DESC:TECHNICAL FIELD
[0001] The present invention relates generally to a system and a method to disarm an Unmanned Aerial Vehicle (UAV) propulsion system. The invention, more particularly, relates to an improved UAV propulsion system that is fully autonomous.
BACKGROUND
[0002] Unmanned Aerial Vehicles (UAVs) are capable of performing completely autonomous flights and needs pre-programming of the flight plan for an autonomous flight. A very critical stage during these autonomous flights is its autonomous take-off and landing.
[0003] The most common and prominent flight stacks that run on the UAVs handle the event of landing in a certain manner – they generally detect the impact on ground through its Inertial Management Unit (IMU) sensors, reduces its ‘intended’ throttle to bare-minimum, and waits for the vehicle to be ‘completely’ motionless and leveled by providing bare minimum balancing thrusts before the thrusters/motors are disarmed or power cut-off.
[0004] The above method is ideal for a precise Vertical take-off and landing (VTOL) UAV, but for imprecise UAVs wherein primarily the thrust vectors of the propulsion system are imbalanced leads to self-induced motions. These self-induced motions, although trivial, are very difficult to counter at the landing stage as not enough thrust can be used as the UAV is at ground. In such cases, the loop of leveling the UAV and the wait for the complete motionlessness rarely gets over, leading to potentially dangerous situations such as confusion to the UAV pilot, naturally prompting one to take some action even when the UAV is in close proximity. This is a safety hazard. Further, increasing the chances of flight stack getting ‘spooked’ the longer the UAV does not dis-arm. Most common scenarios in such cases end in toppling of the UAV. This is again a safety hazard.
[0005] In view of the above deficiencies mentioned in the conventional approaches, there is still a need of a technical solution which solves the above defined problems and provide a system and a method for disarming the Unmanned Aerial Vehicle (UAV) propulsion systems in a quick and swift manner for reliable landing.
SUMMARY
[0006] This summary is provided to introduce concepts related to a system and a method to disarm an Unmanned Aerial Vehicle (UAV) propulsion system. The invention, more particularly, relates to an improved UAV propulsion system that is fully autonomous. This summary is neither intended to identify essential features of the present invention nor is it intended for use in determining or limiting the scope of the present invention.
[0007] For example, various embodiments herein may include one or more systems to disarm an Unmanned Aerial Vehicle (UAV) propulsion system and methods thereof. In one of the embodiments, the method includes monitoring by an Inertial Management Unit (IMU) sensor whether the UAV or the drone is leveled accurately. The method further includes detecting a landing impact of the UAV on ground while being leveled by the IMU sensor. Further, the height of the UAV is determined from its landing location by a height sensor along with the IMU sensor. The method further includes determining the intended throttle of the UAV propulsion system based on the determined height of the UAV from its landing location and a plurality of factors by a flight controller and monitoring the throttle intention by the flight controller. Further, the method includes providing additional thrust for supporting the landing impact upon detection of the landing impact while being leveled through the IMU sensor by a leveling detection system. Finally, the method includes disarming the UAV based on the monitored throttle intention and the detected landing impact.
[0008] In another embodiment, the system includes an Inertial Management Unit (IMU) sensor (106) that monitors whether the UAV or the drone is leveled accurately and it further detects a landing impact of the UAV on ground while being leveled. The system further includes a height sensor along with the IMU sensor (106) that determines the height of the UAV from its landing location. Further, the system includes a flight controller that determines the intended throttle of the UAV propulsion system based on the determined height of the UAV from its landing location and a plurality of factors and it monitors the throttle intention. The system further includes a leveling detection system that provides an additional thrust for supporting the landing impact upon detection of the landing impact while being leveled through the IMU sensor. Lastly, the flight controller disarms the UAV based on the monitored throttle intention and the detected landing impact.

BRIEF DESCRIPTION OF ACCOMPANYING DRAWINGS
[0009] 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 reference like features and modules.
[0010] Figure 1 illustrates a system architecture of the UAV propulsion system, according to an exemplary implementation of the present invention.
[0011] Figure 2 illustrates a flowchart of a method for disarming the UAV propulsion system, according to an exemplary implementation of the present invention.
[0012] Figure 3 illustrates another flowchart of a method for disarming the UAV propulsion system, according to an exemplary implementation of the present invention.
[0013] It should be appreciated by those skilled in the art that any block diagrams herein represent conceptual views of illustrative apparatuses embodying the principles of the present invention. Similarly, it will be appreciated that any flow charts, flow diagrams, and the like represent various processes which may be substantially represented in computer readable medium and so executed by a computer or processor, whether or not such computer or processor is explicitly shown.

DETAILED DESCRIPTION
[0014] The various embodiments of the present invention describe about a system and a method to disarm an Unmanned Aerial Vehicle (UAV) propulsion system.
[0015] In the following description, for purpose of explanation, specific details are set forth in order to provide an understanding of the present invention. It will be apparent, however, to one skilled in the art that the present invention may be practiced without these details. One skilled in the art will recognize that embodiments of the present invention, some of which are described below, may be incorporated into a number of systems.
[0016] However, the methods and systems are not limited to the specific embodiments described herein. Further, structures and devices shown in the figures are illustrative of exemplary embodiments of the present invention and are meant to avoid obscuring of the present invention.
[0017] Furthermore, connections between components and/or modules within the figures are not intended to be limited to direct connections. Rather, these components and modules may be modified, re-formatted or otherwise changed by intermediary components and modules.
[0018] The appearances of the phrase “in an embodiment” in various places in the specification are not necessarily all referring to the same embodiment.
[0019] It should be noted that the description merely illustrates the principles of the present invention. It will thus be appreciated that those skilled in the art will be able to devise various arrangements that, although not explicitly described herein, embody the principles of the present invention. Furthermore, all examples recited herein are principally intended expressly to be only for explanatory purposes to help the reader in understanding the principles of the invention and the concepts contributed by the inventor to furthering the art and are to be construed as being without limitation to such specifically recited examples and conditions. Moreover, all statements herein reciting principles, aspects, and embodiments of the invention, as well as specific examples thereof, are intended to encompass equivalents thereof.
[0020] For example, various embodiments herein may include one or more systems to disarm an Unmanned Aerial Vehicle (UAV) propulsion system and methods thereof.
[0021] In one of the embodiments, the method includes monitoring by an Inertial Management Unit (IMU) sensor whether the UAV or the drone is leveled accurately. The method further includes detecting a landing impact of the UAV on ground while being leveled by the IMU sensor. Further, the height of the UAV is determined from its landing location by a height sensor along with the IMU sensor. The method further includes determining the intended throttle of the UAV propulsion system based on the determined height of the UAV from its landing location and a plurality of factors by a flight controller and monitoring the throttle intention by the flight controller. Further, the method includes providing additional thrust for supporting the landing impact upon detection of the landing impact while being leveled through the IMU sensor by a leveling detection system. Finally, the method includes disarming the UAV based on the monitored throttle intention and the detected landing impact.
[0022] In another embodiment, the system includes an Inertial Management Unit (IMU) sensor (106) that monitors whether the UAV or the drone is leveled accurately and it further detects a landing impact of the UAV on ground while being leveled. The system further includes a height sensor along with the IMU sensor (106) that determines the height of the UAV from its landing location. Further, the system includes a flight controller that determines the intended throttle of the UAV propulsion system based on the determined height of the UAV from its landing location and a plurality of factors and it monitors the throttle intention. The system further includes a leveling detection system that provides an additional thrust for supporting the landing impact upon detection of the landing impact while being leveled through the IMU sensor. Lastly, the flight controller disarms the UAV based on the monitored throttle intention and the detected landing impact.
[0023] In another embodiment, the method includes performing plurality of checks by a landing affirmation counter for confirming whether the landing impact is detected and the throttle intention is zero. This landing affirmation counter is required to cross a threshold which is a predefined threshold number to disarm a plurality of motors of the UAV. If the result is positive for the predefined threshold number consecutively then the UAV is disarmed.
[0024] In another embodiment, the monitoring of the throttle intention includes cross verifying that the intended throttle is bare-minimum or zero.
[0025] In another embodiment, the plurality of factors for determining the intended throttle of the UAV propulsion system includes the height of the UAV above its landing location, the wind pressure, the horizontal distance of the UAV from the landing location, low fuel or voltage of the UAV, deviations from the flight plan of the UAV and the like.
[0026] In the present embodiment of the present invention, the intended throttle of the system during complete autonomous flight is decided by the height of the UAV above its landing location. This throttle intention is monitored, and the landing impact is detected by the Inertial Management Unit (IMU) sensors. Based on the monitored throttle intention and the detected landing impact the UAV is disarmed. These two parameters i.e., the throttle intention and the landing impact help in reliable landing of the UAV and disarming the UAV propulsion system in a quick and swift manner.
[0027] Figure 1 illustrates a system architecture of the UAV propulsion system, according to an exemplary implementation of the present invention. The system explained in the present invention includes various components for disarming an Unmanned Aerial Vehicle (UAV) propulsion system (100). The various components includes the landing gears (102), the UAV frame main body (104), the Inertial Management Unit (IMU) Sensor (106), the height sensor (108), the leveling detection system (110), the height estimation system (112), the flight controller (114) and the Vertical take-off and landing (VTOL) propulsion system (116). The landing gears (102) of the UAV or a drone make the first contact to the ground or land. The UAV frame main body (104) is connected to the landing gears (102). Further, the IMU sensor (106) is configured to monitor whether the UAV or the drone is leveled accurately. The height sensor (108) along with the IMU sensor (106) is configured to determine the height of the UAV above the ground. The leveling detection system (110) is configured to detect the landing impact of the UAV on the ground while being leveled. Upon detection of the landing impact while being leveled through the IMU sensor (106) and the leveling detection system (110), a momentary additional thrust is provided to cushion the landing impact. This is one of the factors for the UAV to determine to disarm. This is a safe action to perform as improper actuation in the propulsion system is a major source of safety hazard during the events of landing.
[0028] Additionally, the height estimation system (112) is configured to monitor the height of the UAV above its landing location using a height sensor (108). Further, the flight controller (114) is configured to determine the throttle intention or the throttle value based on a plurality of factors such as the height of the UAV above the ground, the wind pressure and the like. The flight controller (114) further controls the throttle of a plurality of motors. The throttle intention further controls the VTOL propulsion system (116). The system also has access to the intended throttle or thrust value as it monitors its height above its landing location using the height sensor (108) via the height estimation system (112). This intended throttle already reaches its bare-minimum when the UAV is practically on the ground. Using the above two concepts of landing impact detection, and monitoring the intended throttle, the UAV disarms its propulsion system without having to wait for complete motionlessness, for more practical and safety purposes. Further, when the possible landing impact is detected, and when the intended throttle can be cross-verified to be bare-minimum or zero, the UAV propulsion system (100) gets safely disarmed. Additionally, to reduce false positives, the conditions on landing impact and throttle intentions can be confirmed several times in a second to validate on the disarm decision.
[0029] In one of the exemplary implementation, if an auto-pilot system directs that no throttle is required then it means that the UAV or the drone is at the home location.
[0030] Figure 2 illustrates a flowchart of a method for disarming the UAV propulsion system, according to an exemplary implementation of the present invention. The method is explained in the present invention for disarming an Unmanned Aerial Vehicle (UAV) propulsion system. This method is performed for checking several times to avoid false positives. The throttle intention throttle of the system during complete autonomous flight is decided. Further, the landing impact is detected by the Inertial Management Unit (IMU) sensors. When the possible landing impact is detected, and when the intended throttle can be cross-verified to be bare-minimum or zero, the UAV propulsion system gets safely disarmed. The number of times checks have been performed is maintained by the landing affirmation counter. A landing affirmation counter is required to cross a threshold which is a predefined threshold number to finally disarm the motors. The landing affirmation counter is a counter that is configured to check if the UAV has landed or not. The working of the landing affirmation counter is that the system checks multiple times whether the land is detected and the throttle intention is zero. This check is performed multiple times. If the result comes out to be positive for the predefined threshold number consecutively then the UAV disarms.
[0031] Also, for completeness of information and sense, the factors which generally affect throttle intention in a fully autonomous flight controller include height above the landing location, horizontal distance from the landing location, the wind pressure, low fuel or voltage, deviations from its flight plan and the like. Further, if the throttle intention is bare-minimum or zero in fully autonomous modes, it means the flight controller is where it wants to be in terms of position.
[0032] Figure 3 illustrates another flowchart of a method for disarming the UAV propulsion system, according to an exemplary implementation of the present invention.
[0033] At step 302, monitoring the UAV for leveling accurately. In another embodiment, an Inertial Management Unit (IMU) sensor (106) configured to monitor the UAV for leveling accurately.
[0034] At step 304, detecting a landing impact of the UAV on ground while being leveled. In another embodiment, the IMU sensor (106) configured to detect a landing impact of the UAV on ground while being leveled.
[0035] At step 306, determining the height of the UAV from its landing location. In another embodiment, a height sensor (108) along with the IMU sensor (106) configured to determine the height of the UAV from its landing location.
[0036] At step 308, determining the intended throttle of the UAV propulsion system based on the determined height of the UAV from its landing location and a plurality of factors. In another embodiment, a flight controller (114) configured to determine the intended throttle of the UAV propulsion system (100) based on the determined height of the UAV from its landing location and a plurality of factors.
[0037] At step 310, monitoring the throttle intention. In another embodiment, the flight controller (114) configured to monitor the throttle intention.
[0038] At step 312, providing an additional thrust for supporting the landing impact upon detection of the landing impact while being leveled through the IMU sensor. In another embodiment, a leveling detection system (110) configured to provide an additional thrust for supporting the landing impact upon detection of the landing impact while being leveled through the IMU sensor.
[0039] At step 314, disarming the UAV based on the monitored throttle intention and the detected landing impact. In another embodiment, the flight controller (114) configured to disarm the UAV based on the monitored throttle intention and the detected landing impact.
[0040] The foregoing description of the invention has been set merely to illustrate the invention and is not intended to be limiting. Since modifications of the disclosed embodiments incorporating the spirit and substance of the invention may occur to person skilled in the art, the invention should be construed to include everything within the scope of the invention.

,CLAIMS:
1. A method for disarming an Unmanned Aerial Vehicle (UAV) propulsion system (100), said method comprising:
monitoring, by an Inertial Management Unit (IMU) sensor (106), the UAV for leveling accurately;
detecting, by the IMU sensor (106), a landing impact of the UAV on ground while being leveled;
determining, by a height sensor (108) along with the IMU sensor (106), the height of the UAV from its landing location;
determining, by a flight controller (114), the intended throttle of the UAV propulsion system based on the determined height of the UAV from its landing location and a plurality of factors;
monitoring, by the flight controller (114), the throttle intention;
providing, by a leveling detection system (110), an additional thrust for supporting the landing impact upon detection of the landing impact while being leveled through the IMU sensor;
disarming, by the flight controller (114), the UAV based on the monitored throttle intention and the detected landing impact.

2. The method as claimed in claim 1, wherein disarming the UAV further comprises:
performing, by a landing affirmation counter, a plurality of checks for confirming whether the landing impact is detected and the throttle intention is zero, wherein the landing affirmation counter is required to cross a threshold which is a predefined threshold number to disarm a plurality of motors of the UAV; and
disarming, by the flight controller (114), the UAV if the result is positive for the predefined threshold number consecutively.

3. The method as claimed in claim 1, wherein monitoring the throttle intention includes cross verifying that the intended throttle is bare-minimum or zero.

4. The method as claimed in claim 1, wherein the plurality of factors for determining the intended throttle of the UAV propulsion system includes the height of the UAV above its landing location, the wind pressure, the horizontal distance of the UAV from the landing location, low fuel or voltage of the UAV, deviations from the flight plan of the UAV and the like.

5. A system to disarm an Unmanned Aerial Vehicle (UAV) propulsion system (100), said system comprising:
an Inertial Management Unit (IMU) sensor (106) configured to:
monitor the UAV for leveling accurately;
detect a landing impact of the UAV on ground while being leveled;
a height sensor (108) along with the IMU sensor (106) configured to determine the height of the UAV from its landing location;
a flight controller (114) configured to:
determine the intended throttle of the UAV propulsion system (100) based on the determined height of the UAV from its landing location and a plurality of factors;
monitor the throttle intention;
a leveling detection system (110) configured to provide an additional thrust for supporting the landing impact upon detection of the landing impact while being leveled through the IMU sensor;
the flight controller (114) configured to disarm the UAV based on the monitored throttle intention and the detected landing impact.

6. The system as claimed in claim 5, wherein the system further comprises:
a landing affirmation counter configured to perform a plurality of checks to confirm whether the landing impact is detected and the throttle intention is zero, wherein the landing affirmation counter is required to cross a threshold which is a predefined threshold number to disarm a plurality of motors of the UAV; and
the flight controller (114) configured to disarm the UAV if the result is positive for the predefined threshold number consecutively.

7. The system as claimed in claim 5, wherein the flight controller (114) configured to monitor the throttle intention includes cross verifying that the intended throttle is bare-minimum or zero.