and the command module are disposed on-board the UAV.

3. The system of claim 1 , wherein the command module is remote from the UAV.

4. The system of claim 1 , wherein the travel path mapped out in multidimensional space over time defines a predetermined route for the UAV to fly in multidimensional space over time.

5. The system of claim 1 , wherein the plurality of contingent landing sites are positioned on ground along a distance of the travel path and are each associated with a respective segment of the travel path.

6. The system of claim 5 , wherein the plurality of first boundaries move along the travel path at one or more predetermined speeds.

7. The system of claim 6 , wherein the plurality of first boundaries change in size with respect to at least some of the segments of the travel path.

8. The system of claim 1 , the functions further comprising:
responsive to determining that the UAV is positioned at one of the plurality of first boundaries, sending to a remote control system a request message that requests input for executing a landing procedure.

9. The system of claim 8 , wherein the request message comprises an indication of a target location at which the UAV is targeting to land.

10. The system of claim 1 , the functions further comprising:
responsive to determining that the UAV is positioned at the second boundary, sending to a remote control system a request message that requests input for executing a landing procedure.

11. The system of claim 1 , the functions further comprising:
detecting one or more obstacles on a path to ground or on the ground, and sending information regarding the one or more obstacles to the UAV.

12. The system of claim 1 , wherein at least one first boundary of the plurality of first boundaries is pre-set to be smaller than others of the plurality of first boundaries based at least in part on the at least one first boundary corresponding to a segment of the travel path that extends through an airspace having constricted space.

13. A method for contingency landing an unmanned aerial vehicle (UAV), the method comprising:
executing a mission profile, the mission profile comprising a travel path for the UAV mapped out in multidimensional space over time for the UAV from an origin to a destination, a plurality of first boundaries, each having a three-dimensional form and encompassing a respective different segment of the travel path, a second boundary having a three-dimensional form and encompassing an entirety of the plurality of first boundaries, and a plurality of predetermined contingent landing sites, each contingent landing site determined based on surface characteristics identified in a terrain map;
sending instructions to the UAV to fly according to the travel path;
receiving a plurality of signals from one or more sensors indicating a position of the UAV;
determining, via the plurality of signals, a position of the UAV relative to a desired position corresponding to the travel path and relative to the plurality of first boundaries and the second boundary, wherein the three-dimensional form of the second boundary moves along the travel path with reference to the desired position; and
at least one of (i) responsive to determining that the UAV is a threshold distance away from the desired position and intersects a portion of one of the plurality of first boundaries, sending instructions to the UAV to land at a corresponding one of the predetermined contingent landing sites or (ii) responsive to determining that the UAV intersects a portion of the second boundary, sending instructions to the UAV to land immediately on a ground surface located below the UAV and outside the plurality of contingent landing sites.

14. The method of claim 13 , further comprising:
moving the plurality of first boundaries along the travel path at one or more predetermined speeds.

15. The method of claim 13 , further comprising:
dividing the travel path into segments; and
correlating a relationship between sizes of the plurality of first boundaries and the segments of the travel path, such that the sizes of the plurality of first boundaries increase or decrease when moving through certain of the segments.

16. The method of claim 15 , further comprising:
correlating the predetermined contingent landing sites with the segments; and
sending instructions to the UAV to land at a contingent landing site that is correlated with the segment through which the UAV is traveling at a time the instructions are sent.

17. A command module comprising:
one or more processors configured to execute instructions stored in memory to perform functions of:
receiving a mission profile comprising a travel path for a UAV mapped out in multidimensional space over time for the UAV from an origin to a destination, a plurality of first boundaries, each having a three-dimensional form and encompassing a respective different segment of the travel path, a second boundary having a three-dimensional form and encompassing an entirety of the plurality of first boundaries, and a plurality of contingent landing sites, each contingent landing site determined based on surface characteristics identified in a terrain map;
sending instructions to the UAV to fly according to the mission profile;
determining, via signals issued from one or more sensors, a position of the UAV relative to a desired position corresponding to the travel path and relative to the plurality of first boundaries and the second boundary, wherein the three-dimensional form of the second boundary moves along the travel path with reference to the desired position;
responsive to determining that the UAV is a threshold distance away from the desired position and intersects a portion of one

Assignees

• Boeing Co

Inventors

• Brown Brandon
• Mason David
• Hathaway Eric

Classifications

• G08G5/34

  for flight plan modification · CPC title

• G08G5/58

  for emergency situations, e.g. hijacking or bird strikes · CPC title

• G08G5/54

  for approach or landing · CPC title

• G08G5/57

  for unmanned aircraft · CPC title

• G08G5/22

  located on the ground · CPC title