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WO2022060770A1 - Procédé et système de détection et d'évitement pour véhicules aériens - Google Patents

Procédé et système de détection et d'évitement pour véhicules aériens Download PDF

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Publication number
WO2022060770A1
WO2022060770A1 PCT/US2021/050369 US2021050369W WO2022060770A1 WO 2022060770 A1 WO2022060770 A1 WO 2022060770A1 US 2021050369 W US2021050369 W US 2021050369W WO 2022060770 A1 WO2022060770 A1 WO 2022060770A1
Authority
WO
WIPO (PCT)
Prior art keywords
flying vehicle
subsystem
subsystems
packages
detect
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Ceased
Application number
PCT/US2021/050369
Other languages
English (en)
Inventor
Manal Habib
Scott Parker
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Mightyfly Inc
Original Assignee
Mightyfly Inc
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Priority claimed from US17/218,032 external-priority patent/US20210309354A1/en
Application filed by Mightyfly Inc filed Critical Mightyfly Inc
Publication of WO2022060770A1 publication Critical patent/WO2022060770A1/fr
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

Links

Classifications

    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G5/00—Traffic control systems for aircraft
    • G08G5/80—Anti-collision systems
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64C—AEROPLANES; HELICOPTERS
    • B64C1/00—Fuselages; Constructional features common to fuselages, wings, stabilising surfaces or the like
    • B64C1/22—Other structures integral with fuselages to facilitate loading, e.g. cargo bays, cranes
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64C—AEROPLANES; HELICOPTERS
    • B64C29/00—Aircraft capable of landing or taking-off vertically, e.g. vertical take-off and landing [VTOL] aircraft
    • B64C29/0008—Aircraft capable of landing or taking-off vertically, e.g. vertical take-off and landing [VTOL] aircraft having its flight directional axis horizontal when grounded
    • B64C29/0016—Aircraft capable of landing or taking-off vertically, e.g. vertical take-off and landing [VTOL] aircraft having its flight directional axis horizontal when grounded the lift during taking-off being created by free or ducted propellers or by blowers
    • B64C29/0025—Aircraft capable of landing or taking-off vertically, e.g. vertical take-off and landing [VTOL] aircraft having its flight directional axis horizontal when grounded the lift during taking-off being created by free or ducted propellers or by blowers the propellers being fixed relative to the fuselage
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64D—EQUIPMENT FOR FITTING IN OR TO AIRCRAFT; FLIGHT SUITS; PARACHUTES; ARRANGEMENT OR MOUNTING OF POWER PLANTS OR PROPULSION TRANSMISSIONS IN AIRCRAFT
    • B64D9/00—Equipment for handling freight; Equipment for facilitating passenger embarkation or the like
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64D—EQUIPMENT FOR FITTING IN OR TO AIRCRAFT; FLIGHT SUITS; PARACHUTES; ARRANGEMENT OR MOUNTING OF POWER PLANTS OR PROPULSION TRANSMISSIONS IN AIRCRAFT
    • B64D9/00—Equipment for handling freight; Equipment for facilitating passenger embarkation or the like
    • B64D9/003—Devices for retaining pallets or freight containers
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U10/00—Type of UAV
    • B64U10/20—Vertical take-off and landing [VTOL] aircraft
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U30/00—Means for producing lift; Empennages; Arrangements thereof
    • B64U30/10—Wings
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U70/00—Launching, take-off or landing arrangements
    • B64U70/80—Vertical take-off or landing, e.g. using rockets
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S15/00—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems
    • G01S15/87—Combinations of sonar systems
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S15/00—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems
    • G01S15/88—Sonar systems specially adapted for specific applications
    • G01S15/93—Sonar systems specially adapted for specific applications for anti-collision purposes
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G5/00—Traffic control systems for aircraft
    • G08G5/20—Arrangements for acquiring, generating, sharing or displaying traffic information
    • G08G5/21—Arrangements for acquiring, generating, sharing or displaying traffic information located onboard the aircraft
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G5/00—Traffic control systems for aircraft
    • G08G5/20—Arrangements for acquiring, generating, sharing or displaying traffic information
    • G08G5/25—Transmission of traffic-related information between aircraft
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G5/00—Traffic control systems for aircraft
    • G08G5/20—Arrangements for acquiring, generating, sharing or displaying traffic information
    • G08G5/26—Transmission of traffic-related information between aircraft and ground stations
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G5/00—Traffic control systems for aircraft
    • G08G5/50—Navigation or guidance aids
    • G08G5/54—Navigation or guidance aids for approach or landing
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G5/00—Traffic control systems for aircraft
    • G08G5/50—Navigation or guidance aids
    • G08G5/55—Navigation or guidance aids for a single aircraft
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G5/00—Traffic control systems for aircraft
    • G08G5/70—Arrangements for monitoring traffic-related situations or conditions
    • G08G5/72—Arrangements for monitoring traffic-related situations or conditions for monitoring traffic
    • G08G5/723—Arrangements for monitoring traffic-related situations or conditions for monitoring traffic from the aircraft
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G5/00—Traffic control systems for aircraft
    • G08G5/70—Arrangements for monitoring traffic-related situations or conditions
    • G08G5/76—Arrangements for monitoring traffic-related situations or conditions for monitoring atmospheric conditions
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64D—EQUIPMENT FOR FITTING IN OR TO AIRCRAFT; FLIGHT SUITS; PARACHUTES; ARRANGEMENT OR MOUNTING OF POWER PLANTS OR PROPULSION TRANSMISSIONS IN AIRCRAFT
    • B64D9/00—Equipment for handling freight; Equipment for facilitating passenger embarkation or the like
    • B64D2009/006—Rollers or drives for pallets of freight containers, e.g. PDU
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U2101/00—UAVs specially adapted for particular uses or applications
    • B64U2101/60—UAVs specially adapted for particular uses or applications for transporting passengers; for transporting goods other than weapons
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U2201/00—UAVs characterised by their flight controls
    • B64U2201/10—UAVs characterised by their flight controls autonomous, i.e. by navigating independently from ground or air stations, e.g. by using inertial navigation systems [INS]
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
    • G01S13/86—Combinations of radar systems with non-radar systems, e.g. sonar, direction finder
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
    • G01S13/88—Radar or analogous systems specially adapted for specific applications
    • G01S13/93—Radar or analogous systems specially adapted for specific applications for anti-collision purposes
    • G01S13/933—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of aircraft or spacecraft
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
    • G01S13/88—Radar or analogous systems specially adapted for specific applications
    • G01S13/95—Radar or analogous systems specially adapted for specific applications for meteorological use
    • G01S13/953—Radar or analogous systems specially adapted for specific applications for meteorological use mounted on aircraft
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G5/00—Traffic control systems for aircraft
    • G08G5/50—Navigation or guidance aids
    • G08G5/57—Navigation or guidance aids for unmanned aircraft

Definitions

  • aerial delivery shipments can be subject to delays under certain weather and/or traffic circumstances, which can significantly reduce revenue or otherwise decrease throughput. These issues additionally extend beyond the context of aerial delivery operations, and apply to passenger transport as well. [0006] Thus, there is a need in the field of aerial vehicles to create new and useful detect and avoid systems.
  • system 100 can include architecture and structures for wireless interfaces with remote sensors (e.g., sensors for generating signals in relation to wind parameters, barometric parameters, real-time kinematic (RTK) GPS parameters, etc.), in order to enhance navigation and thus, accuracy in delivery of packages.
  • system 100 can include architecture and structures for interfaces with unmanned traffic management (UTM) services that provide automated flight approvals and navigation assistance for the flight and delivery of the packages.
  • UDM unmanned traffic management
  • the second subset of thrust generating devices 148 can include more than one forward thrust generating devices coupled to other portions of the flying vehicle (e.g., contralaterally, extending from the flying vehicle 110 near the leading edge of each wing, extending from the flying vehicle no near the trailing edge of each wing, near the nose portion, etc.).
  • the forward thrust generating device(s) 145 can provide thrust, while other power plant aspects (e.g., engines) can additionally be used for thrust (e.g., via a planetary gearbox) in addition to for other purposes (e.g., recharging batteries, etc.) via power take-off devices (e.g., electric motors).
  • the package conveying subsystem 150 can be configured to adjust timing (e.g., postpone) package delivery, drop a package from a different altitude, execute a maneuver to adjust a trajectory of a package (e.g., by waiting in a hover mode, by selecting another drop locations on, by alerting a remote operator or other entity, etc.), and/or execute another suitable operation.
  • timing e.g., postpone
  • the package conveying subsystem 150 can be configured to adjust timing (e.g., postpone) package delivery, drop a package from a different altitude, execute a maneuver to adjust a trajectory of a package (e.g., by waiting in a hover mode, by selecting another drop locations on, by alerting a remote operator or other entity, etc.), and/or execute another suitable operation.
  • the sensor subsystem 190 can include one or more acoustic sensors mounted to the flying vehicle no, where the acoustic sensors can be incorporated with an acoustic sensor subsystem 192 including sensors configured to capture soundwave or vibration-associated features from the environment of the sensor s/flying vehicle no.
  • the acoustic sensor subsystem 192 includes sensors for detecting soundwaves or vibrations associated with objects and/ or the environment about a path of operation of the flying vehicle 110, and/or any other suitable aspects to facilitate detect and avoid operation modes of the flying vehicle 110.
  • an extended Kalman filter (EKF) or sensor fusion algorithms implemented by processors can fuse the data from detect and avoid sensors and services, as well as from flying vehicle states to obtain an estimate of relative vectors (e.g., associated with motion and positions).
  • the processor(s) can include architecture for determining if the flying vehicle is on a collision course, based on the state of the flying vehicle and the state of the obstacles.
  • obstacle state data can be obtained from the detect and avoid inputs from one or more of: the detect and avoid sensory system, the UTM service; control ground station input; ADSB in or remote identifiers; and other suitable sources.

Landscapes

  • Engineering & Computer Science (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Remote Sensing (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Mechanical Engineering (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • Acoustics & Sound (AREA)
  • Management, Administration, Business Operations System, And Electronic Commerce (AREA)

Abstract

Des modes de réalisation de la ou des inventons portent sur un procédé et un système dans lesquels le système surveille des sorties d'un ensemble de sous-systèmes associés à un véhicule volant, le véhicule volant comprenant un ensemble de modes de fonctionnement à voilure fixe et un ensemble de modes de fonctionnement à décollage et atterrissage verticaux (VTOL), et l'ensemble de sous-systèmes générant des signaux associés à un environnement opérationnel entourant le véhicule volant ; à partir desdites sorties de l'ensemble de sous-systèmes, génère une évaluation de risque caractérisant un ou plusieurs dangers potentiels associés à l'environnement entourant le véhicule volant ; sur la base de l'évaluation de risque, renvoie des instructions pour l'exécution d'une opération de détection et d'évitement ; et exécute éventuellement l'opération de détection et d'évitement.
PCT/US2021/050369 2020-09-16 2021-09-15 Procédé et système de détection et d'évitement pour véhicules aériens Ceased WO2022060770A1 (fr)

Applications Claiming Priority (4)

Application Number Priority Date Filing Date Title
US202063079001P 2020-09-16 2020-09-16
US63/079,001 2020-09-16
US17/218,032 US20210309354A1 (en) 2020-04-07 2021-03-30 System and method for package transportation
US17/218,032 2021-03-30

Publications (1)

Publication Number Publication Date
WO2022060770A1 true WO2022060770A1 (fr) 2022-03-24

Family

ID=80775565

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/US2021/050369 Ceased WO2022060770A1 (fr) 2020-09-16 2021-09-15 Procédé et système de détection et d'évitement pour véhicules aériens

Country Status (1)

Country Link
WO (1) WO2022060770A1 (fr)

Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20180253981A1 (en) * 2012-05-09 2018-09-06 Singularity University Transportation using network of unmanned aerial vehicles
US20190193839A1 (en) * 2011-01-21 2019-06-27 Andreas Voss Aircraft
US20200010194A1 (en) * 2014-09-05 2020-01-09 SZ DJI Technology Co., Ltd. Context-based flight mode selection
US20200118450A1 (en) * 2018-10-11 2020-04-16 Xwing, Inc. Autonomous path planning

Patent Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20190193839A1 (en) * 2011-01-21 2019-06-27 Andreas Voss Aircraft
US20180253981A1 (en) * 2012-05-09 2018-09-06 Singularity University Transportation using network of unmanned aerial vehicles
US20200010194A1 (en) * 2014-09-05 2020-01-09 SZ DJI Technology Co., Ltd. Context-based flight mode selection
US20200118450A1 (en) * 2018-10-11 2020-04-16 Xwing, Inc. Autonomous path planning

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