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    15 views39 pages

    US20220399936A1

    Uploaded by

    Afework Bezie
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    © All Rights Reserved
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    of 39
    cu») United States 2) Patent Application Publication co) Pub. No.: US 2022/0399936 Al oy oy ~ en @y (60) Gt ARKSEY et al. SYSTEMS AND METHODS FOR DRONE SWARM WIRELESS COMMUNICATION Applicant: NETDRONES, INC., Kirkland, WA ws) Matthew Laurence ARKSEY, Scale, WA (US); Deon BLAAUW, Lisse (NL); Lucas Thomas HAHN Brooklya, NY (US) John Gordon MCQUEEN, Seattle, WA (US) NAKAJIMA, Medina, WA (US): David Byron SHEFNER, Cocur Alene, ID (US); Riehard Chia Tsing ‘TONG, Seattle, WA (US) Appl. No. 177838075 Filed: Jun, 10, 2022 Related US. Application Data Provisional application No. 63/209,392, filed on Jun 11, 2021 Publication Classification Im. Cl, Hose 77188 (2005.01) os 2 (2006.01) nosw a0 (2005.01), Hos 2408 (2006.01) osw 2824 (2006.01), Satoshi 36A1 ‘US 202205: 202205: 999: (43) Pub. Date: Dee. 15, 2022 ‘0s 6400 200501) HOdB 17318 (2006.01), GoIc 1500 (200501), Gosb 1/10 (2006.01), B6IC 3902 (200501), GON 2000 (2006.01), ony S.C. cP HosB 7/18504 (2013.01), HOAW 4028 (2013.01), HoaW'440 2018.02); HOS 24/8 (2013.01); HOAW 28724 (2013.01 HOW 64/003 (2013.01); HOS 64/006 (2013.01); Hoa 1718 (201501): GaIC 15/002 (2013.01): GOSD 1/104 (201301) BOSC 399024 (2013.01); GUBN 20/00 (201901; B64C 2201/122 (2013.01); BOC 201/123 (2013.01); B6IC 2701143 (2013.01); B6sC 2201/208 (2013.01); Hos 54/047 (201301) on ABSTRACT A method for improving wireless communication fora drone swarm, the method comprising, at computing system, receiving, fom a plurality of drones of a drone swarm, data comprising radio frequency signal characteristics detected by the plurality of drones; generating a model of a radio Frequency environment for the drone swarm based on the data received fom the pirality of drones; and controling st least one wireless communication system to improve wire less cammtnication forthe drone swarm based on the model of the radio frequency Patent Application Publication 101-1 Drone Pod Compute 109 Dee. 15,2022 Sheet 1 of 14 US 2022/0399936 AI 101-2 Drone Pod ap HH) G Drone WAN (1) . Storage Networking 110 m1 cad Services 112 FIGA Patent Application Publication Dee. 15, 2022 Sheet 2 of 14. US 2022/0399936 AI FIG2 Patent Application Publication Dec. 15, 2022 Sheet 3 of 14 US 2022/0399936 AI 300 Deploy system to target site Fne(syreiay ecseng BF signals, strengthens RF Drone(s) exeuute mission, measuring RF spectrum eee Patent Application Publication Dee. 15, 2022, Sheet 4 of 14 eS FIG. 4 ‘US 2022/0399936 AI Patent Application Publication Dec. 15,2022 Sheet 5 of 14 US 2022/0399936 AI 500 Traditional Drone Control 514 Video Transmitter Ww 512 RC Receiver 540 Video Transmission 530 Phone/Screen 550 Control and Telemetry Transmission 520 RC Control 531 Human Operator laches Patent Application Publication Dec. 15, 2022 Sheet 6 of 14. US 2022/0399936 Al 600 Individual Drone Frame 660 Rotors | Radios 620 | 650 Charge | GPS Motors | ESC Markers. re 630 640 | 645 670 FCameras | FlightComputer | Lights || fLAN 6 695 | ero Tae aie Oo) Active Safety Safety Computer 6520 6100 Pesimct [LAN cnn | 632 Companion Computer 6200 pleco 6205 Cameras || GPS imu | Storage || UWB 6210 6220 6230 6240 | 6231 Lights ] Audio User Int BT | wLAN 6270 | 6280 | 6290 6250 6260 Figure 6 Patent Application Publication Dee. 15, 2022 Sheet 7 of 14 US 2022/0399936 AI chitecture Individual Hive WAN Links 7270 RF Beacon LAN APs 35 7230 7280 Weather =~ (e) "(RA O2 sae Markers: Mounts 7210 | 7180 : Coan — ae reqhe oo, i et —_ Lights a! SS 7190 5 gli Al Large Disk Power 1: Compute ‘Array ‘Supply Recharge Ld 7110 7120 7130 BOG] _ Network L pues Router/Switch 7140 6) Drone Hive 7100 Landing 7160 Figure? Patent Application Publication Dec. 15, 2022 Sheet 8 of 14 US 2022/0399936 AI Architecture 800 Hare 816 Dro! Drone Drone Drone rome eo aap a | oy “500 Hive 8200 Drone WAN 8300 198430 Cloud Services 2 Patent Application Publication Dec. 15, 2022 Sheet 9 of 14. US 2022/0399936 AL 8800 OverviewF System © Word Cloud Sioamer | cee ‘= Drone Wide Ama Network DWAN 5400. ea aR) PSE niet a Sa * inteligent Staion taerarchy | == Dione Local Area Newark dLAN 85200 FIG. 8B Patent Application Publication Dec. 15, 2022 Sheet 10 of 14 US 2022/0399936 AL 900Drone Software Architecture FIG.9 9200 Flight eI) oo i Computer Control 9260 Motor i I Control Actuation 7 SS | 9240 | | 9220 9230 Flight Cameras | Telemetry | Control 9400 Safety Computer © onchostat || 9940 9960 || 9980 Array _ Orchestral anager | Integrator || Controller | 9320 Pose h 9340 Local |_,/ S470 boca | [ Estimator Mapper Th Atlas JT panner Sensor -—— - Fusion. 9370 Time | Syne | 9510IMU | Interface | "9530 T osonare | 9620 GPS _ Interface Interfaces | | I 9540 Hive Radio Patent Application Publication Dec. 15, 2022 Sheet 11 of 14 US 2022/0399936 AL 41000Hive Software Architecture FIG. 10 10100 Drone Manager © toto || ue / «Semmes | _peteto:_ _Calraton} CU FOI20 YY 40160 (10190) 10195) Pose Global Fault = Array (Estimator Planner, \_ Planning _) \ Controller) 10200 Hive Systems 102205 3)e=n0z30Ee |e Weather Time Mission Model) Manager Store. 10280 | | 10290 4D Model | Data Sync } Cc ~ 10260 4D RF Models 3 r ~ i | | | L f | | | | | | Ll (10360 | Operator Interface 10920 | 10940 Orchestra Manager | Integration 10960 Patent Application Publication Dec. 15, 2022 Sheet 12 of 14 US 2022/0399936 AL 1100Cloud Software Architecture FIG. 11 11200 Real-Time Mission 40210 112207 Mission Model A Goal (Object | 11300 Process : ic 7 ¢ So ~ | 11330 Fine ee | 1135040 | | 11360 Al (BD Model | Recognize. Imesrator } | Training 11400 Planner (Va204D CT4IOAD) (14430) (174404) | Global Mission Mission | Fleet | (Model. Planner.) \ Optimizer) Manager 11500 Simulator (11510 41820) 11830) (11540) | Graphic | | Motion | Test | RF | \. Simulator) Simulator (Pipeline) \ Simulator) 41900 Cloud Base nn 11920 411940 11960 11980 Orchestra | Manager Logging Integrator \ ‘US 2022/0399936 AI Dee. 15, 2022 Sheet 13 of 14 Patent Application Publication Pion oN eee ws wate zt Old So mousy vet rer goset geet PY oares ve = omonan] | woes weamea | wna seme ed caret set | fe [pmerea sass ont vomsoy | [spon — 0 pray Le} a ort cae vaguest ¥ von ws | [cosvanm|] [aenanon maar | econ seco | | ame fe ower ceree Sj “enamel | _*8 sirens Jrreencetcs] | evan lL! ern mapuon wortsoazt Patent Application Publication Dec. 15, 2022 Sheet 14 of 14 US 2022/0399936 Al MEMORY 1306 1 1 1 STORAGE i 1 i VO INTERFACE FIG. 13 US 2022/0399936 AI SYSTEMS AND METHODS FOR DRONE SWARM WIRELESS COMMUNICATION PRIORITY [0001] This application claims the benefit, under 35 US. C. § 119(), of US. Provisional Patent Application No. 6/209,392, filed Jun. 11,2021, which is incorporated herein by reference in is entirety ‘TECHNICAL FIELD. [0002] This disclosure generally relates to drones, and more specifically to wireless communication for drones. BACKGROUND 10003] Over the last $0 years there have been successive ‘waves of billions of end-iser computing devices driven by tremendous cost declines in semiconductor hardware. In the 1980s, microprocessors made computations became essen~ Lally free and ubiquitous. This enabled a new generation of software that lod to the “Personal Computer (PC) revolu- 10003) In the 2000s, the semiconductor revolution arived or communications technology, connecting deviees world- ‘wide, Fre computation and communications enabled new eneration of software that led to the “Mobile revolution.” [0005] In the 2010s, the integration of low-cost imaging chips made cameras and other sensors essentially froe and ubiquitous, Fee computation, communications, and sensing ‘enabled a new generation of Intemet of Things (IoT) soft ‘ware, which ushered in a revolutioa in Smart Home, Ofice, and Factory technology. 1oT refers to physical objects with sensors, processing abil, software, and other technologies ‘configured to connect and exchange data with oer devices ‘and systems over the Intemet or other communications networks, [0006] Now, inthe 2020s, the next revolution has ative. Motors and batteries driven by hardware technology have ‘made motion essentially ffee. However, there is still a need fora new generation of software that takes advantage af free ‘computation, communications, sensing. and now motion. [0007] -Thebistory of innovation has followed a cyele over the last 40 years. As seon, for example, with reference 10 FIG. 4 eyele 40 frst begins with the hardware innovation that makes some formerly expensive part ofthe ecosystem cellectively “ree,” leading to the personal computer (PC) revolution, That is, the cost of computation in the 1980% dropped so much, that use of the PC became ubiquitous Furthermore, the semiconductor revolution begot the mobile revolution. This then enabled the software revolution that ‘exploited that power, thus entering ito the 1oT era Finally, the end-user revolution arrived with first millions thea billions of devices were available t everyone. [0008] Then innovation proceeded to snther component, Until the addition of fee motors, which refers everything that can move and everything that can be controlled. The final component af cycle 400 isthe revohtions taking place to enable the “drone revoh 10009] The hardware that is enabled by motors, partieu- larly motors used for drones is sili its infiney. Thee are several lange areas where this will have massive impacts [0010] The first area where a massive impact will be felt by the developments n motors includes Bing drones, which is also refered © herein interchangeably as Unmanned Dee. 15, 2022 Aerial Vehicles (UAVs). There are many different kinds of Grones. As defined herein, @ drone refers to an autonomous ‘agent capable of navigating through physial environments (ea. through air, solid surface, liguid surface, through water) without human intervention. The large categories include Vertical Take-off and Landing (VTOL) deviees that have Wo oF more motors, VTOL devices with two oF more rotors are generally referred to as helicopters. However, if the VTOL device includes four motars, it ean be refered 10 as « quad-copter. A qusd-copter can also be refered to as ‘qua-rotor, which refers to 2 specific implementation of a ‘drone inchiding four brushless DC motors and propellers. la addition, some VTOL devices having six motors are referred to as hexa-copters, and those including eight motors are referred to a8 octo-copters, [OI] Some VTOL devices may include even more rotors, with the one, four, six, oF eight motors of the hnlicopter, quad-coptr,lexs-copter, or octo-copter,respec= tively, driving one or more rotors 0012} Some additional types of VTOL. devices include fixed wing UAVs. Fixed wing UAVs can travel greater distances than VIOL devices, however they are generally inable 10 hover in a given location for long. Fixed wing UAVs generally have greater range and eliciency than VTOL devices. Fixed wing UAVS may also include Tighter than-air erally that use balloons or blimp structure filled with helium, hydrogen, or other gasses. In addition, VTOL. devices may include hybrids of VTOL devices (eg, rota ‘ng-wing craft that ean take off venically, and fly using & ‘Wing or copters) and fied wing UAVs. Such hybrid devices may be powered by electricity using batteries, intemal combustion, hydrogen, nuclear, or other power sources, oF combinations thereof. 0013] Another category of UAV includes Wheeled Drones or Autonomous Vehicles (AVS). The most common ‘orm are self-driving vehicles e-2cars, tucks, et.) Unlike ‘lying drones, AVs work ia a 2-D space, such as on roads AVS may include delivery drones that rua on sidewalks, as, ‘well as etors, and wheeled and wacked vehicles that ean move ofFroad, [014] Another category oF UAV is Drones fo Robots. Walking drones are typically bipod or quad-ped with Jeps that allow increased maneuverability [0015] Still another category of UAV includes Swimming Drones, Sailing Drones, or Submersible Drones, which may be refered to interchangeably as “underwater autonomous vehicles.” Underwater autonomous vehicles typically are ployed underwater, such as in nature or which float on the Water, Underwater autonomous vehicles may use hydrofails to lit their bodies owt of the water and to. submerge ‘Underwater autonomous vehicles may use propellers, water jes, rockets, of other forms of propulsion. [0016] Yet sill another eategory of UAV includes hybrid drones. Hybrid drones may a combination of characteristics Fr example, a hybrid drone may inelude an amphibious «drones having wheels o tacks, a8 Well as being ableto float, sch as hy using the motion of the tmecks, or specific propellers, or jot [0017] Today, flying drones are commonly controlled by Fhumans via remote control through a wireles Tink, There is ‘ypically a I:1 ratio of operator 40 drone as mandated by current FAA regulations, Small UAV (SUAW) are regulated by various Federal aviation authority (PAA) regulations with art 107 (and successors) being the most common used for tudes Wal US 2022/0399936 AI rule the piloting of drones. As al AVs re cls hone UAV having a weight of less than 55 Ibs. (25 kgs). [0018] A drone’s typical operation focused on some com- thon aplcdions, 6 Ute below [0019] "One pplication ofa drone may ince surveying Surveying may relate Yo capturing images of buildings. homes, fori, ales elds, public sce or othor geographical cations, VOL. deviees are com monly used for surveying heose VTOL devices ate Wp cally sales and Tes expensive than manned icra and an obtain images having more features. Surveys are Bene erally designed for precise physical measurements 10 po ‘ie longer mcnorement of sites soc Bul ings or fields. Surveying is generally infeguontly performed fd added o archives, for example to rear a del uit sttctre vers wha on design detmeni 10020) Another application of 1» drone moy inclade Snapecting “or perorming inspections Siete fridges, indus plans, commercial. uiings, towers ssn bins, sor plas oF mols ned repulse nspecton te enmue they ae working properly and not subjet to fare Fac strtre as specifi ess for inspections. For example, inspection of bridges may include determining setter‘ given bridge has any ercks or failures nis Strctres or to detec an amount of rast present. With indus plants, inspections inci both determing ‘vhcther umosal noises and smoke and stam that isnot tonal ae present, And with commercial building, inspec: ths may inclade determining wheter the building has any ‘racks, aks or taning water, orter potenti abormal ‘arcs. ial cell tower and radi towers may rehire oer specialized inspection. For example thee ae many spec euirements fr diferent instal sacar that require a general system for identifying specific assets tnd als fight planning fers dramatically for these d= ferent srt. [002] » Another pplication ofa drone may nce cone structing thece-dimensional (3D) models, Digital vis, ot AD Reconstraction, 4D. a eseribed eri, rele oa se

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