Unmanned aerial vehicle authorization and geofence envelope determination
View Patent ↗Methods, systems, and apparatus, including computer programs encoded on computer storage media, for unmanned aerial vehicle authorization and geofence envelope determination. One of the methods includes determining, by an electronic system in an Unmanned Aerial Vehicle (UAV), an estimated fuel remaining in the UAV. An estimated fuel consumption of the UAV is determined. Estimated information associated with wind affecting the UAV is determined using information obtained from sensors included in the UAV. Estimated flights times remaining for a current path, and one or more alternative flight paths, are determined using the determined estimated fuel remaining, determined estimated fuel consumption, determined information associated wind, and information describing each flight path. In response to the electronic system determining that the estimated fuel remaining, after completion of the current flight path, would be below a first threshold, an alternative flight path is selected.
1. An Unmanned Aerial Vehicle (UAV) system, comprising:
one or more processors and one or more computer storage media storing instructions that are operable, when executed by the one or more processors, to cause the one or more processors to perform operations comprising:
monitoring information associated with the UAV, including:
estimated fuel remaining,
estimated fuel consumption,
information associated with wind affecting the UAV that indicates a direction of the wind;
determining, using the monitored information, an estimated flight time remaining for a current flight path that includes a plurality of waypoints; and
determining that the estimated fuel remaining, after the estimated flight time, would be below a threshold, and selecting one or more waypoints included in the current flight path to be excluded from the current flight path based, at least in part, on the direction of the wind.
2. The system of claim 1 , wherein the estimated fuel remaining, after completion of the current flight path excluding the selected one or more waypoints, would be greater than the threshold.
3. The system of claim 1 , wherein the operations further comprise:
obtaining information identifying a hierarchy of waypoints included in the current flight path; and
selecting one or more waypoints included in the current flight path to be excluded based on the direction of the wind and the hierarchy of waypoints.
4. The system of claim 1 , wherein the operations further comprise:
determining estimated flight times for one or more alternative flight paths that each include one or more of the waypoints included in the current flight paths,
wherein selecting one or more waypoints comprises selecting an alternative flight path that includes the one or more way points based, at least in part, on the direction of the wind, wherein the estimated fuel remaining, after completion of the selected alternative flight path, would be greater than the threshold.
5. The system of claim 4 , wherein the operations further comprise:
determining at least an updated landing location for the alternative flight path, or
determining a minimum safe altitude for the alternative flight path.
6. The system of claim 1 , wherein the operations further comprise:
providing, to a remote system associated with operation of the UAV and for presentation by the remote system, information describing the excluded waypoints.
7. The system of claim 6 , wherein the presented information describing the excluded waypoints includes a graphical representation of the excluded waypoints.
8. The system of claim 1 , wherein the operations further comprise:
transmitting, over the air to a cloud system for approval, the excluded one or more waypoints, wherein the cloud system maintains flight path information associated with a plurality of UAVs; and
receiving, from the cloud system, an approved geofence envelope to be enforced by the UAV.
9. The system of claim 1 , wherein the monitoring of information is based on a sampling rate, wherein the sampling rate increases based on a detected event.
10. The system of claim 1 , wherein the fuel remaining is battery charge, and the fuel consumption is power consumption.
11. A method implemented by an Unmanned Aerial Vehicle (UAV) in flight, the UAV comprising an electronic system comprising hardware, the method comprising:
determining information associated with the UAV, including:
estimated fuel remaining,
estimated fuel consumption,
information associated with wind affecting the UAV that indicates a direction of the wind;
determining, using the monitored information, an estimated flight time remaining for a current flight path that includes a plurality of waypoints; and
determining that the estimated fuel remaining, after the estimated flight time, would be below a threshold, and selecting one or more waypoints included in the current flight path to be excluded from the current flight path based, at least in part, on the direction of the wind.
12. The method of claim 11 , wherein the estimated fuel remaining, after completion of the current flight path excluding the selected one or more waypoints, would be greater than the threshold.
13. The method of claim 11 , further comprising:
obtaining information identifying a hierarchy of waypoints included in the current flight path; and
selecting one or more waypoints included in the current flight path to be excluded based on the direction of the wind and the hierarchy of waypoints.
14. The method of claim 11 , further comprising:
determining estimated flight times for one or more alternative flight paths that each include one or more of the waypoints included in the current flight paths,
wherein selecting one or more waypoints comprises selecting an alternative flight path that includes the one or more way points based, at least in part, on the direction of the wind, wherein the estimated fuel remaining, after completion of the selected alternative flight path, would be greater than the threshold.
15. The method of claim 14 further comprising:
determining at least an updated landing location for the alternative flight path, or
determining a minimum safe altitude for the alternative flight path.
16. The method of claim 11 , further comprising:
providing, to a remote system associated operation of the UAV and for presentation by the remote system, information describing the excluded waypoints.
17. The method of claim 16 , wherein the presented information describing the excluded waypoints includes a graphical representation of the excluded waypoints.
18. The method of claim 11 , further comprising:
transmitting, over the air to a cloud system for approval, the excluded one or more waypoints, wherein the cloud system maintains flight path information associated with a plurality of UAVs; and
receiving, from the cloud system, an approved geofence envelope to be enforced by the UAV.
19. The method of claim 11 , wherein the determining of information is based on a sampling rate, wherein the sampling rate increases based on a detected event.
20. The method of claim 11 , wherein the fuel remaining is battery charge, and the fuel consumption is power consumption.
21. A computer program product, encoded on one or more non-transitory computer storage media, comprising instructions that when executed by one or more processors included in an Unmanned Aerial Vehicle (UAV) cause the one or more processors to perform operations comprising:
determining information associated with the UAV, including:
estimated fuel remaining,
estimated fuel consumption,
information associated with wind affecting the UAV that indicates a direction of the wind;
determining, using the monitored information, an estimated flight time remaining for a current flight path that includes a plurality of waypoints; and
determining that the estimated fuel remaining, after the estimated flight time, would be below a threshold, and selecting one or more waypoints included in the current flight path to be excluded from the current flight path based, at least in part, on the direction of the wind.
22. The computer program product of claim 21 , wherein the estimated fuel remaining, after completion of the current flight path excluding the selected one or more waypoints, would be greater than the threshold.
23. The computer program product of claim 21 , wherein the operations further comprise:
obtaining information identifying a hierarchy of waypoints included in the current flight path; and
selecting one or more waypoints included in the current flight path to be excluded based on the direction of the wind and the hierarchy of waypoints.
24. The computer program product of claim 21 , wherein the operations further comprise:
determining estimated flight times for one or more alternative flight paths that each include one or more of the waypoints included in the current flight paths,
wherein selecting one or more waypoints comprises selecting an alternative flight path that includes the one or more way points based, at least in part, on the direction of the wind, wherein the estimated fuel remaining, after completion of the selected alternative flight path, would be greater than the threshold.
25. The computer program product of claim 24 , wherein the operations further comprise:
determining at least an updated landing location for the alternative flight path, or
determining a minimum safe altitude for the alternative flight path.
26. The computer program product of claim 21 , wherein the operations further comprise:
providing, to a remote system associated with operation of the UAV and for presentation by the remote system, information describing the excluded waypoints.
27. The computer program product of claim 26 , wherein the presented information describing the excluded waypoints includes a graphical representation of the excluded waypoints.
28. The computer program product of claim 21 , wherein the operations further comprise:
transmitting, over the air to a cloud system for approval, the excluded one or more waypoints, wherein the cloud system maintains flight path information associated with a plurality of UAVs; and
receiving, from the cloud system, an approved geofence envelope to be enforced by the UAV.
29. The computer program product of claim 21 , wherein the monitoring of information is based on a sampling rate, wherein the sampling rate increases based on a detected event.
30. The computer program product of claim 21 , wherein the fuel remaining is battery charge, and the fuel consumption is power consumption.