ABSTRACT
Abstract
Systems and methods are provided for a network of relay drones utilized as a set of relays or linkages between a base station and a working drone controlled by the base station. The relay drones in the network may augment a communication link or communication signal between the base station and working drone. Relay drones may augment the communication link by acting as nodes that relay communication between the base station and the working drone by boosting the communication signal at each node to compensate for loss of signal power over a traveled distance and/or providing a path with a direct line of sight between the base station and working drone. Directional antennas may be utilized when a direct line of sight is established, which may improve communication signal efficacy when compared with omnidirectional antennas.
Description
FIELD
The present application relates generally to unpiloted devices such as drones, and more specifically to a system of a relay drones that relay data between a base station and a working drone.
BACKGROUND
Drones are unpiloted devices and may be used by the military, police, rescue, scientific, and commercial communities. One example of a drone is an unmanned device capable of controlled, sustained, and powered movement. As such, the designs of drones may consist of vehicles, aircraft, boats, submarines or spacecraft of various sizes, capabilities, and weights. A typical drone consists of a propulsion device, such as an engine, a navigation system, one or more sensors, and possibly cargo. For an aircraft or aerial drone, the sensors may provide information to a ground observer about the terrain the drone overflies, such as video information about a lost hiker in a rescue application, information from laser and/or biological sensors about environmental conditions in a scientific or security application, or a combination of video, laser, biological and other sensors concerning battlefield conditions in a military application. The cargo may be munitions, food, medicine, and/or other goods depending on the mission of the drone.
As the drone is unmanned, computer software executing on one or more processors aboard the drone partially or completely controls the drone. The computer software may control the various functions performed by the drone, perhaps with the aid of an observer.
There continues to be a need for expanded and more efficient uses of unmanned drones.
SUMMARY
Various implementations of systems, methods and devices within the scope of the appended claims each have several aspects, no single one of which is solely responsible for the desirable attributes described herein. Without limiting the scope of the appended claims, some prominent features are described herein.
Details of one or more implementations of the subject matter in this specification are set forth in the accompanying drawings and the description below. Other features, aspects, and advantages will become apparent from the description, the drawings, and the claims. Note that the relative dimensions of the following figures may not be drawn to scale.
In a particular embodiment, a system includes at least one relay drone configured to: remain within a line of sight of a base station; remain within a line of sight of a working drone; pass a control signal received from the base station to the working drone, and pass a data signal received from the working drone to the base station.
In another particular embodiment, the at least one relay drone comprises: a first relay drone configured to remain within the line of sight of the base station; and a second relay drone configured to remain within the line of sight of the working drone, the first relay drone configured to remain within a line of sight of the second relay drone.
In another particular embodiment, the line of sight of the working drone comprises an unobstructed linear relationship sufficient for unidirectional wireless communication between the at least one relay drone and the working drone.
In another particular embodiment, the line of sight of the base station comprises an unobstructed linear relationship sufficient for a cable to be tethered between the at least one relay drone and the base station.
In another particular embodiment, a first distance between the at least one relay drone and the working drone is an order of magnitude greater than a second distance between the at least one relay drone and the base station.
In another particular embodiment, the at least one relay drone is configured to move in response to base station movement to remain within the line of sight of the base station.
In another particular embodiment, the at least one relay drone is configured to receive a relay drone control signal, from the base station, that controls the relay drone.
In another particular embodiment, the relay drone control signal is not passed to the working drone.
In another particular embodiment, the relay drone control signal configures the at least one relay drone to adopt an autonomous flight pattern within a set distance from the base station.
In another particular embodiment, the at least one relay drone includes: an omnidirectional antenna configured to receive a location signal from the working drone; a first directional antenna configured to receive the control signal; and a second directional antenna configured to send the control signal.
In another particular embodiment, the omnidirectional antenna is on an opposite end of the at least one relay drone relative to the first directional antenna.
In another particular embodiment, the base station is not within the line of sight of the working drone.
In another particular embodiment, the at least one relay drone is not a fixed wing drone.
In another particular embodiment, the at least one relay drone is a multi-copter drone.
In another particular embodiment, the at least one relay drone is a glider tethered to the base station.
In another particular embodiment, the at least one relay drone is configured to receive a location signal from the working drone. The location signal includes GPS coordinates and an altitude.
In another particular embodiment, the at least one relay drone is configured to: remain within a line of sight of a second working drone; pass a second control signal received from the base station to the second working drone; and pass a second data signal received from the second working drone to the base station.
In another particular embodiment, the at least one relay drone comprises a single drone configured to: pass the control signal received from the base station to the working drone via a first directional antenna on the single drone; and pass the second control signal from the base station to the second working drone via a second directional antenna on the single drone.
In another particular embodiment, the working drone is configured for autonomous flight.
In another particular embodiment, the working drone is configured for autonomous movement on ground.
In another particular embodiment, the working drone is a communication device.
In another particular embodiment, the at least one relay drone comprises a directional antenna that points below at the base station.
In another particular embodiment, the directional antenna is oriented with a gimbal.
In another particular embodiment, the at least one relay drone comprises a second directional antenna that points at the working drone.
In another particular embodiment, the second directional antenna is oriented with a second gimbal.
In another particular embodiment, the at least one relay drone is configured to move from a first location to a second location with increased signal reception with the base station relative to the first location.
In another particular embodiment, the signal is the control signal or the data signal.
BRIEF DESCRIPTION OF THE DRAWINGS
The foregoing aspects and many of the attendant advantages will become more readily appreciated as the same become better understood by reference to the following detailed description, when taken in conjunction with the accompanying drawings, wherein:
FIG. 1 illustrates an example of a relay drone interacting with a working drone.
FIG. 2 illustrates an example of an aerial relay drone interacting with a ground vehicular working drone.
FIG. 3 illustrates an example of a system of multiple relay drones.
FIG. 4 illustrates an example relay drone interacting with a working drone using directional and omnidirectional antennas.
FIGS. 5A and 5B illustrate an example of a relay drone executing a navigational command with a moving base station.
FIG. 6 illustrates an example of a relay drone interacting with a handheld base station.
FIG. 7 illustrates an example of a relay drone tethered to a base station.
FIG. 8 illustrates an example of a relay drone interacting with multiple working drones.
FIG. 9 illustrates an example of a relay drone tracking a working drone along a yaw axis.
FIG. 10 illustrates an example of a relay drone tracking a working drone along a pitch axis.
FIG. 11 is a block diagram of example systems utilized in a relay drone system.
FIG. 12 is a flowchart of an example process for relay drone operation.
FIG. 13 is a flowchart of an example process for establishing a working drone communication link.
FIG. 14 is a flowchart of an example process for establishing a base station communication link.
FIG. 15 is a flowchart of an example process for establishing a relay drone communication link.
FIG. 16 illustrates a block diagram of an example system architecture for a drone.
DETAILED DESCRIPTION
Generally described, aspects of the present disclosure relate to systems and methods of at least one relay drone utilized to relay information between at least one base station and at least one working drone. While the specification describes specific examples of base stations, relay drones and working drones, the system and methods can be modified for any configuration of relay drones that may be controlled individually, or as a group, and pass information between a base station and a working drone.
In this specification, drones include any unmanned vehicle, such as an unmanned aerial vehicles (UAV), unpiloted aerial vehicle, remotely piloted aircraft, unmanned aircraft systems, any aircraft covered under Circular 328 AN/190 classified by the International Civil Aviation Organization, and so on. As an example, the drone may be in the form of a single or multi-rotor copter (e.g., a quad-copter) or a fixed wing aircraft. In addition, certain aspects of the disclosure can be utilized with drones in the form of other types of unmanned vehicles (e.g., wheeled, tracked, and/or water vehicles).
As described, a network of relay drones can be utilized as a set of relays or linkages between a base station and a working drone controlled by the base station. The relay drones in the network may augment a communication link or communication signal between the base station and working drone. In certain embodiments, relay drones may augment the communication link by acting as nodes that relay communication between the base station and the working drone by boosting the communication signal at each node to compensate for loss of signal power over a traveled distance and/or providing a path with a direct line of sight between the base station and working drone. Directional antennas may be utilized when a direct line of sight is established, which may improve communication signal efficacy when compared with omnidirectional antennas.
Furthermore, base stations and/or relay drones may utilize a communication protocol to initialize interaction with available relay drones and/or working drones. For example, in certain embodiments, available relay drones and/or working drones may transmit location information. This location information may be transmitted via an omnidirectional antenna; a directional antenna calibrated to a location of a base station, working drone, or relay drone; or a directional antenna executing a sweeping pattern across a space. Examples of omnidirectional antennas may include dipole antennas or monopole antennas. Examples of directional antennas may include dish antennas, parabolic antennas, yagi antennas, quad antennas, billboard antennas, lasers or helical antennas. Base stations and/or relay drones seeking to utilize available relay drones and/or working drones may receive the location information and transmit signals to the location of the available relay drones and/or working drones. These signals may be control signals that control a base station and/or relay drone or data signals that indicate an operational status or content captured by a working drone or relay drone. These control signals may be transmitted via an omnidirectional antenna or a directional antenna calibrated to the location of the available relay drones and/or working drones. Also, data signals from the available relay drones and/or working drones may be received from the omnidirectional antenna or a calibrated directional antenna. The data signals may be generated in response to a control signal and/or may be intended for receipt by a base station. Additionally, available relay drones and/or working drones may interact with base stations and/or other relay drones by transmitting location information so that the base station and/or other relay drones may send the available relay drone and/or working drone a control signal or data signal. In certain embodiments, a drone may be utilized either or both as a relay drone (when relaying communication) or a working drone (with collecting data for return to a base station). In certain embodiments a control signal may include a location signal that includes location information that can be utilized for establishment of a communication link, such as locations of a node (e.g., base stations, relay drones, working drones) or an antenna of a node of the relay drone network.
Relay drones can be utilized to maintain a broadband communication connection between a base station and at least one working drone, even if the base station, working drone, and/or relay drone is moving. This is also possible when the base station and working drone are separated, such as where there is no line of sight between the base station and working drone. Although the base station and working drone may be separated, a link can be maintained between the two via at least one relay drone. The relay drone can be stationary or be in motion so long as the relay drone maintains a line of sight with the base station and/or working drone. Maintaining a line of sight between each of the nodes of the relay drone network (such as between at least one base station, relay drone, and working drone) advantageously allows for more effective and efficient communication using directional antennas rather than omnidirectional antennas that may waste energy and signal str
FIELD
The present application relates generally to unpiloted devices such as drones, and more specifically to a system of a relay drones that relay data between a base station and a working drone.
BACKGROUND
Drones are unpiloted devices and may be used by the military, police, rescue, scientific, and commercial communities. One example of a drone is an unmanned device capable of controlled, sustained, and powered movement. As such, the designs of drones may consist of vehicles, aircraft, boats, submarines or spacecraft of various sizes, capabilities, and weights. A typical drone consists of a propulsion device, such as an engine, a navigation system, one or more sensors, and possibly cargo. For an aircraft or aerial drone, the sensors may provide information to a ground observer about the terrain the drone overflies, such as video information about a lost hiker in a rescue application, information from laser and/or biological sensors about environmental conditions in a scientific or security application, or a combination of video, laser, biological and other sensors concerning battlefield conditions in a military application. The cargo may be munitions, food, medicine, and/or other goods depending on the mission of the drone.
As the drone is unmanned, computer software executing on one or more processors aboard the drone partially or completely controls the drone. The computer software may control the various functions performed by the drone, perhaps with the aid of an observer.
There continues to be a need for expanded and more efficient uses of unmanned drones.
SUMMARY
Various implementations of systems, methods and devices within the scope of the appended claims each have several aspects, no single one of which is solely responsible for the desirable attributes described herein. Without limiting the scope of the appended claims, some prominent features are described herein.
Details of one or more implementations of the subject matter in this specification are set forth in the accompanying drawings and the description below. Other features, aspects, and advantages will become apparent from the description, the drawings, and the claims. Note that the relative dimensions of the following figures may not be drawn to scale.
In a particular embodiment, a system includes at least one relay drone configured to: remain within a line of sight of a base station; remain within a line of sight of a working drone; pass a control signal received from the base station to the working drone, and pass a data signal received from the working drone to the base station.
In another particular embodiment, the at least one relay drone comprises: a first relay drone configured to remain within the line of sight of the base station; and a second relay drone configured to remain within the line of sight of the working drone, the first relay drone configured to remain within a line of sight of the second relay drone.
In another particular embodiment, the line of sight of the working drone comprises an unobstructed linear relationship sufficient for unidirectional wireless communication between the at least one relay drone and the working drone.
In another particular embodiment, the line of sight of the base station comprises an unobstructed linear relationship sufficient for a cable to be tethered between the at least one relay drone and the base station.
In another particular embodiment, a first distance between the at least one relay drone and the working drone is an order of magnitude greater than a second distance between the at least one relay drone and the base station.
In another particular embodiment, the at least one relay drone is configured to move in response to base station movement to remain within the line of sight of the base station.
In another particular embodiment, the at least one relay drone is configured to receive a relay drone control signal, from the base station, that controls the relay drone.
In another particular embodiment, the relay drone control signal is not passed to the working drone.
In another particular embodiment, the relay drone control signal configures the at least one relay drone to adopt an autonomous flight pattern within a set distance from the base station.
In another particular embodiment, the at least one relay drone includes: an omnidirectional antenna configured to receive a location signal from the working drone; a first directional antenna configured to receive the control signal; and a second directional antenna configured to send the control signal.
In another particular embodiment, the omnidirectional antenna is on an opposite end of the at least one relay drone relative to the first directional antenna.
In another particular embodiment, the base station is not within the line of sight of the working drone.
In another particular embodiment, the at least one relay drone is not a fixed wing drone.
In another particular embodiment, the at least one relay drone is a multi-copter drone.
In another particular embodiment, the at least one relay drone is a glider tethered to the base station.
In another particular embodiment, the at least one relay drone is configured to receive a location signal from the working drone. The location signal includes GPS coordinates and an altitude.
In another particular embodiment, the at least one relay drone is configured to: remain within a line of sight of a second working drone; pass a second control signal received from the base station to the second working drone; and pass a second data signal received from the second working drone to the base station.
In another particular embodiment, the at least one relay drone comprises a single drone configured to: pass the control signal received from the base station to the working drone via a first directional antenna on the single drone; and pass the second control signal from the base station to the second working drone via a second directional antenna on the single drone.
In another particular embodiment, the working drone is configured for autonomous flight.
In another particular embodiment, the working drone is configured for autonomous movement on ground.
In another particular embodiment, the working drone is a communication device.
In another particular embodiment, the at least one relay drone comprises a directional antenna that points below at the base station.
In another particular embodiment, the directional antenna is oriented with a gimbal.
In another particular embodiment, the at least one relay drone comprises a second directional antenna that points at the working drone.
In another particular embodiment, the second directional antenna is oriented with a second gimbal.
In another particular embodiment, the at least one relay drone is configured to move from a first location to a second location with increased signal reception with the base station relative to the first location.
In another particular embodiment, the signal is the control signal or the data signal.
BRIEF DESCRIPTION OF THE DRAWINGS
The foregoing aspects and many of the attendant advantages will become more readily appreciated as the same become better understood by reference to the following detailed description, when taken in conjunction with the accompanying drawings, wherein:
FIG. 1 illustrates an example of a relay drone interacting with a working drone.
FIG. 2 illustrates an example of an aerial relay drone interacting with a ground vehicular working drone.
FIG. 3 illustrates an example of a system of multiple relay drones.
FIG. 4 illustrates an example relay drone interacting with a working drone using directional and omnidirectional antennas.
FIGS. 5A and 5B illustrate an example of a relay drone executing a navigational command with a moving base station.
FIG. 6 illustrates an example of a relay drone interacting with a handheld base station.
FIG. 7 illustrates an example of a relay drone tethered to a base station.
FIG. 8 illustrates an example of a relay drone interacting with multiple working drones.
FIG. 9 illustrates an example of a relay drone tracking a working drone along a yaw axis.
FIG. 10 illustrates an example of a relay drone tracking a working drone along a pitch axis.
FIG. 11 is a block diagram of example systems utilized in a relay drone system.
FIG. 12 is a flowchart of an example process for relay drone operation.
FIG. 13 is a flowchart of an example process for establishing a working drone communication link.
FIG. 14 is a flowchart of an example process for establishing a base station communication link.
FIG. 15 is a flowchart of an example process for establishing a relay drone communication link.
FIG. 16 illustrates a block diagram of an example system architecture for a drone.
DETAILED DESCRIPTION
Generally described, aspects of the present disclosure relate to systems and methods of at least one relay drone utilized to relay information between at least one base station and at least one working drone. While the specification describes specific examples of base stations, relay drones and working drones, the system and methods can be modified for any configuration of relay drones that may be controlled individually, or as a group, and pass information between a base station and a working drone.
In this specification, drones include any unmanned vehicle, such as an unmanned aerial vehicles (UAV), unpiloted aerial vehicle, remotely piloted aircraft, unmanned aircraft systems, any aircraft covered under Circular 328 AN/190 classified by the International Civil Aviation Organization, and so on. As an example, the drone may be in the form of a single or multi-rotor copter (e.g., a quad-copter) or a fixed wing aircraft. In addition, certain aspects of the disclosure can be utilized with drones in the form of other types of unmanned vehicles (e.g., wheeled, tracked, and/or water vehicles).
As described, a network of relay drones can be utilized as a set of relays or linkages between a base station and a working drone controlled by the base station. The relay drones in the network may augment a communication link or communication signal between the base station and working drone. In certain embodiments, relay drones may augment the communication link by acting as nodes that relay communication between the base station and the working drone by boosting the communication signal at each node to compensate for loss of signal power over a traveled distance and/or providing a path with a direct line of sight between the base station and working drone. Directional antennas may be utilized when a direct line of sight is established, which may improve communication signal efficacy when compared with omnidirectional antennas.
Furthermore, base stations and/or relay drones may utilize a communication protocol to initialize interaction with available relay drones and/or working drones. For example, in certain embodiments, available relay drones and/or working drones may transmit location information. This location information may be transmitted via an omnidirectional antenna; a directional antenna calibrated to a location of a base station, working drone, or relay drone; or a directional antenna executing a sweeping pattern across a space. Examples of omnidirectional antennas may include dipole antennas or monopole antennas. Examples of directional antennas may include dish antennas, parabolic antennas, yagi antennas, quad antennas, billboard antennas, lasers or helical antennas. Base stations and/or relay drones seeking to utilize available relay drones and/or working drones may receive the location information and transmit signals to the location of the available relay drones and/or working drones. These signals may be control signals that control a base station and/or relay drone or data signals that indicate an operational status or content captured by a working drone or relay drone. These control signals may be transmitted via an omnidirectional antenna or a directional antenna calibrated to the location of the available relay drones and/or working drones. Also, data signals from the available relay drones and/or working drones may be received from the omnidirectional antenna or a calibrated directional antenna. The data signals may be generated in response to a control signal and/or may be intended for receipt by a base station. Additionally, available relay drones and/or working drones may interact with base stations and/or other relay drones by transmitting location information so that the base station and/or other relay drones may send the available relay drone and/or working drone a control signal or data signal. In certain embodiments, a drone may be utilized either or both as a relay drone (when relaying communication) or a working drone (with collecting data for return to a base station). In certain embodiments a control signal may include a location signal that includes location information that can be utilized for establishment of a communication link, such as locations of a node (e.g., base stations, relay drones, working drones) or an antenna of a node of the relay drone network.
Relay drones can be utilized to maintain a broadband communication connection between a base station and at least one working drone, even if the base station, working drone, and/or relay drone is moving. This is also possible when the base station and working drone are separated, such as where there is no line of sight between the base station and working drone. Although the base station and working drone may be separated, a link can be maintained between the two via at least one relay drone. The relay drone can be stationary or be in motion so long as the relay drone maintains a line of sight with the base station and/or working drone. Maintaining a line of sight between each of the nodes of the relay drone network (such as between at least one base station, relay drone, and working drone) advantageously allows for more effective and efficient communication using directional antennas rather than omnidirectional antennas that may waste energy and signal strength through signal propagation in a direction known to not have a base station, relay drone, and/or working drone. This advantage is acute when communication requiring a high bitrate, such as streaming live 4K+ video (e.g., resolution of 8.3+ megapixels), is desired. Also, a base station that communicates with a working drone via a relay drone may advantageously increase a working drone operating range to higher altitudes or greater distances while maintaining a strong connection link (via directional antennas or a direct line of sight between each of the base stations, relay drones, and working drones). Operation at such higher altitudes or greater distances that may overcome limitations presented by environmental factors (such as loss of a line of sight due to the curvature of the earth as illustrated in FIG. 1 ). In certain embodiments, such communication links may be wireless while in other embodiments, such communication links may be wired, while in yet other embodiments such communication links may be a combination of wireless and wired linkages. In certain embodiments, communication links may be continuously sending and/or receiving information, such as by refreshing several times per second.
In certain embodiments, a line of sight can be maintained by controlling the relay drone to remain within a distance of a node of the relay drone network (e.g., base stations, relay drones, working drones) when the airspace or line of sight between the relay drone to another node of the relay drone network is known to be clear (as opposed to have to relay drone move beyond the horizon from another node of the relay drone network). Also, a line of sight can be maintained by controlling the relay drone to avoid known obstacles between the relay drone and another node in the relay drone network, such as where avoiding navigation into a region known to not have line of sight to another node in the relay drone network. These known obstacles may be sensed on the fly by nodes of the relay drone network utilizing sensors that can sense the surroundings of the nodes or from predetermined information concerning the surroundings of the nodes, such as maps or other geospatial information.
In certain embodiments, the relay drone network may dynamically change a line of sight path from a base station to a working drone. For example, a base station may communicate with a working drone via a first working drone. However, the first working drone may have a limited operational time or suffer technical difficulties and be taken out of commission. Thereby, a second relay drone may be brought into the relay drone network so that the base station may communicate with the working drone via the second relay drone rather than the first relay drone. Also, reception from or to relay drones may falter, such as due to environmental factors or obstacles that come in-between nodes in the relay drone network, and other relay drones may take the place of the faltering relay drone in the relay drone network to relay communication between a base station and a working drone.
Furthermore, the relay drone can autonomously maintain a navigational pattern relative to either the base station, another relay drone, and/or working drone such that the line of sight between these nodes in the relay drone network are preserved and each node can constantly and easily monitor another node. For example, by maintaining a line of sight and or proximity between nodes of the relay drone network, failure at any node of the relay drone network can be more quickly recognized and addressed, such as by sending a replacement working drone and/or relay drone to replace a failed working drone and/or relay drone. Additionally, a relay drone may maintain a relatively close distance with a base station while maintaining contact with a relatively distant working drone. In certain embodiments, the distance at which a relay drone may operate from a base station may be set to be as close as possible or as close as reasonable given environmental or operational constraints, such as to maintain a safe operational distance from the base station to avoid crashing into the base station. Advantageously, maintaining a relay drone at a closest possible distance may enable replacement of a relay drone also to be as expedient as possible.
In certain embodiments, a relay drone can be a multi-rotor platform capable of vertical take off and landing (VTOL). Accordingly, the relay drone with VTOL capabilities can operate without need of a runway and more easily be launch from a base station, or location proximate to a base station, without a runway. VTOL relay drones may also be closer to a ground base station than a fixed wing relay drone.
In certain embodiments, a directional antenna can be attached to a drone and movable along a single axis, as opposed to other embodiments where the directional antenna is movable along multiple axes. A drone with an antenna movable along a single axis advantageously reduces the amount of hardware (such as motor, gear, and transmission components) that operates the directional antenna, advantageously reducing weight, power consumption and/or complexity of the drone while the antenna is calibrated to another node in the relay drone network (such as a base station, relay drone, or working drone) even while moving. This may result in increased or improved operational time due to conservation of energy usage. In certain embodiments, the single axis that a directional antenna may be movable along may be a pitch axis and movement along anther axis, such as a yaw axis, may be accomplished by moving an entire drone along the yaw axis, rather than just the directional antenna. Accordingly, this combination of movement along the yaw axis and the pitch axis provides a sufficient degree of freedom for a directional antenna to point at any spatial location away from a drone. Furthermore, such a combination of movement offers a stable data link by not tilting the drone and maintaining a parallel to horizontal position. By not tilting the drone, or otherwise affecting the drone's horizontal orientation, the drone may be less sensitive to environmental displacements, such as due to wind, rain, or air friction. These features may provide further advantages such as operation at higher altitudes or greater communication distance coverage while maintaining drone operational stability.
In certain embodiments, drones (such as relay drones or working drones) may include a lightning rod.
FIG. 1 illustrates an example of a relay drone 102 interacting with a working drone 104 and a base station 106 . The relay drone 102 may be actively controlled by the base station or autonomously configured to remain within a line of sight of the base station 106 . The relay drone 102 may be in a Follow Me mode where the relay drone 102 monitors the location of the base station 106 and maintains a location within a distance either above the location of the base station or behind the base station 106 as the base station 106 moves. For example, the base station 106 may transmit location information (a GPS location signal or other signal) to the relay drone 102 . A processor accessible to the relay drone may utilize the received location information to autonomously construct a route for the relay drone 102 to follow above or behind the base station 106 .
In certain embodiments, the relay drone 102 may autonomously sense the location of the base station 106 when engaging in a Follow Me mode without need for the base station 106 to actively broadcast its location. For example, the relay drone 102 may rely upon sensors on the relay drone 102 to locate the base station 106 (such as by image edge detection after a base station is identified in an image) or may follow a signature detectible from the base station 106 (such as a unique and trackable shape or color on the relay drone).
The relay drone 102 may be connected to the base station 106 and the working drone 104 via communication links, such as a base station communication link 108 B and a working drone communication link 108 A. In certain embodiments, the communication links may include a control signal and/or a data signal passed between the base station 106 , relay drone 102 , and working drone 104 . For example, a control signal may be passed from the base station 106 to the relay drone 102 , or between the relay drone 102 and the working drone 104 , that controls an aspect (such as a flight or navigation pattern, instrumentation use or communication protocol use) of the relay drone 102 or the working drone 104 . Also, a data signal (such as a video signal, drone status notification, or audio signal) may be passed from either the working drone 104 and/or the relay drone 102 to the base station. The communication link may be composed of any type of communication protocol from which devices can communicate with each other, such as one or combinations of infrared (IR) wireless communication, broadcast radio, satellite communication, microwave wireless communication, microwave radio, radio frequency, Wi-Fi, Bluetooth, Zigbee, GPC, GSM, RFID, OFDM or the like.
The communication links 108 A, 108 B can be effectuated by directional antennas or omnidirectional antennas. As the relay drone 102 can maintain a line of sight between the base station 106 and the working drone 104 , directional antennas can be utilized at the ends of the base station communication link 108 B between the relay drone 102 and base station 106 (via a directional antenna at the relay drone 102 pointing to the base station 106 and/or a directional antenna at the base station 106 pointing to the relay drone 102 ). Also, directional antennas can be utilized at the ends of the working drone communication link 108 A between the relay drone 102 and the working drone 104 (via a directional antenna at the relay drone 102 pointing to the working drone 104 and/or a directional antenna at the working drone 104 pointing to the relay drone 102 ). Usage of directional antennas at the end of the communication link
108 B, 108 A, can increase an effective use of signal strength and communicate either with greater signal strength at a same distance or at a same signal strength at greater distances when compared to a system that utilizes omnidirectional antennas without directional antennas.
Although a single antenna may be at the end of a communication link, multiple antennas and/or multiple types of antennas may also be utilized at the ends of a communication link. For example, both omnidirectional and directional antennas may be utilized at an end of a communication link, such as where certain types of data signals or control signals are passed using the omnidirectional antenna while other types of data signals or control signals are passed using the directional antenna. In certain embodiments, both directional and omnidirectional antennas can be utilized at different ends end of a communication link, such as where the relay drone 102 utilizes a directional antenna 110 A pointed at the base station 106 to communicate with the base station 106 , but the base station 106 utilizes an omnidirectional antenna to communicate with the relay drone 102 and/or where the relay drone 102 utilizes a directional antenna 110 B pointed at the working drone 104 to communicate with the working drone 104 but the working drone 104 utilizes an omnidirectional antenna to communicate with the relay drone 102 . Usage of both directional and omnidirectional antennas at the end of the communication link
108 B, 108 A, can increase an effective use of signal strength for the limited resources of the relay drone 102 , where the relay drone 102 can communicate either with greater signal strength at a same distance or at a same signal strength at greater distances when compared to a relay drone that utilizes omnidirectional antennas without directional antennas. In further embodiments, the relay drone can utilize a combination of directional and omnidirectional antennas, such as where the relay drone 102 utilizes an omnidirectional antenna to detect a signal indicating a location of the working drone 104 (and/or an antenna on the working drone 104 ) and/or a signal indicating a location of the base station 106 (and/or an antenna on the working drone 106 ). Also, the distance across the communication link
108 A, 108 B can be closer than a communication link via a satellite in space, advantageously allowing the system of relay drones to more effectively transmit large amounts of data, such as via wide band communication, when compared to communication using satellites in space.
In certain embodiments, omnidirectional antennas can be utilized at both ends of the communication link
108 A, 108 B. These omnidirectional antennas can transmit control data with lower bitrate compared with a data signal that includes content, such as audio and/or video content. Also, the omnidirectional antennas can utilize a narrow band signal for the control data (in contrast to a wide band signal that can be utilized for a data signal that includes content). In certain embodiments, the control signal transmissions using omnidirectional antennas can include locational data for the working drone 104 (and/or an antenna on the working drone 104 ), the relay drone 102 (and/or an antenna on the relay drone 102 ), and/or the base station 106 (and/or an antenna on the base station 106 ). After receipt of the locational data, a directional antenna can be calibrated to the location for more effective data transmission to the location. For example, after the relay drone 102 has received locational data for the working drone 104 , the relay drone 102 can adjust the direction of its directional antenna 110 B towards the working drone 104 to receive a much larger data signal (e.g., video data sent from the working drone 104 ) via a wide band connection.
The working drone 104 may be configured to be operational for an extended period, such as for 6-10 hours or 8+ hours, to perform a variety of tasks at the command of the base station 106 . The tasks may be performed by the working drone 104 executing a command or task in a control signal sent from the base station 106 and relayed via the relay drone 102 through the communication link
108 A, 108 B. In certain embodiments, the working drone 104 may be retired at the end of the operational period and a new working drone installed in its place. The retired working drone may return to the base station 106 or other mobile or stationary stations for maintenance (e.g., to recharge batteries and perform repairs) and the new working drone may be launched from the base station 106 or other mobile or stationary stations.
In certain embodiments, the working drone may be tasked with providing a visual ahead of where a moving object (e.g., boat, car, bicycle, helicopter) is going. The moving object may be the base station 106 or a moving object different than the base station 106 . In certain embodiments, the working drone 104 may be tasked with providing a visual of a location and sending data with the visual back to the base station 106 . The visual may be of possible rocks or icebergs in water, damaged or washed away roads, shipwrecks, refugees in the water or land, floating objects, packs of wild animals, floating cargo or debris, oil spills, weather conditions, visual manifestations of temperature changes, people in need of rescue, other moving objects and the like. In the illustrated embodiment, the working drone 104 may be tasked with visualizing an area encompassing a vessel 112 .
In certain embodiments, the working drone 104 may be tasked with performing an active role at a location. The location can be local to or distant from the base station 106 . This active role can be delivering cargo or a payload, such as dropping medical supplies, food supplies and/or a life saver. This active role may also be engaging in a search for an item (such as a vessel, a school of fish, or a missing person) or performing a rescue mission. These active roles may be performed automatically via a predetermined task protocol identified in a working drone control signal (such as by maintaining a holding pattern over an object while visualizing a selected object or dropping cargo at a location proximal to the object in an automated fashion) or as directly controlled by the base station 106 (such as by maintain a holding pattern over an object while visualizing the object or dropping cargo at a location proximal to the object under real time control of the base station 106 ). In the illustrated embodiment, the working drone 104 may be tasked with dropping a life saver for the vessel 112 that is at a location distant from the base station 106 and beyond the line of sight of the base station 106 .
Directional antennas may be stabilized on a gimbal. In certain embodiments, at least one directional antenna
110 A, 110 B on the relay drone 102 may be on a 2-axis gimbal for stability in receiving and sending signals, such as to and from the working drone 104 or the base station 106 . Other types of gimbal such as a 1-axis gimbal, 3-axis gimbal, or other types of known devices to compensate for movement (such as drone movement) can be used for stability in receiving and sending signals. Additionally, any directional antenna, whether on the relay drone 102 , the working drone 104 , or on the base station 106 , can be set on a 1-axis gimbal, 2-axis gimbal or a 3-axis gimbal for stability in receiving and sending signals. Other types of known devices to compensate for movement can be used for stability in receiving and sending signals, such as vibration dampening foam or springs.
In certain embodiments, the relay drone 102 may land on the base station 106 . The relay drone 102 may land on the base station 106 for periodic servicing, recharging, storage, and/or maintenance. Also, the working drone 104 can land on the base station 106 . The working drone 104 can land on the base station 106 for periodic servicing, recharging, downloading of data, storage, and/or maintenance. Optionally, the working drone 104 and/or the relay drone 102 can be launched from the base station 106 . The base station 106 may have a number of relay drones 102 and/or working drones 104 onboard so that even if each relay drone 102 and/or working drone 104 has a limited flight time, the base station 106 may rotate different relay drones 102 and/or working drones 104 for operation so that there is always a working drone 104 and/or a relay drone 102 operational or in the air while others are serviced or stored.
Although FIG. 1 illustrates only one relay drone 102 , as will be discussed further below, multiple relay drones 102 may be utilized to create a network of relay drones 102 that provides a path, via the network of relay drones 102 , with a direct line of sight between a base station 106 and a working drone</figure-callout
CLAIMS
Claims ( 27 )
What is claimed is:
1. A system comprising:
at least one relay drone configured to:
remain within an unobstructed straight line to a base station;
remain within an unobstructed straight line to a working drone;
pass a working drone control signal received from the base station to the working drone for the base station to control the working drone, and
pass a collected information data signal received from the working drone to the base station.
2. The system of claim 1 , wherein the at least one relay drone comprises:
a first relay drone configured to remain within the unobstructed straight line to the base station; and
a second relay drone configured to remain within the unobstructed straight line to the working drone, the first relay drone configured to remain within a line of sight of the second relay drone.
3. The system of claim 1 , wherein the unobstructed straight line to the working drone comprises an unobstructed linear relationship sufficient for unidirectional wireless communication between the at least one relay drone and the working drone.
4. The system of claim 1 , wherein the unobstructed straight line to the base station comprises an unobstructed linear relationship sufficient for a cable to be tethered between the at least one relay drone and the base station.
5. The system of claim 1 , wherein a first distance between the at least one relay drone and the working drone is an order of magnitude greater than a second distance between the at least one relay drone and the base station.
6. The system of claim 1 , wherein the at least one relay drone is configured to move in response to base station movement to remain within the unobstructed straight line to the base station.
7. The system of claim 1 , wherein the at least one relay drone is configured to receive a relay drone control signal, from the base station, that controls the relay drone.
8. The system of claim 7 , wherein the relay drone control signal is not passed to the working drone.
9. The system of claim 8 , wherein the relay drone control signal configures the at least one relay drone to adopt an autonomous flight pattern within a set distance from the base station.
10. The system of claim 1 , wherein the at least one relay drone comprises:
an omnidirectional antenna configured to receive a location signal from the working drone;
a first directional antenna configured to receive the working drone control signal; and
a second directional antenna configured to send the working drone control signal.
11. The system of claim 10 , wherein the omnidirectional antenna is on an opposite end of the at least one relay drone relative to the first directional antenna.
12. The system of claim 1 , wherein the base station is not within the unobstructed straight line to the working drone.
13. The system of claim 1 , wherein the at least one relay drone is not a fixed wing drone.
14. The system of claim 1 , wherein the at least one relay drone is a multi-copter drone.
15. The system of claim 1 , wherein the at least one relay drone is a glider tethered to the base station.
16. The system of claim 1 , wherein the at least one relay drone is configured to receive a location signal from the working drone, the location signal including GPS coordinates and an altitude.
17. The system of claim 1 , wherein the at least one relay drone is configured to:
remain within an unobstructed straight line to a second working drone;
pass a second working drone control signal received from the base station to the second working drone; and
pass a second data signal received from the second working drone to the base station.
18. The system of claim 17 , wherein the at least one relay drone comprises a single drone configured to:
pass the working drone control signal received from the base station to the working drone via a first directional antenna on the single drone; and
pass the second working drone control signal from the base station to the second working drone via a second directional antenna on the single drone.
19. The system of claim 1 , wherein the working drone is configured for autonomous flight.
20. The system of claim 1 , wherein the working drone is configured for autonomous movement on ground.
21. The system of claim 1 , wherein the working drone is a communication device.
22. The system of claim 1 , wherein the at least one relay drone comprises a directional antenna that points below at the base station.
23. The system of claim 22 , wherein the directional antenna is oriented with a gimbal.
24. The system of claim 23 , wherein the at least one relay drone comprises a second directional antenna that points at the working drone.
25. The system of claim 24 , wherein the second directional antenna is oriented with a second gimbal.
26. The system of claim 1 , wherein the at least one relay drone is configured to move from a first location to a second location with increased signal reception with the base station relative to the first location.
27. The system of claim 26 , wherein the signal is the working drone control signal or the collected information data signal.
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