Method of flying an unmanned aerial vehicle

Patent metadata

Field	Value
Publication number	US-9359067-B2
Application number	US-201414189603-A
Country	US
Kind code	B2
Filing date	Feb 25, 2014
Priority date	Mar 19, 2013
Publication date	Jun 7, 2016
Grant date	Jun 7, 2016

Abstract

The invention relates to a method of flying an unmanned aerial vehicle (UAV) in response to emergency conditions, the method including steps implemented using a controller forming part of the unmanned aerial vehicle, the steps comprising: defining a plurality of emergency conditions; associating each emergency condition with a priority level; associating each emergency condition with an objective; sensing a plurality of operating parameters of the unmanned aerial vehicle to detect whether one of the plurality of emergency conditions exists; when one or more emergency condition is detected: generating a trajectory for the detected emergency condition having a highest associated priority level, wherein the trajectory is generated in accordance with the objective associated with the emergency condition that has the highest associated priority level; and instructing the unmanned aerial vehicle to follow the generated trajectory.

First claim

What is claimed is:

1. A method of flying an unmanned aerial vehicle, the method including steps implemented using a controller forming part of the unmanned aerial vehicle, said steps comprising:
defining a plurality of emergency conditions;
associating each emergency condition of the plurality of emergency conditions with a corresponding priority level;
associating the each emergency condition with a corresponding objective;
sensing a plurality of operating parameters of the unmanned aerial vehicle to detect whether one of the plurality of emergency conditions exists;
when one or more emergency conditions is detected:
generating a trajectory for a particular emergency condition having a highest associated priority level, wherein the trajectory is generated in accordance with a particular objective associated with the particular emergency condition that has the highest associated priority level; and
instructing the unmanned aerial vehicle to follow the trajectory.

2. The method of claim 1 , further comprising the steps of:
storing a plurality of flight termination points; and
identifying an available subset of the plurality of flight termination points at which a landing is possible,
wherein the step of generating the trajectory involves generating the trajectory terminating at one of the available subset.

3. The method of claim 2 , further comprising the steps of:
associating each of the plurality of flight termination points with a corresponding rank, wherein the step of generating the trajectory terminating in the one of the available subset involves:
selecting the flight termination points of the available subset that are associated with a highest rank; and
generating the trajectory terminating at one of the selected flight termination points.

4. The method of claim 1 , wherein:
the unmanned aerial vehicle comprises an engine for providing propulsion;
the operating parameters comprise an output speed of the engine; and
the particular emergency condition is engine failure.

5. The method of claim 4 , wherein the engine failure is associated with a greatest priority level.

6. The method of claim 4 , wherein the particular objective is a most efficient gliding trajectory to a flight termination point.

7. The method of claim 1 , wherein:
the unmanned aerial vehicle comprises means for providing electrical power;
the operating parameters comprise a level of current provided by the means for providing electrical power;
the method further comprises the step of defining a threshold current; and
the particular emergency condition is the level of current being lower than the threshold current.

8. The method of claim 7 , wherein the level of current is associated with a second greatest priority level.

9. The method of claim 7 , wherein the particular objective is a fastest return to a flight termination point.

10. The method of claim 1 , wherein:
the unmanned aerial vehicle comprises a stored resource;
the operating parameters comprise an amount of the stored resource;
the method comprises the step of defining a threshold amount of the stored resource; and
the particular emergency condition is the amount of stored resource being lower than the threshold amount.

11. The method of claim 10 , wherein the particular emergency condition is a third greatest priority level.

12. The method of claim 10 , wherein the step of defining the threshold amount comprises:
identifying a flight termination point;
generating a trajectory terminating in the identified flight termination point; and
determining a minimum amount of the stored resource required to achieve the trajectory.

13. The method of claim 10 , wherein the particular objective is a most economic return to a flight termination point.

14. The method of claim 1 , wherein:
the unmanned aerial vehicle comprises a communications system configured to receive a control signal from a remote station;
the operating parameters comprise a strength of the control signal;
the method comprises the step of defining a threshold signal strength; and
the particular emergency condition is a strength of the control signal being lower than the threshold signal strength.

15. The method of claim 14 , wherein the particular emergency condition is a least priority level.

16. The method of claim 14 , wherein the particular objective is a most economic return to a flight termination point.

17. An emergency response system for an unmanned aerial vehicle, comprising:
an input device configured to receive a plurality of operating parameters of the unmanned aerial vehicle;
a processor configured to:
detect when one or more emergency conditions are present using the plurality of operating parameters;
identify a corresponding priority level associated with each of the one or more the emergency conditions;
identify an objective associated with a particular emergency condition of the one or more emergency conditions that is associated with a highest priority level;
generate a trajectory based upon the objective; and

an output device configured to output the trajectory.

Assignees

• Boeing Co

Inventors

• Fucke Lars
• Sweeney Stephen

Classifications

• G08G5/54

  for approach or landing · CPC title

• B64C19/00 Primary

  Aircraft control not otherwise provided for · CPC title

• G05D1/0005

  with arrangements to save energy · CPC title

• G05D1/101 Primary

  specially adapted for aircraft · CPC title