Patent Application
20200290753
The present invention relates to a device for docking an unmanned vehicle with a docking station and a method of docking an unmanned vehicle. In particular, but not exclusively, one or more embodiments of the present invention may relate to docking an unmanned aerial vehicle with a movable docking station.
Unmanned Aerial Vehicles (UAVs), commonly referred to as “drones”, are becoming increasingly popular for many applications. These vehicles do not have a human pilot aboard and have varying degrees of autonomy. Some may be remotely controlled by a human operator, whereas others may operate autonomously, being controlled by on-board computers. UAVs are generally used for tasks which are too monotonous, dangerous or expensive for a human to perform.
Many commercial off-the-shelf UAVs are based on a multi-rotor design which allows for stable take-off, flight and landing. Consequently, this makes such drones increasingly attractive for a variety of uses including surveillance, aerial photography, search and rescue, geographic mapping, storm tracking and recreational use. Another possible application for UAVs is the delivery of small goods and this application is attracting significant commercial interest.
The increased use of UAVs will necessitate increased automation. A key function of a UAV is the ability for it to takeoff and land safely without damaging itself or its payload. The UAV is at significant risk during these procedures. For example, a gust of wind could blow the
UAV off course or into a nearby obstacle resulting in an unsuccessful landing or damage to the UAV. Furthermore, there is an increasing need to launch UAVs from moving vehicles or vessels, for example, trucks, vans, boats and ships, In these circumstances, the landing platform for the UAV is itself moving which increases the complexity of the landing procedure,
Other important tasks which need to be performed include refuelling or recharging the UAV, exchanging payloads, diagnosing faults and carrying out maintenance.
Aspects and embodiments of the invention were devised with the foregoing in mind.
According to a first aspect of the present invention, there is provided a device for docking an unmanned vehicle with a moveable docking station, the device comprising: an interface surface configured to cooperatively engage a counterpart interface surface of a counterpart device; at least identifying means arranged to be detected by a counterpart device; and at least sensor configured to detect at least identifying means of a counterpart device.
By “movable”, it shall be understood that the docking station is capable of manual or automatic movement, such as movement in any of the x, y, or z plane, pitching rolling or yawing, or any combination thereof.
By “cooperatively engage”, it shall be understood that the interface surface or a portion thereof is configured to have a complementary geometry to a counterpart interface surface or a portion thereof of a counterpart device. As such, the geometry of the interface surface or a portion thereof may be configured to fit against a corresponding counterpart surface or portion thereof of the counterpart device such that the two surfaces may conform and/or interlock.
The identifying means may be any feature, component or device which enables the device according to the first aspect to be recognised as such. This includes, but is not limited to, visual markers and signal emitters. For example, the identifying means may be selected from one or more of an LED, a printed marker such as a Quick Response (QR) code, an Aruco marker or a barcode, an electromagnetic wave emitter such as a radiowave emitter, near field emitter or an infrared emitter, Bluetooth signal transmitter, WiFi transmitter, laser emitter, cellular signal transmitter, speaker, GPS signal emitter, ultrasonic transmitter, virtual wideband source or the like.
The sensor may be any device capable of recognising the identifying means. For example the sensor may be a camera, IR camera, radar, electromagnetic sensor, Bluetooth receiver, GPS receiver, WiFi receiver, cellular signal receiver, microphone, or the like.
The device may comprise a sensor for detecting the attitude of the device. This may be the same sensor as the sensor configured to detect the identifying means or at least one further sensor. Optionally, the sensor may be an inertial measurement unit.
In some embodiments, the device interface surface and/or the counterpart interface surface has a male connector configuration.
In some embodiments, at least a portion of the device interface surface and/or the counterpart interface surface may have a convex surface. Optionally, the whole of the interface surface may be convex.
In some embodiments, the device interface surface and/or the counterpart interface surface may have a female connector configuration.
In some embodiments, at least a portion of the device interface surface and/or the counterpart interface surface may have a concave surface. Optionally, the whole of the interface surface may be concave.
The provision of such male and/or female connectors, and/or concave and/or convex surfaces, may enable cooperative engagement between the interface surface of the device or a portion thereof and a counterpart interface surface or a portion thereof of the counterpart device.
In some embodiments, the identifying means may comprise at least one visual marker. Optionally the visual marker may be selected from one or more of the following:
In some embodiments, the at least one sensor may comprise a camera.
Optionally, the camera is an infrared camera.
In some embodiments, the device may comprise a plurality of visual markers and/or identifying signal emitters.
Optionally, the device may comprise three visual markers and/or identifying signal emitters arranged in a triangular configuration.
The device may comprise a plurality of sensors. The plurality of sensors may be of the same sort or of different sorts. For example, the device may comprise a plurality of image sensors.
Optionally, the device may further comprise a coupling to hold the unmanned vehicle in position on the docking station once docking has been achieved. The coupling may be electromechanical or the coupling may be magnetic. For example, the coupling may be electromagnetic, permanently magnetic or semi-permanently magnetic. Optionally the coupling may be battery powered.
Such a coupling may aid in aligning the unmanned vehicle with the device in order than one or more other connectors may be accurately positioned. Accordingly, the device may comprise one or more connectors. The connectors may be suitable for performing one or more of the following: refuelling or recharging the unmanned vehicle; powering the unmanned vehicle; and transferring data between the unmanned vehicle and the docking station.
Optionally, the device may further comprise a transmitter and a receiver for communicating with a counterpart device.
According to a second aspect of the present invention, there is provided a method of docking an unmanned vehicle with a moveable docking station, the method comprising: performing a cooperative docking procedure; and wherein the cooperative docking procedure comprises each of the unmanned vehicle and docking station capturing the attitude and/or position of the other and responsive to the captured attitude and/or position adjusting the respective attitude and/or position of the unmanned vehicle and docking station to a mutually cooperative docking configuration so as to provide docking of the unmanned vehicle with the docking station.
According to a third aspect of the present invention, there is provided a method of docking an unmanned vehicle with a device according to the first aspect of the present invention, the method comprising: performing a cooperative docking procedure; and wherein the cooperative docking procedure comprises each of the unmanned vehicle and device according to the first aspect of the present invention capturing the attitude and/or position of the other and responsive to the captured attitude and/or position adjusting the respective attitude and/or position of the unmanned vehicle and device according to the first aspect of the present invention to a mutually cooperative docking configuration so as to provide docking of the unmanned vehicle with the device according to the first aspect of the present invention.
With regard to each of the second and third aspects of the present invention, capturing the attitude and/or position may comprise at least one of the unmanned vehicle and docking station identifying at least one visual marker located on the other or receiving at least one identifying signal from the other and, responsive to the location of the at least one visual marker or to the identifying signal, calculating a relative position between the unmanned vehicle and docking station.
Optionally, capturing the attitude and/or position may comprise at least one of the unmanned vehicle and docking station receiving an identifying signal from the other and determining its attitude based on the identifying signal.
The identifying signal may enable at least one aspect of a position or attitude of the component from which the signal is emitted to be determined.
The signal may be from any sensor or emitter. For example, the identifying signal may be from at least one inertial measurement unit. The identifying signal may also be an ultrasonic signal, an electromagnetic wave signal, such as a radio wave/RFID signal, infrared signal or near field communication signal, a laser signal, a GPS signal, a sound wave, a WiFi signal, a Bluetooth signal, a cellular signal or the like. However, the skilled person would understand that these lists are non-exhaustive and that any emitted signal or series of signals that allow an aspect of the position or attitude to be determined may be used.
Optionally, capturing the attitude and/or position comprises the docking station identifying at least one visual marker on the unmanned vehicle, or the docking station receiving at least one identifying signal from the unmanned vehicle, and, responsive to the location of the at least one visual marker or to the identifying signal, calculating a relative position between the unmanned vehicle and docking station and determining an attitude.
For example, the unmanned vehicle may have a visual marker or identifying signal emitter which may be located or received by a camera or receiver on the docking station and used to calculate a route between the unmanned vehicle and the docking station and determining an attitude.
Adjusting the respective attitude and/or position of the unmanned vehicle and docking station may comprise: each of the unmanned vehicle and docking station calculating a respective vector in which to move themselves to reduce the relative position between the unmanned vehicle and docking station; and sending an actuation signal to at least one actuator of each of the unmanned vehicle and docking station respectively to move the unmanned vehicle and docking station along their respective calculated vectors to reduce the relative position between the unmanned vehicle and docking station.
Optionally, adjusting the respective attitude and/or position of the unmanned vehicle and docking station may comprise: each of the unmanned vehicle and docking station calculating a manoeuvre based on the identifying signal to move themselves to a mutually corresponding attitude; and sending an actuation signal to at least one actuator of each of the unmanned vehicle and docking station respectively to perform the calculated manoeuvre to move themselves into the mutually corresponding attitude.
Optionally, the calculated manoeuvres may be selected from a pitch, roll, yaw or combination thereof.
Optionally, the identifying signal may be from at least one inertial measurement unit.
The mutually corresponding attitude may comprise a horizontal attitude.
Optionally, identifying at least one visual marker or identifying signal may comprise capturing an image or location of the at least one visual marker or identifying signal.
Adjusting the respective attitude and/or position of the unmanned vehicle and docking station may comprise: each of the unmanned vehicle and docking station calculating a respective vector in which to move themselves to move the at least one visual marker or identifying signal towards the centre of the image or captured location; and sending an actuation signal to at least one actuator of each of the unmanned vehicle and docking station respectively to move the unmanned vehicle and docking station along their respective calculated vectors to move the at least one visual marker or identifying signal towards the centre of the image or captured location.
Optionally, adjusting the respective attitude and/or position of the unmanned vehicle and docking station may comprise performing a manoeuvre such that the at least one visual marker is captured in the image in a certain orientation.
Capturing the attitude and/or position of the other may be performed as part of an iterative loop.
Optionally, the iterative loop may iterate 200 times per second.
The method of docking an unmanned vehicle may comprise identifying an available docking station, approaching the available docking station, sending a docking request; and receiving a signal from an available docking station,
Optionally, the method may further comprise engaging a coupling to hold the unmanned vehicle in position on the docking station once docking has been achieved.
The method may further comprise: determining when the unmanned vehicle and docking station are within a threshold proximity range and a threshold relative position range of each other such that docking can be successfully achieved; and engaging the coupling to complete the cooperative docking procedure.
Optionally, the method may further comprise performing a task selected from one or more of the following once the unmanned vehicle has docked with the docking station: refuelling or recharging the unmanned vehicle; transferring data between the unmanned vehicle and the docking station; diagnosing mechanical or electrical faults; carrying out maintenance on the unmanned vehicle; retrieving a payload which has been carried by the unmanned vehicle; and loading a new payload onto the unmanned vehicle.
According to a forth aspect of the present invention, there is provided a kit of parts comprising two or more of the devices described above.
According to a fifth aspect of the present invention, there is provided an unmanned vehicle comprising a device as described above.
Optionally, the unmanned vehicle may comprise an unmanned aerial vehicle.
According to a sixth aspect of the present invention, there is provided a moveable docking station comprising a device described above,
Optionally, the moveable docking station may comprise a robotic arm having an end effector, wherein the end effector comprises a device as described above.
According to a seventh aspect of the present invention, there is provided a system comprising an unmanned vehicle and a moveable docking station as described above.
One or more specific embodiments in accordance with aspects of the present invention will be described, by way of example only, and with reference to the following drawings in which:
A description of examples in accordance with the disclosure will now be provided with reference to the drawings and in which like reference numerals refer to like parts.
In the first example of the disclosure illustrated in
The moveable docking station shall be understood to be a docking station which may be manipulated to alter its position, attitude and/or orientation, Such manipulation may be by any means, and may be autonomous or manually controlled or any combination thereof. Optionally, manual control may be by an extraneous controller or signal. Optionally, autonomous control may be in response to an observed visual marker signal or received signal. In some options an extraneous controller or signal may trigger a manipulation of the docking station, whereby the precise manipulation is then autonomously controlled. Movement may be achieved by the provision of one or more actuators. For example, movement may be achieved by the provision of robotic arm actuation, CNC-driven actuation, vehicle-driven actuation or the like.
Preferably, the movement may have multiple degrees of freedom. For example the manipulation may have three degrees of freedom, or more than three degrees of freedom. The degrees of freedom may include any combination of pitch, roll, yaw and movement in the X, Y and/or Z planes.
The controller 110 may be a desktop running an operating system similar to windows tailored for applications with unmanned vehicles. The instructions are provided to the motors 106 by controller 110. The inputs of the controller 110 may be the information captured by the camera 114 and the outputs of the controller 110 are the speeds of the motors 106. The control of the speeds of motors 106 will change the position and relative position to allow the unmanned vehicle to change its pitch, roll, and yaw (referred to as attitude hereinafter).
In the first example of this disclosure illustrated in
An illustrative example of frames 200 captured by camera 114 measures responsive to the instructions provided by the controller 110 to motors 106 is shown in
The camera 114 then subsequently captures another frame 200 which depicts the second position of the unmanned vehicle 100 after the initial instructions provided by controller 110, which is shown in
The final frame 200 which is captured by camera 114 as shown in
Such an image captured with camera 302 is shown by frame 500 of
An illustrative example of frames 500 captured by camera 302 measures responsive to the instructions provided by the controller 304 to servos 308 is shown in
The camera 302 then subsequently captures another frame 500 which depicts the second position of the moveable docking station 300 after the initial instructions provided by controller 304, which is shown in
The final frame 500 which is captured by camera 302 as shown in
The complementary interface device 900 is illustratively presented in
During the docking procedure a corresponding process is performed by interface device 900, The image sensor 906 also captures an image of the visual markers 802 which are situated on interface surface 801 of interface device 800. Based on the spatial relationship between the visual markers 802, interface device 900 calculates the position and attitude of the unmanned vehicle 100 which interface device 800 is attached to and therefore the relative position between the two interface devices 800 and 900, as described in more detail below,
Upon subsequent compensation of the observing body a further image 1100 is captured by its image sensor as shown in
The interface devices therefore maintains the unmanned vehicle 1200 and moveable docking station 1300 in alignment, as shown in
In view of the foregoing description it will be evident to a person skilled in the art that various modifications may be made within the scope of the invention.
For example, instead of using computer vision to determine the attitude of the body being observed, the interface device of the observing body may comprise an inertial measuring unit which adjusts the attitude of the observing body to a predetermined mutually corresponding attitude, for example, a horizontal attitude. Therefore the image sensors only need to correct for relative position which reduces the amount of computing power required.
As used herein any reference to “one embodiment” or “an embodiment” means that a particular element, feature, structure, or characteristic described in connection with the embodiment is included in at least one embodiment. The appearances of the phrase “in one embodiment” or the phrase “in an embodiment” in various places in the specification are not necessarily all referring to the same embodiment.
As used herein, the terms “comprises,” “comprising,” “includes,” “including,” “has,” “having” or any other variation thereof, are intended to cover a non-exclusive inclusion. For example, a process, method, article, or apparatus that comprises a list of elements is not necessarily limited to only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Further, unless expressly stated to the contrary, “or” refers to an inclusive or and not to an exclusive or. For example, a condition A or B is satisfied by any one of the following: A is true (or present) and B is false (or not present), A is false (or not present) and B is true (or present), and both A and B are true (or present).
In addition, use of the “a” or “an” are employed to describe elements and components of the invention. This is done merely for convenience and to give a general sense of the invention. This description should be read to include one or at least one and the singular also includes the plural unless it is obvious that it is meant otherwise.
The scope of the present disclosure includes any novel feature or combination of features disclosed therein either explicitly or implicitly or any generalisation thereof irrespective of whether or not it relates to the claimed invention or mitigate against any or all of the problems addressed by the present invention. The applicant hereby gives notice that new claims may be formulated to such features during prosecution of this application or of any such further application derived therefrom. In particular, with reference to the appended claims, features from dependent claims may be combined with those of the independent claims and features from respective independent claims may be combined in any appropriate manner and not merely in specific combinations enumerated in the claims.
| Number | Date | Country | Kind |
|---|---|---|---|
| 1713415.6 | Aug 2017 | GB | national |
| Filing Document | Filing Date | Country | Kind |
|---|---|---|---|
| PCT/GB2018/052372 | 8/21/2018 | WO | 00 |
