DESC:FORM 2

THE PATENTS ACT, 1970
(39 of 1970)
&
THE PATENT RULES, 2003

COMPLETE SPECIFICATION
(See Section 10 and Rule 13)

Title of invention:
A SYSTEM AND METHOD OF DYNAMICALLY SELECTING SAFE SITES FOR LANDING

APPLICANT:

AARAV UNMANNED SYSTEMS PRIVATE LIMITED

An Indian entity having address as:
#3, 80 Feet Main Road, MCHS Layout, Jakkur, Bangalore - 560064

The following specification describes the invention and the manner in which it is to be performed.
CROSS-REFERENCE TO RELATED APPLICATIONS AND PRIORITY
The present application claims priority from Indian from the Indian patent application, having application number 202241063901, filed on 9th November 2022, incorporated herein by a reference.
TECHNICAL FIELD
The present disclosure relates to a system and method of dynamically selecting safe sites for landing. More specifically, the present disclosure relates to the identifying, plotting of safe landing sites for unmanned aerial vehicles and modifying the mission plan according to the changes in the altitude and the slope of terrain.
BACKGROUND
The subject matter discussed in the background section should not be assumed to be prior art merely as a result of its mention in the background section. Similarly, a problem mentioned in the background section or associated with the subject matter of the background section should not be assumed to have been previously recognized in the prior art. The subject matter in the background section merely represents different approaches, which in and of themselves may also correspond to implementations of the claimed technology.
The Unmanned aerial vehicle (UAV) is an aerial vehicle with no pilot-to-man controls. The UAV may be remotely controlled by a flight controller on the ground or by pre-programmed flight plans. Today UAVs are utilized for various purposes. From delivery of goods, medicines to weapons. From surveillance to land surveying operations. Therefore, UAVs are used for both military as well as civilian purposes.
While in operation, the UAV may have to land at multiple locations because of emergency, uncertain weather or any malfunction of the UAV. Considering the delicacy of the UAV parts and higher cost per unit, it is important to ensure that the UAV lands on flat surfaces to avoid toppling. Further, water bodies, marshy areas must be avoided to avoid loss of the UAV. Further, some surfaces may look plain and regular but on closer look are very irregular and unfit for landing. In such cases continuous monitoring of the terrain altitude is required for finding the right place, which is plain and regular.
Another reason the said system is required is that UAVs are battery operated vehicles. If the battery hits its low levels, then either UAVs are lost or get damaged due to sudden stoppage of energy supply and parts of UAV may also get damaged due to sudden accident or falling. All this can cause monetary damage to the user as well as loss of time which results into incomplete missions and tasks. For these reasons UAV must land on safe site in case of emergency.
Further, as weather is very uncertain phenomenon, sudden thunderstorm or cloudy atmosphere or hailstorm can damage the UAV and its components. Also, in such weather conditions the UAV cannot take or scan the exact images of the terrain. Leading to wrong and incomplete data collection. In these situations, if the UAV stops at unknown place, it becomes difficult to trace the UAV. Further, the terrain where the UAV has landed is more difficult to reach then the UAV and the cost incurred to operate that UAV is lost and also the mission remain incomplete.
Therefore, there exists a need to provide a system and method of dynamically selecting safe landing sites for emergency landing of the UAV to overcome the above-mentioned problems.
SUMMARY
The present disclosure overcomes one or more shortcomings of the prior art and provides additional advantages discussed throughout the present disclosure. Additional features and advantages are realized through the techniques of the present disclosure. Other embodiments and aspects of the disclosure are described in detail herein and are considered a part of the claimed disclosure.
The present disclosure has been made in order to solve the problems, and it is an object of the present disclosure to provide to a system and method for creating and executing a master mission for land survey.
In one implementation, a system for dynamically selecting safe landing sites is disclosed. The system may comprise an Unmanned Aerial Vehicle (UAV), and a mission planner. The mission planner may be configured for detecting one or more pre-determined safe landing sites based on a first plurality of parameters and create a mission plan. The mission planner may be configured to plot one or more pre-determined safe landing sites over the mission plan. Further, the UAV may comprise a plurality of sensors for monitoring a second plurality of parameters in real-time. The UAV may further comprise a UAV processor coupled with a memory, configured for receiving the mission plan and a threshold range from the mission planner. The UAV processor may be further configured for mapping of the second plurality of parameters by overlaying the second plurality of parameters against a geographical map of the mission plan. The UAV processor further configured for comparing the mapped second plurality of parameters with the values between the threshold range. The UAV processor may be further configured for performing validation of one or more pre-determined safe landing sites based on the comparison. The UAV processor may be further configured for dynamically selecting safe landing sites based upon the validation.
In another implementation, a method for dynamically selecting safe landing sites for unmanned aerial vehicle (UAV) is disclosed. The method may further comprise a step for detecting, via a planner mission, one or more pre-determined safe landing sites based on a first plurality of parameters. The method may comprise a step for creating a mission plan. The method may further comprise a step for plotting, via the mission planner, the one or more pre-determined safe landing sites over the mission plan. The method may comprise a step for monitoring a second plurality of parameters in real-time via a plurality of sensors. The method may further comprise a step for receiving, via a UAV processor, the mission plan and a threshold range from the mission planner. The method may further comprise a step for mapping, via the UAV processor (201), the second plurality of parameters by overlaying the second plurality of parameters against a geographical map of the mission plan.The method may further comprise a step for comparing, via the UAV processor, mapped second plurality of parameters with the values between the threshold range.The method may further comprise a step for performing, via the UAV processor, validation of the one or more pre-determined safe landing sites based on the comparison. Further, the method may comprise a step for dynamically selecting, via the UAV processor (201), safe landing sites based upon the validation.
BRIEF DESCRIPTION OF THE DRAWINGS
The detailed description is described with reference to the accompanying figures. In the figures, the left-most digit(s) of a reference number identifies the figure in which the reference number first appears. The same numbers are used throughout the drawings to refer like features and components.
Fig. 1 illustrates a network implementation of a system 100 for dynamically selecting safe sites for landing for an unmanned aerial vehicle (UAV), in accordance with an embodiment of the present disclosure.
Fig. 2 illustrates components of the UAV, in accordance with an embodiment of the present disclosure present disclosure.
Fig. 3 illustrates a method 300 for dynamically selecting safe sites for landing for the UAV, in accordance with an embodiment of the present disclosure.
DETAILED DESCRIPTION
Reference throughout the specification to “various embodiments,” “some embodiments,” “one embodiment,” or “an embodiment” means that a particular feature, structure, or characteristic described in connection with the embodiment is included in at least one embodiment. Thus, appearances of the phrases “in various embodiments,” “in some embodiments,” “in one embodiment,” or “in an embodiment” in places throughout the specification are not necessarily all referring to the same embodiment. Furthermore, the particular features, structures or characteristics may be combined in any suitable manner in one or more embodiments.
System(s) and method(s) of dynamically selecting safe landing sites are described.
Referring to figure 1, a network implementation of the system (100) for dynamically identifying a safe landing site is illustrated, in accordance with an embodiment of the present subject matter. In one embodiment, the system (100) may comprise an unmanned aerial vehicle (UAV) 101 and a mission planner 103. The UAV (101) may be configured to map the landscape or field or terrain. Further, the UAV (101) may comprise a battery (not shown in figure). The battery may be configured to supply energy to the UAV (101). In another embodiment, the system (100) may comprise a battery estimator (not shown in fig.). The battery estimator may be connected to the UAV (101) and the mission planner (103). The battery estimator may receive and process various battery parameters from the UAV. Further, the battery estimator may share the results with the mission planner (103).
Although the present subject matter is explained considering that system 100 is implemented for an unmanned aerial vehicle (UAV) (101) is communicatively coupled with the mission planner (103) through a network (102), it may be understood that system (100) may also be implemented in a variety of computing systems such as software-controlled flight plans, network server, SATCOM (satellite-communication), cellular communication, etc.
The mission planner (103) may include but not limited to a ground control station (GCS), flight plans, flight data screen, user device etc. Initially the UAV (101) may be connected to the mission planner (103). Further, the mission planner (103) may prepare the mission plan. For preparing the mission plan the mission planner may consider the take-off position, distance to site, flight plan, altitude of flight, speed of flight, a geographical map etc. The mission planner (103) may also use a site map for the planning or creating of the mission plan in the form of a Keyhole Markup Language (KML) file or similar file. During the mission planning exercise, the mission planner may be configured to calculate the number of safe sites which would be required to land in case of malfunction of the UAV. In one embodiment, the number of safe sites are virtual safe sites as they are still in the planning phase.
In one embodiment, the mission planner (103) may be configured to detect one or more pre-determined safe landing sites based on a first plurality of parameters. In one embodiment, the first plurality of parameters, comprising flight heading i.e. the compass direction of the UAV, residual state of charge of the battery, speed of the UAV, distance to be covered by the UAV and no landing zones. In one exemplary embodiment, no landing zones are known zones where drones can’t land, wherein no landing zones including but not limited to, water bodies, marshy areas and terrain with higher mountain slopes. The safe landing sites may be plotted by the mission planner (103) based on the detection of the first plurality of parameters.
Further, the mission planner (103) may determine a threshold range of safe landing site (terrain slope). The mission planner (103) is configured to determine the threshold range based on the, but not limited to, Center of Gravity (CoG), battery parameters, weather conditions, magnetic field data or any other parameters of the UAV (101). The mission planner (103) may be further configured to create a mission plan of the UAV (101) based on the one or more pre-determined safe landing sites.
In one embodiment, the mission planner (103) may plot the safe landing sites over the mission plan known as pre-determined safe landing sites. The one or more pre-determined safe landing sites may be highlighted in different color than the background and the one or more pre-determined safe sites are visible on the user interface. In another embodiment, the mission planner (103) may receive input manually based in which the mission planner (103) may improve the mission plan.
In one embodiment, the UAV (101) and the mission planner (103) may be connected via a network (102). In one implementation, the network (102) may be a wireless network, a wired network or a combination thereof. The network (102) can be implemented as one of the different type of networks such as of the different types of networks, such as intranet, local area network (LAN), wide area network (WAN), the internet, and the like. The network (102) may either be a dedicated network or a shared network. The shared network represents an association of the different types of networks that use a variety of protocols, for example Hypertext Transfer Protocol (HTTP), Transmission Control Protocol/Internet Protocol (TCP/IP), Wireless Application Protocol (WAP), and the like, to communicate with one another. Further the network 102 may include a variety of network devices, including routers, switches, bridges, servers, computing devices, storage devices, and the like.
Now referring to Fig. 2, components of the UAV (101) is disclosed. The UAV (101) may comprise UAV processor (201) coupled with a UAV memory (204), and a plurality of sensors (203). The UAV processor (201) may be configured to control the UAV (101) and communicate with the mission planner (103). The UAV memory may be configured to store all the data. Furthermore, the UAV (101) may comprise an alarm. The alarm may initiate warning as the UAV (101) may go into the failsafe mode or any malfunction occurs in the UAV (101). Further, the UAV (101) may comprise a Global Positioning System (GPS) for navigation.
In one embodiment, the plurality of sensors (203) may be configured for monitoring a second plurality of parameters in real-time. In one embodiment, the plurality of sensors may comprise an altitude sensor, a speed sensor, a humidity sensor, an infrared sensor, a chemical and biological sensor, cameras, and thermal imaging systems. The altitude sensor is configured to sense the variation or undulation of the terrain sites in real time. Further, the speed sensor may be configured to monitor the speed of the UAV per unit time. The humidity sensor may be configured to sense the humidity in the weather. In one embodiment, the second plurality of parameters comprising, but not limited to, the real-time altitude data and the terrain variations, speed of the UAV per unit time, and humidity of weather. The data sensed by the plurality sensors (203) is stored into the UAV memory (204).
The I/O interface (202) may include a variety of software and hardware interfaces, for example, a web interface, a graphical user interface, and the like. The I/O interface (202) may allow the server (101) to interact with a user directly or through the user devices (103). Further, the I/O interface (202) may enable the server (101) to communicate with other computing devices, such as web servers and external data servers (not shown), cloud. The I/O interface (202) can facilitate multiple communications within a wide variety of networks and protocol types, including wired networks, for example, LAN, cable, etc., and wireless networks, such as WLAN, cellular, or satellite. The I/O interface (202) may include one or more ports for connecting a number of devices to one another or to another server.
The UAV memory (204) may include any computer-readable medium known in the art including, for example, volatile memory, such as static random-access memory (SRAM) and dynamic random-access memory (DRAM), and/or non-volatile memory, such as read only memory (ROM), erasable programmable ROM, flash memories, hard disks, optical disks, magnetic tapes, and the like. The UAV memory (204) may include modules (205) and data (210).
In one embodiment, the modules (205) include a comparison module (206), a validation module (207), and an updation module (208).
In one embodiment, the data (210), comprises repository (211) and other data (212). In one embodiment, the data (210), amongst other things, serves as a repository for storing data unprocessed, partially processed, processed, received, or generated by one or more modules (205) and data received through I/O interface (202). In further embodiment, the other data (212) may include data generated as a result of the execution of one or more modules.
In one embodiment, the UAV processor (201) may be configured for receiving the mission plan and the threshold range from the mission planner (103) via the network (102). Further, the UAV processor (201) may be configured for receiving the threshold range of safe landing site (terrain slope). After receiving the mission plan from the mission planner (103), the UAV (101) may start the mission. As soon as the UAV (101) starts the mission, the plurality of sensors (203) may start monitoring the second plurality of parameters corresponding to the plurality of sensors (203). In one embodiment, the UAV processor (201) may be configured for mapping the second plurality of parameters by overlaying the second plurality of parameters against the geographical map of the mission plan received from the mission planner (101).
In one exemplary embodiment, the altitude sensors may monitor altitude data and terrain variations of the terrain under observation. The altitude sensor continuously monitors the terrain sites in real time. Further, the real time altitude data and the terrain variations may be identified and stored in the UAV memory (204). Further, UAV processor (201) may start mapping by overlaying the real time altitude data and terrain variations against the geographical map of mission plan by the mission planner, based on the received data.
In one embodiment, the comparison module (206) may be configured for comparing mapped second plurality of parameters with the threshold range. The validation module (207) may be configured for performing validation of the pre-determined safe landing sites based on the comparison.
The validation module (207) may be configured for validating the one or more pre-determined safe landing sites as a valid landing site if the second plurality of parameters is within the threshold range. In an exemplary embodiment, the second plurality of parameters may be the real-time altitude data and the terrain variations received from the altitude sensor. If the real time altitude data and terrain variations received from the altitude sensor are within the threshold range, then the UAV processor (201) may validate the one or more pre-determined safe landing site as the valid landing site. Further, the UAV (101) may land on the valid landing site in case of malfunction, emergency or any other reason during mission. The validation module (207) may be configured for invalidating the one or more pre-determined safe landing sites as an invalid landing site if the second plurality of parameters is not within the threshold range. In the exemplary embodiment, if the real time altitude data and terrain variations received from the altitude sensor are not within the threshold range, then the UAV processor (201) may invalidate the one or more pre-determined safe landing site as the invalid landing site. In one embodiment, the invalid one or more pre-determined safe landing sites may be removed by the updation module (208). Further, a new safe landing sites may be identified and updated as a new pre-determined safe landing sites after removing the invalid one or more pre-determined safe landing sites. In another embodiment, the invalid one or more pre-determined safe landing sites may be modified. In one embodiment, the validation of safe landing sites may continue until the mission gets completed.
Now referring to figure 3, a method (300) for dynamically selecting safe landing sites for the unmanned aerial vehicle (UAV) is described.
At step (301), the mission planner (103) may be configured to detect a pre-determined safe landing sites based on the first plurality of parameters.
At step (302), the mission planner (103) may be configured for creating a mission plan.
At step (303), the mission planner (103) may be configured for plotting the one or more pre-determined safe landing sites over the mission plan.
At step (304), the plurality of sensors (203) may be configured for monitoring a second plurality of parameters in real-time.
At step (305), the UAV processor (201) may be configured for receiving the mission plan and the threshold range from the mission planner (103).
At step (306), the UAV processor (201) may be configured for mapping the second plurality of parameters by overlaying the second plurality of parameters against the geographical map of the mission plan.
At step (307), the UAV processor (201) may be configured for comparing the mapped second plurality of parameters with the values between the threshold range.
At step (308), the UAV processor (201) may be configured for performing validation of one or more pre-determined safe landing sites based on the comparison.
Further, the method comprising a step for validating the pre-determined safe landing sites as a valid landing site if the second plurality of parameters is within the threshold range. Furthermore, the method may comprise a step for invalidating the pre-determined safe landing sites as an invalid pre-determined landing site if the second plurality of parameters is not within the threshold range.
At step (309), the UAV processor (201) may be configured for dynamically selecting safe landing sites based upon the validation.
The method may comprise a step for removing the invalid pre-determined safe landing sites. Further one or more new safe landing sites are identified and updated as a new pre-determined safe landing sites after removing the invalid landing site.in another embodiment, the invalid one or more safe landing site are modified.
In another embodiment, the same method may be repeated for multiple missions, and data gathered by each mission may be combined to form consolidated data of safe landing sites.
The presently disclosed system and method for components before mission may have the following advantageous functionalities on the conventional art:
• Occurrence of accidents, and losses of UAVs are nullified.
• Location of the UAV after landing remains stable as the UAV lands on the regular surface thus ensuring the safety of the UAV.
• Multiple operations and missions can be planned by identifying possible landing sites.
• The user can identify of possible sites of failure which helps in optimizing the the operation and decide number of UAVs required for completion of mission.
• Continuous operation of the altitude sensor and continuous updating of new landing sites ensures safety of the UAV.
Various modifications to the embodiment will be readily apparent to those skilled in the art and the generic principles herein may be applied to other embodiments. However, one of ordinary skill in the art will readily recognize that the present disclosure is not intended to be limited to the embodiments illustrated but is to be accorded the widest scope consistent with the principles and features described herein.
The foregoing description shall be interpreted as illustrative and not in any limiting sense. A person of ordinary skill in the art would understand that certain modifications could come within the scope of this disclosure.
The embodiments, examples and alternatives of the preceding paragraphs or the description and drawings, including any of their various aspects or respective individual features, may be taken independently or in any combination. Features described in connection with one embodiment are applicable to all embodiments unless such features are incompatible.

,CLAIMS:WE CLAIM:
1. A system for dynamically selecting safe landing sites for an unmanned aerial vehicle (UAV), wherein the system comprising:
a mission planner (103) configured for detecting one or more pre-determined safe landing sites based on a first plurality of parameters and creating a mission plan, wherein the mission planner (103) is configured to plot the one or more pre-determined safe landing sites over the mission plan; and
the UAV (101) comprising:
a plurality of sensors (203) for monitoring a second plurality of parameters in real-time;
a UAV processor (201) is coupled with a UAV memory (204) and configured for:
receiving the mission plan and a threshold range from the mission planner (103);
mapping of the second plurality of parameters by overlaying the second plurality of parameters against a geographical map of the mission plan;
comparing mapped second plurality of parameters with the values between a threshold range;
performing validation of the one or more pre-determined safe landing sites based on the comparison; and
dynamically selecting safe landing sites based upon the validation.
2. The system as claimed in claim 1, wherein the plurality of sensors comprises an altitude sensor, a speed sensor, a humidity sensor, an infrared sensor, a chemical and biological sensor, a camera and a thermal imaging system.

3. The system as claimed in claim 1, wherein the first plurality of parameters, comprising flight heading, residual state of charge of the battery, speed of the UAV, distance to be covered by the UAV and no landing zones.

4. The system as claimed in claim 1, wherein the second plurality of parameters, comprising the real-time altitude data and the terrain data, speed of the UAV per unit time, and humidity of weather.

5. The system as claimed in claim 1, comprising a global positioning system (GPS) for navigation of the UAV.

6. The system as claimed in claim 1, comprising a battery estimator connected to the UAV processor and the mission planner, wherein the battery estimator is configured for receiving and processing battery parameters from the UAV in order to obtain a result and transmitting the result to the mission planner.

7. The system as claimed in claim 1, configured for validating the one or more pre-determined safe landing sites as a valid landing site if the second plurality of parameters is within the threshold range.

8. The system as claimed in claim 1, configured for invalidating the one or more pre-determined safe landing sites as an invalid pre-determined landing site if the second plurality of parameter is not within the threshold range.

9. The system as claimed in claim 8, wherein the one or more invalid pre-determined safe landing sites are removed.

10. The system as claimed in claim 8, wherein the invalid one or more pre-determined safe landing site are modified.

11. The system as claimed in claim 8, wherein one or more new landing sites are identified and updated as the new predetermined safe landing sites.

12. The system as claimed in claim 1, comprising an alarm to initiate warning when the UAV goes into the failsafe mode or any malfunction occurs in the UAV.
13. A method for dynamically selecting safe landing sites for an unmanned aerial vehicle, wherein the method comprising:
detecting, via a mission planner (103), one or more pre-determined safe landing sites based on a first plurality of parameters;
creating, via the mission planner (103), a mission plan;
plotting, via the mission planner (103), the one or more pre-determined safe landing sites over the mission plan;
monitoring, via a plurality of sensors (203), a second plurality of parameters in real-time;
receiving, via a UAV processor (201), the mission plan and a threshold range from the mission planner (103),
mapping, via the UAV processor (201), the second plurality of parameters by overlaying the second plurality of parameters against a geographical map of the mission plan;
comparing, via the UAV processor (201), mapped second plurality of parameters with the values between the threshold range;
performing, via the UAV processor (201), validation of the one or more pre-determined safe landing sites based on the comparison; and
dynamically selecting, via the UAV processor (201), safe landing sites based upon the validation.
14. The method as claimed in claim 13, wherein the plurality of sensors comprises an altitude sensor, a speed sensor, a humidity sensor, an infrared sensor, a chemical and biological sensor, a camera and a thermal imaging system.

15. The method as claimed in claim 13, wherein the first plurality of parameters comprising flight heading, residual state of charge of the battery, speed of the UAV, distance to be covered by the UAV and no landing zones.

16. The method as claimed in claim 13, wherein the second plurality of parameters comprising the real-time altitude data and the terrain variations, speed of the UAV per unit time, and humidity of weather.

17. The method as claimed in claim 13, comprising a step for validating the one or more pre-determined safe landing sites as a valid landing site if the second plurality of parameters is within the threshold range.

18. The method as claimed in claim 13, comprising a step for invalidating the one or more pre-determined safe landing sites as an invalid pre-determined landing site if the second plurality of parameter is not within the threshold.

19. The method as claimed in claim 18, comprising a step for removing the invalid one or more pre-determined safe landing sites.

20. The method as claimed in claim 18, comprising a step for modifying the invalid one or more pre-determined safe landing sites.

21. The method as claimed in claim 18, comprising a step for identifying one or more new landing sites and updating the one or more new landing sites as the new predetermined safe landing sites.
Dated this 09th Day of November 2022

Priyank Gupta
Agent for the Applicant
IN/PA-1454