Selection between explore mode and control mode for aerial vehicle

Patent metadata

Field	Value
Publication number	US-9836063-B1
Application number	US-201514962180-A
Country	US
Kind code	B1
Filing date	Dec 8, 2015
Priority date	Dec 8, 2015
Publication date	Dec 5, 2017
Grant date	Dec 5, 2017

Abstract

Example implementations may relate to selection between a first mode and a second mode. The first mode may involve (i) directing an aerial vehicle (e.g., in an aerial network including a plurality of aerial vehicles) to navigate to each of a plurality of altitudes and (ii) determining respective wind-related data at each respective altitude. Whereas, the second mode may involve (i) selecting at least one altitude based on the determined wind-related data and (ii) directing the aerial vehicle to reposition to the at least one selected altitude. As such, a control system may determine flight data for the aerial vehicle. Based on the flight data, the control system may make a selection between the first mode and the second mode. And based on the selection, the control system may then operate the aerial vehicle according to the first mode or may operate the aerial vehicle according to the second mode.

First claim

We claim:

1. A method comprising:
determining, by a control system, flight data for a particular aerial vehicle in an aerial network comprising a plurality of aerial vehicles;
based at least in part on the flight data, the control system making a selection between a first mode and a second mode, wherein operation in the first mode comprises the control system (i) directing the particular aerial vehicle to navigate to each of a plurality of altitudes and (ii) determining respective wind-related data at each respective altitude of the plurality of altitudes, and wherein operation in the second mode comprises the control system (i) selecting at least one altitude based at least in part on the determined wind-related data and (ii) directing the particular aerial vehicle to reposition to the at least one selected altitude; and
based on the selection, the control system operating the particular aerial vehicle according to the first mode or operating the particular aerial vehicle according to the second mode,
wherein determining the flight data comprises determining a fixed schedule that indicates (i) one or more first time frames during which the control system is to operate the particular aerial vehicle according to the first mode and (ii) one or more second time frames during which the control system is to operate the particular aerial vehicle according to the second mode, and wherein making the selection is based at least in part on the determined fixed schedule.

2. The method of claim 1 , wherein determining respective wind-related data at each respective altitude of the plurality of altitudes comprises determining one or more of the following parameters: (a) respective wind direction at each respective altitude of the plurality of altitudes and (b) respective wind velocity at each respective altitude of the plurality of altitudes.

3. The method of claim 1 , making the selection based at least in part on the determined fixed schedule comprises:
determining a current time at a current location of the particular aerial vehicle;
determining whether the current time is within at least one of the one or more first time frames or whether the current time is within at least one of the one or more second time frames;
if the determination is that the current time is within at least one of the one or more first time frames, then responsively selecting the first mode; and
if the determination is that the current time is within at least one of the one or more second time frames, then responsively selecting the second mode.

4. The method of claim 1 , wherein the first mode comprises an explore mode, and wherein the second mode comprises a control mode.

5. A method comprising:
determining, by a control system, flight data for a particular aerial vehicle in an aerial network comprising a plurality of aerial vehicles;
based at least in part on the flight data, the control system making a selection between a first mode and a second mode, wherein operation in the first mode comprises the control system (i) directing the particular aerial vehicle to navigate to each of a plurality of altitudes and (ii) determining respective wind-related data at each respective altitude of the plurality of altitudes, and wherein operation in the second mode comprises the control system (i) selecting at least one altitude based at least in part on the determined wind-related data and (ii) directing the particular aerial vehicle to reposition to the at least one selected altitude; and
based on the selection, the control system operating the particular aerial vehicle according to the first mode or operating the particular aerial vehicle according to the second mode,
wherein determining the flight data comprises determining a level of uncertainty related to respective wind conditions at at least one respective altitude of the plurality of altitudes, wherein making the selection is based at least in part on the determined level of uncertainty, and wherein determining the level of uncertainty comprises:
determining a first set of data representative of most recently recorded respective wind conditions at the at least one respective altitude;
determining a second set of data representative of one or more of the following conditions: (i) historical respective wind conditions at the at least one respective altitude and (ii) predicted future respective wind conditions at the at least one respective altitude;
comparing the first set of data to the second set of data; and
determining the level of uncertainty based on the comparison.

6. The method of claim 5 , wherein comparing the first set of data to the second set of data comprises:
based on the first set of data, determining a specific duration since recording of the most recently recorded respective wind conditions at the at least one respective altitude;
based on the second set of data, determining an average duration for which respective wind conditions at the at least one respective altitude remain substantially consistent;
determining a difference between the specific duration and the average duration; and
determining the level of uncertainty corresponding to the difference.

7. The method of claim 5 , wherein making the selection based at least in part on the determined level of uncertainty comprises:
determining whether the determined level of uncertainty is above a threshold level of uncertainty or whether the determined level of uncertainty is below the threshold level of uncertainty;
if the determination is that the determined level of uncertainty is above the threshold level of uncertainty, then responsively selecting the first mode; and
if the determination is that the determined level of uncertainty is below the threshold level of uncertainty, then responsively selecting the second mode.

8. A method comprising:
determining, by a control system, flight data for a particular aerial vehicle in an aerial network comprising a plurality of aerial vehicles;
based at least in part on the flight data, the control system making a selection between a first mode and a second mode, wherein operation in the first mode comprises the control system (i) directing the particular aerial vehicle to navigate to each of a plurality of altitudes and (ii) determining respective wind-related data at each respective altitude of the plurality of altitudes, and wherein operation in the second mode comprises the control system (i) selecting at least one altitude based at least in part on the determined wind-related data and (ii) directing the particular aerial vehicle to reposition to the at least one selected altitude; and
based on the selection, the control system operating the particular aerial vehicle according to the first mode or operating the particular aerial vehicle according to the second mode,
wherein determining the flight data comprises determining capability of the particular aerial vehicle to move in a particular direction, and wherein making the selection is based at least in part on the determined capability of the particular aerial vehicle to move in the particular direction.

9. The method of claim 8 , wherein making the selection based at least in part on the determined capability of the particular aerial vehicle to move in the particular direction comprises:
if the determination is that the particular aerial vehicle is capable of moving in the particular direction, then responsively selecting the second mode; and
if the determination is that the particular aerial vehicle is not capable of moving in the particular direction, then responsively selecting the first mode.

10. A method comprising:
determining, by a control system, flight data for a particular aerial vehicle in an aeria

Assignees

• X Dev Llc

Inventors

• Bonawitz Keith Allen
• Mathe Johan

Classifications

• G05D1/042 Primary

  specially adapted for aircraft · CPC title

• B64B1/40

  Balloons (B64B1/58 takes precedence; toy balloons A63H27/10) · CPC title

• G08G5/727

  from a ground station · CPC title

• G08G5/76

  for monitoring atmospheric conditions · CPC title

• G08G5/57

  for unmanned aircraft · CPC title