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Патент США №

7039367

Автор(ы)

Kucik

Дата выдачи

02 мая 2006 г.

Communications using unmanned surface vehicles and unmanned micro-aerial vehicles



РЕФЕРАТ

A communications system and method utilizes an unmanned surface vehicle (USV) capable of collecting data about an environment in which the USV resides. At least one micro-aerial vehicle (MAV), equipped for unmanned flight after a launch thereof, is mounted on the USV. Each MAV has onboard radio frequency (RF) communications. Each MAV launched into the air transmits the data collected by the USV using the MAV's RF communications.

Авторы:

Daniel Kucik (Lynn Haven, FL)

Заявитель:

The United States of America as represented by the Secretary of the Navy (Washington, DC)

ID семейства патентов

36216168

Номер заявки:

10/356,931

Дата регистрации:

31 января 2003 г.

Класс патентной классификации США:

455/96; 244/190; 244/3.11; 244/3.14; 244/3.19; 342/26B; 342/60; 455/97; 455/98; 455/99; 701/31.5; 701/36

Класс совместной патентной классификации:

G08C 17/02 (20130101); B64C 2201/122 (20130101)

Класс международной патентной классификации (МПК):

H04B 1/034 (20060101)

Область поиска:

;455/66.1,517,3.01-3.03,427-431,12.1,13.3,96-99 ;342/58,60,26B,27,28,36,37,89,357.1,357.09 ;701/1,2,35,36,200,201,220

Использованные источники

[Referenced By]

Патентные документы США

5186414February 1993Holzschuh et al.
5716032February 1998McIngvale
6140958October 2000Johnson et al.
6176451January 2001Drymon
6712312March 2004Kucik
2005/0001091January 2005Raney
Главный эксперт: Maung; Nay
Assistant Examiner: Sharma; Sujatha
Уполномоченный, доверенный или фирма: Shepher; James T.

Интересы правительства



ORIGIN OF THE INVENTION

The invention described herein was made in the performance of official duties by an employee of the Department of the Navy and may be manufactured, used, licensed by or for the Government for any governmental purpose without payment of any royalties thereon.

ФОРМУЛА ИЗОБРЕТЕНИЯ



What is claimed as new and desired to be secured by Letters Patent of the United States is:

1. A communications system, comprising: an unmanned surface vehicle (USV) capable of movement on an earth surface, said USV having data collection means for collecting data about an environment in which said USV resides; at least one micro-aerial vehicle (MAV) equipped for unmanned flight after a launch thereof, said MAV mounted on said USV and having radio frequency (RF) communication means mounted thereon; and launching means mounted on said USV for launching said MAV into the air, wherein said MAV so-launched into the air transmits said data using said RF communication means.

2. A communications system as in claim 1 wherein said USV further comprises an RF transceiver for transmitting said data to said RF communications means associated with said MAV so-launched.

3. A communications system as in claim 2 further comprising surveillance vehicles in the vicinity of said USV, each of said surveillance vehicles being equipped with means for transferring information therefrom to said USV wherein said information becomes at least a portion of said data so-collected by said USV.

4. A communications system as in claim 2 wherein said earth surface is a water surface, said USV further including acoustic communication means coupled to said RF transceiver, and said communications system further comprising unmanned underwater vehicles (UUVs) under the water surface and in the vicinity of said USV, each of said UUVs being equipped with an acoustic transmitter for transmitting information therefrom through the water to said acoustic communication means of said USV wherein said information becomes at least a portion of said data so-collected by said USV.

5. A communications system as in claim 2 further comprising surveillance vehicles in the vicinity of said USV, each of said surveillance vehicles being equipped with an RF transmitter for transmitting information therefrom to said RF transceiver of said USV wherein said information becomes at least a portion of said data so-collected by said USV.

6. A communications system as in claim 2 wherein said RF communications means comprises: a first RF transceiver for two-way communication with said RF transceiver of said USV; and a second RF transceiver for two-way communication with a location that is remote with respect to said USV, wherein said first RF transceiver and said second RF transceiver can operate simultaneously.

7. A communications system as in claim 1 wherein said MAV further includes data storage means coupled to said data collection means and to said RF communications means, wherein said data is transferred from said data collection means to said data storage means prior to launching said MAV and wherein, after launching said MAV, said data is transmitted from said data storage means associated with said MAV so-launched using said RF communication means associated with said MAV so-launched.

8. A method of communication between an unmanned surface vehicle (USV) and a location that is remote with respect to USV, comprising the steps of: using said USV as a node for the collection of data; providing at least one micro-aerial vehicle (MAV) on said USV, said MAV being equipped for unmanned flight after a launch thereof, said MAV having radio frequency (RF) communication means mounted thereon; launching said MAV into the air from said USV; and transmitting said data using said RF communication means on said MAV so-launched into the air.

9. A method according to claim 8 wherein said step of transmitting comprises the steps of: providing an RF transceiver on said USV; and transmitting said data to said RF communications means associated with said MAV so-launched into the air using said RF transceiver on said USV.

10. A method according to claim 9 further comprising the steps of: providing surveillance vehicles in the vicinity of said USV, each of said surveillance vehicles being equipped with means for transmitting information therefrom; and transmitting said information from each of said surveillance vehicles to said USV wherein said information becomes at least a portion of said data so-collected by said USV.

11. A method according to claim 9 wherein said earth surface is a water surface, said method further comprising the steps of: providing said USV with acoustic communication means coupled to said RF transceiver; providing unmanned underwater vehicles (UUVs) under the water surface and in the vicinity of said USV, each of said UUVs being equipped with an acoustic transmitter; and transmitting information from each said acoustic transmitter through the water to said acoustic communication means of said USV wherein said information becomes at least a portion of said data so-collected by said USV.

12. A method according to claim 9 further comprising the steps of: providing surveillance vehicles in the vicinity of said USV, each of said surveillance vehicles being equipped with an RF transmitter; and transmitting information from each of said surveillance vehicles to said RF transceiver of said USV wherein said information becomes at least a portion of said data so-collected by said USV.

13. A method according to claim 9 wherein said RF communications means comprises a first RF transceiver for two-way communication with said RF transceiver of said USV and a second RF transceiver for two-way communication with a location that is remote with respect to said USV, said method further comprising the step of operating said first RF transceiver and said second RF transceiver simultaneously.

14. A method according to claim 8 further comprising the steps of: providing said MAV with data storage means coupled to said RF communications means and to said data collection means of said USV prior to launching said MAV; transferring said data from said data collection means to said data storage means prior to launching said MAV; and transmitting with said MAV so-launched.


ОПИСАНИЕ



CROSS-REFERENCE TO RELATED PATENT APPLICATIONS

This patent application is co-pending with one related patent application entitled "RECONNAISSANCE USING UNMANNED SURFACE VEHICLES AND UNMANNED MICRO-AERIAL VEHICLES" Ser. No. 10/354,507, by the same inventor as this patent application.


ОБЛАСТЬ ТЕХНИКИ, К КОТОРОЙ ОТНОСИТСЯ ИЗОБРЕТЕНИЕ



The invention relates generally to communications systems and methods, and more particularly to a method and system of communication using unmanned surface vehicles and unmanned micro-aerial vehicles.


ПРЕДПОСЫЛКИ СОЗДАНИЯ ИЗОБРЕТЕНИЯ



A variety of unmanned surface vehicles (e.g., on the ground or water surface) are used to sense/collect data about an environment in which they reside. The data is then transmitted to a base station using radio frequency (RF) communications. However, the range of the RF communication is limited by the vehicle's line-of-sight due to its ground or water surface location. To improve the communication range, the vehicle could be equipped with satellite communications (or SATCOM as it is known) equipment. However, SATCOM equipment is big and heavy, consumes a lot of power, is expensive, is limited in bandwidth, and is subject to satellite availability and/or allocation problems.


СУЩНОСТЬ ИЗОБРЕТЕНИЯ



Accordingly, it is an object of the present invention to provide a method and system for improving communications from unmanned surface vehicles.

Another object of the present invention to provide a method and system for improving communications from unmanned surface vehicles using unmanned micro-aerial vehicles.

Other objects and advantages of the present invention will become more obvious hereinafter in the specification and drawings.

In accordance with the present invention, a communications system includes an unmanned surface vehicle (USV) capable of movement on an earth surface. The USV has data collection means for collecting data about an environment in which the USV resides. At least one micro-aerial vehicle (MAV), equipped for unmanned flight after a launch thereof, is mounted on the USV. Each MAV has radio frequency (RF) communication means mounted thereon. A launcher mounted on the USV is used to launch each MAV into the air where each MAV so-launched transmits the data using its RF communication means.


КРАТКОЕ ОПИСАНИЕ РИСУНКОВ



Other objects, features and advantages of the present invention will become apparent upon reference to the following description of the preferred embodiments and to the drawings, wherein corresponding reference characters indicate corresponding parts throughout the several views of the drawings and wherein:

FIG. 1 depicts an operational scenario of a system using an unmanned surface vehicle and micro-aerial vehicles in accordance with the present invention where FIGS. 1A 1D depict a time progression in the operation scenario;

FIG. 2 is a functional block diagram of an unmanned surface vehicle for use in the present invention;

FIG. 3 is a functional block diagram of an unmanned micro-aerial vehicle for use in the present invention; and

FIG. 4 depicts another operational scenario in accordance with the present invention.


ПОДРОБНОЕ ОПИСАНИЕ ИЗОБРЕТЕНИЯ



Referring now to the drawings, and more particularly to FIGS. 1A 1D, an operational scenario is depicted for a system that can carry out reconnaissance and/or communications in accordance with the present invention. For simplicity of description, each of the reconnaissance and communications aspects of the present invention will be explained as separate operations. However, it is to be understood that the operations could be combined and provided by one system.

With respect to the reconnaissance aspect of the present invention, an unmanned surface vehicle (USV) 10 is provided and is capable of navigated movement on a surface 100 of the earth. Surface 100 can be the ground (to include dry land and the seafloor), or can be the surface of a body of water. Accordingly, USV 10 can be a ground-based vehicle or a floating vehicle without departing from the scope of the present invention. USV 10 can navigate autonomously to a desired location or can have its navigated movement controlled from a remote location.

Incorporated into or mounted on USV 10 is a launcher 12 for launching one or more micro-aerial vehicles (MAV) 14 from USV 10. As is known in the art, each MAV 14 is a small, unmanned aircraft (e.g., wingspan on the order of 6 inches) capable of controllable flight using a gasoline or electric motor. See, for example, "New, Improved Plane Gives UF Tie at MAV Contest," The Florida Engineer, Summer 2002. As will be explained further below, each MAV 14 is equipped with video surveillance equipment and wireless communication equipment, neither of which is shown in FIG. 1 for clarity of illustration.

When commanded to do so, launcher 12 applies a sufficient force to launch one of MAVs 14 into the air at which point the onboard propulsion system (not shown in FIG. 1) of MAV 14 keeps it airborne. Given the minimal weight of each MAV 14, launcher 12 can be realized of a variety of simple spring-loaded mechanical launchers (e.g., catapult), gas-powered launchers, or any other low-power launcher, the choice of which is not a limitation of the present invention. Such launchers, are well known in the art and, therefore will not be described further herein.

In operation, USV 10 navigates under autonomous or remote control to a desired location on earth surface 100 as shown in FIG. 1A. USV 10 could remain on dry land at all times or could transition from a wet environment to a beach location for covert reconnaissance operations. When reconnaissance is needed, launcher 12 is commanded to launch one of MAVs 14 into the air as illustrated in FIG. 1B. To check and initialize systems (e.g., flight propulsion and control systems, video surveillance systems, communication systems, etc.) prior to launch of one of MAVs 14, a hardwire link 16 can be provided between USV 10 and each MAV 14. Hardwire link 16 can be an umbilical-type of link/tether that remains coupled to MAV 14 prior to and during launch thereof, but then is uncoupled from MAV 14 once the MAV's propulsion and flight control systems are operational and the MAV has been launched.

Referring now to FIG. 1C, the one MAV 14 launched into the air by launcher 12 is illustrated as being uncoupled from hardwire link 16 and flying under its own power. The video surveillance performed by the airborne one of MAVs 14 is indicated by field-of-view 18 while the wireless transmission of the video data captured is field-of-view 18 is indicated by arrow 20. Typically, wireless transmission 20 is a radio frequency (RF) transmission that can either be received at a remote location or by USV 10 for storage and/or re-transmission as indicated by arrow 22. If USV 10 is to re-transmit the video data, USV 10 could be equipped with higher power SATCOM or RF transmission means. Further, if surface 100 is a water surface, USV 10 could be equipped with acoustic or other underwater communications systems capable of transmitting signals 24 under (water) surface 100.

The above-described process can be repeated for each of the remaining MAVs 14 that are still coupled to USV 10. As illustrated in FIG. 1D, a second MAV 14 can be launched into the air when, for example, i) video reconnaissance of a different area is required, ii) the first launched MAV 14 runs out of power or otherwise fails, or iii) a communication relay/is needed to support transmission of video data 20 from the first and/or second launched MAV 14.

Referring additionally now to FIG. 2, an embodiment of USV 10 for supporting the above-described operational scenario is shown in block diagram form. At the heart of USV 10 is a controller 110 that orchestrates all activity onboard USV 10. More specifically, controller 110 performs navigation functions, controls motion of USV 10, commands launches of MAVs 14, oversees image data communications and video data transmissions, and controls video data storage/retrieval. Controller 110 can be realized by one central control computer or by individual control computers for each major function performed by USV 10.

In terms of navigation and motion of USV 10, navigation sensor(s) 112 are coupled to controller 110 and can include a compass for reading vehicle headings, wheel encoders for measuring distance traveled, a GPS receiver, and inertial sensors. Readings from these sensor/receivers are used by controller 110 in ways well known in the art (e.g., GPS receiver provides long baseline navigation while compass, wheel encoders and inertial sensors are used for dead reckoning) to determine an accurate position of USV 10 at all times. Controller 110 uses the determined position to adjust a steering and drive system 114 so that USV 10 is navigated along a desired path to a destination. The desired path and destination can be pre-programmed into controller 110 in which case USV 10 moves in a completely autonomous fashion. Another option is to control USV 10 from a remote location. Accordingly, a communications module 116 can include separate communications 116A and 116B where communications 116A is used to communicate between MAVs 14 and communications 116B is used to communicate with a remote location. Ideally, both communications can occur simultaneously and uninterrupted.

Environmental sensor(s) 118 can include sensors for collecting data about the environment in which USV 10 resides (e.g., motion, acoustic, seismic, temperature, video, etc.) as well as sensors used during the movement of USV 10 (e.g., collision sensing, collision avoidance, video, etc.). For example, once USV 10 reaches its desired destination, controller 110 can place itself and systems coupled thereto in a "sleep" mode to conserve power while environmental sensor(s) 118 "listen" for environment changes that signal the need for reconnaissance, at which point controller 110 wakes the needed onboard systems. The collected data could also be stored onboard USV 10 using data storage 120.

Controller 110 is coupled to launcher 12 and is also coupled to each MAV 14 (only one of which is shown in FIG. 2) via hardwire link 16. As mentioned above, hardwire link 16 is used to activate and check the various flight systems onboard MAV 14 prior to the launching thereof by launcher 12.

Referring to FIG. 3, an embodiment of MAV 14 for supporting the reconnaissance aspect of the present invention is shown in block diagram form. A controller 140 oversees all of the functions of MAV 14 that can include autonomous flight control, remote-operator controlled flight, communications, video surveillance and data storage. In terms of its flying operations, MAV 14 includes navigation sensor(s) 142 (e.g., compass, altimeter, GPS, inertial, etc.) for providing position information to controller 140 which, in turn, uses such position to implement a flight plan using the MAV's propulsion and flight control 144 (e.g., motor or engine, propeller, control surfaces, etc.) The flight plan can be pre-programmed into controller 140 or could be provided remotely from USV 10 or some other location. Accordingly, a communications module 146 can include communications 146A for communication with a remote base location (that can be in the air, on the ground or on the water) and communications 146B for communication with just USV 10. Since two-way communication would be required, each of communications 146A and 146B can be realized by an RF transceiver.

Once MAV 14 is airborne, controller 140 activates video surveillance 148 which typically includes a miniature camera (e.g., standard image, thermal starlight, etc.) and video processor. The video data is passed to controller 140 which can store some or all thereof at data storage 150 and/or have some transmitted from MAV 14 using communications module 146.

Controller 140 is also coupled to hardwire link 16 as described above. Just prior to launch of MAV 14, controller 140 receives wake commands via hardwire link 16. Such wake commands could be detailed with respect to each system onboard MAV 14 or could simply be one command that triggers that start of an operational program stored on controller 140. At a minimum, navigation sensor (s) 142 and propulsion/flight control 144 are activated prior to launch of MAV 14. Note that hardwire link 16 could also be used to check the integrity of each system onboard MAV 14 prior to launch thereof. Then, if a failure is detected, another one of the MAVs 14 could be launched.

As mentioned above, the present invention could also function as a communications system with the hardware provided on each of USV 10 and MAVs 14 being the same as the already described. Accordingly, simultaneous reference will be made to FIGS. 1 3 in order to explain the operation of the present invention's use as a communications system. In essence, data collected autonomously by USV 10 over a period of time is transmitted by an airborne one of MAVs 14. Thus, no personnel need be present to perform data collection and line-of-sight transmission distance is greatly increased by the airborne MAV 14.

The data collected by USV 10 (e.g., by its environmental sensor(s) 118) can be transferred to one of MAVs 14 for airborne transmission therefrom in one of two ways. First, collected data could be stored onboard USV 10 using data storage 120. Then, when one of MAVs 14 is airborne, the collected data could be transmitted thereto using the communications link formed by the combination of communications 116A and 146B. MAV 14 would then re-transmit the data using communications 146A. Note that the use of separate communications links allows the data to be relayed nearly simultaneously.

The second way collected data could be transferred to one of MAVs 14 involves storing the collected data onboard MAV 14 (using data storage 150) prior to launching MAV 14. Then, at a predetermined time, or when data storage 150 is at capacity, MAV 14 is launched into the air where transmission to a remote location occurs using communications 146A. Once airborne, transfer of collected data to MAV 14 could then occur as described in the first method. Note that USV 10 could simultaneously store the collected data using data storage 120 for archive purposes, for re-transmission, or if the airborne one of MAVs 14 experiences a failure.

The present invention's communication aspect could also use USV 10 as a data collection node for a large number of surface-based reconnaissance vehicles. This scenario is depicted in FIG. 4 where USV 10 is deployed at earth surface 100 and is equipped as previously described. Deployed on surface 100 (or under surface 100 in the case of a water environment) are a number of surveillance vehicles 11, each of which is equipped with sensor(s) 11A for sensing information such as environmental conditions and communications 11B for transferring sensed information to USV 10. In situations where surveillance vehicles 11 are on a ground or water surface, communications 11B can be RF communications that transmit the information for receipt by (RF) communications 116B onboard USV 10. However, if surveillance vehicles are deployed underwater, communications 11B can be an acoustic transmitter and communications 116B can be an acoustic receiver (or transceiver if two-way communication with surveillance vehicles 11 is required). The information collected by USV 10 in this fashion can then be transferred to an MAV 14 for airborne transmission thereof as described above.

The advantages of the present invention are numerous. Personnel are kept out of dangerous, remote and/or time consuming data reconnaissance situations. Thus, the present invention is safer and cheaper than existing personnel-based reconnaissance and/or communications system. The use of high-cost satellite communications is not required. Further, by equipping each USV with multiple MAVs, the present invention presents a long-term solution to providing covert reconnaissance and improved long-range communications with unmanned reconnaissance vehicle(s).

Although the invention has been described relative to a specific embodiment thereof, there are numerous variations and modifications that will be readily apparent to those skilled in the art in light of the above teachings. For example, USV 10 could remain underwater at all times with launcher 12 being a buoyant platform that could be released from USV 10. Upon such release, the buoyant launching platform would float to the water's surface, launch it's MAV(s), and then be scuttled and sink below the water's surface. It is therefore to be understood that, within the scope of the appended claims, the invention may be practiced other than as specifically described.

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