Supervisory control of an unmanned aerial vehicle

Patent metadata

Field	Value
Publication number	US-9817396-B1
Application number	US-201414587091-A
Country	US
Kind code	B1
Filing date	Dec 31, 2014
Priority date	Jun 9, 2014
Publication date	Nov 14, 2017
Grant date	Nov 14, 2017

Abstract

An unmanned aerial vehicle (UAV) is disclosed that may allow for supervisory control interaction by a remote operator to assist with navigation to a target location. The UAV may navigate to a target area and capture and send an image of the target area to the remote operator. The remote operator can then provide a user input that indicates a target location within the target area. Upon receiving an indication of the target area, the UAV can then autonomously navigate to the target location. In some examples, after reaching the target location, the UAV may initiate delivery of a payload at the target location using a retractable delivery system while the UAV hovers above.

First claim

What is claimed is:

1. An unmanned aerial vehicle (UAV) comprising:
an image capture system;
a communication system configured for wireless communications; and
a control system configured to:
use output from a navigation module to autonomously navigate the UAV in a forward-flight mode to a target area;
in response to determining that the UAV is located in the target area: (i) operate the UAV in a hover mode, (ii) operate the image capture system to capture image data of at least a portion of the target area, and (iii) operate the communication system to send a first data communication based on the captured image data, wherein the first data communication is directed to a remote terminal;
receive, in response to the first data communication, a second data communication comprising an indication of a target location within the target area;
use a first image coordinate associated with the received indication of the target location, a second image coordinate associated with a point of view of the image capture system, and a current elevation of the UAV as a basis to determine a translational offset to the target location relative to a current location of the UAV;
determine flight-control commands to navigate the UAV from a current location within the target area to the target location within the target area, wherein the flight-control commands include one or more commands to cause the UAV to traverse the determined translational offset in hover mode; and

cause the UAV to navigate, in hover mode, to the target location in accordance with the determined flight-control commands.

2. The UAV of claim 1 , wherein the first and second image coordinates are each associated with pixel coordinates within the image data of the target area.

3. The UAV of claim 1 , wherein the control system determining the translational offset comprises the control system: (i) determining an orientation of the translational offset based on a position of the first image coordinate with respect to the second image coordinate, and (ii) determining a magnitude of the translational offset based on a displacement between the first and second image coordinates and the current elevation.

4. The UAV of claim 1 , wherein the image capture system is a downward-facing image capture system mounted on the UAV via a gimbal mount.

5. The UAV of claim 1 , further comprising a retractable delivery system comprising: (i) a delivery device configured to selectively secure a payload and release the payload, (ii) a tether coupled to the delivery device, and (iii) a retraction system configured to apply force on the tether while the delivery device is suspended from the UAV by the tether so as to alternately lower the delivery device from the UAV and retract the delivery device back to the UAV, and
wherein the control system is further configured to, in response to causing the UAV to fly to the target location, use the retractable delivery system to lower the payload to ground level and release the payload at ground level.

6. The UAV of claim 5 , wherein the control system is further configured to, prior to using the retractable delivery system to lower and release the payload at ground level: (i) send, to the remote terminal, a third data communication comprising an indication that the UAV is hovering at the target location, and (ii) receive, from the remote terminal, a fourth data communication comprising an authorization to initiate delivery.

7. The UAV of claim 5 , wherein the control system is further configured to:
receive, from the remote terminal, a communication comprising authorization to retract the delivery device to the UAV; and
in response to receiving the authorization to retract, use the retractable delivery system to initiate retraction of the delivery device to the UAV.

8. The UAV of claim 5 , wherein the control system is further configured to:
receive, from the remote terminal, a third data communication comprising an indication of a position adjustment for the UAV so as to account for a wind-induced movement of the delivery device while the delivery device is suspended from the UAV by the tether; and
cause the UAV to navigate, in hover mode, in accordance with the indicated position adjustment.

9. The UAV of claim 1 , wherein the second data communication was generated by the remote terminal, wherein the indication of the target location was generated by the remote terminal based on the first data communication, and wherein the target location is indicated within the image data of the target area.

10. A method comprising:
causing an unmanned aerial vehicle (UAV) to navigate, in a forward-flight mode, to a target area;
in response to determining that the UAV is located in the target area: (i) operating the UAV in a hover mode, (ii) operating an image capture system to capture image data of at least a portion of the target area, and (iii) sending a first data communication based on the captured image data, wherein the first data communication is directed to a remote terminal;
in response to the first data communication, receiving a second data communication comprising an indication of a target location within the target area;
using a first image coordinate associated with the received indication of the target location, a second image coordinate associated with a point of view of the image capture system, and a current elevation of the UAV as a basis for determining a translational offset to the target location relative to a current location of the UAV;
determining flight-control commands to navigate the UAV from a current location within the target area to the target location within the target area, wherein the flight-control commands include one or more commands to cause the UAV to traverse the determined translational offset in hover mode; and
causing the UAV to navigate, in hover mode, to the target location in accordance with the determined flight-control commands.

11. The method of claim 10 , further comprising, in response to causing the UAV to navigate to the target location, using a retractable delivery system to lower a payload to ground level and release the payload at ground level, wherein the retractable delivery system comprises: (i) a delivery device configured to selectively secure the payload and release the payload, (ii) a tether coupled to the delivery device, and (iii) a retraction system configured to apply force on the tether while the delivery device is suspended from the UAV by the tether so as to alternately lower the delivery device from the UAV and retract the delivery device back to the UAV.

12. The method of claim 11 , further comprising, prior to using the retractable delivery system to lower and release the payload at ground level: (i) sending, to the remote terminal, a third data communication comprising an indication that the UAV is hovering at the target location, and (ii) receiving, from the remote terminal, a fourth data communication comprising an authorization to initiate delivery.

13. The method of claim 11 , further comprising:
receiving, from the remote terminal, a third data communication comprising authorization to retract the delivery device to the UAV; and
in response to receiving the authorization to retract, using the retractable delivery system to initiate retraction of the delivery device to the UAV.

14. The method of claim 11 , further comprising:
receiving, from the remote terminal, a third data communication comprising an indication of a position adjustment for the UAV so as to account for a wind-induced movement of the delivery device while the delivery device is suspended from the UAV by the tether; an

Assignees

• X Dev Llc

Inventors

• Takayama Leila
• Alexander brandon
• Graves Roger William
• Sadowski Justin
• Bachrach Abraham

Classifications

• B64U2201/10

  autonomous, i.e. by navigating independently from ground or air stations, e.g. by using inertial navigation systems [INS] · CPC title

• B64U2201/20

  Remote controls · CPC title

• B64C39/024

  of the remote controlled vehicle type, i.e. RPV · CPC title

• B64C2201/128

  Operations & Transport · mapped topic

• B64C2201/141

  Operations & Transport · mapped topic