WO2012094430A2

WO2012094430A2 - Tethered airborne surveillance system

Info

Publication number: WO2012094430A2
Application number: PCT/US2012/020237
Authority: WO
Inventors: Patrick Mckinney; Alex J. Kossett
Original assignee: Reconrobotics, Inc.
Priority date: 2011-01-04
Filing date: 2012-01-04
Publication date: 2012-07-12
Also published as: WO2012094430A3

Abstract

Embodiments of the invention includes an aerial robotic surveillance vehicle (robot) equipped with a camera or other payload that can be launched from a base station, maintained in an elevated position, retrieved, and relaunched as desired. The aerial robot can be operated remotely or configured to operate autonomously. The equipment comprising the aerial robot can combine with or collapse into a centralized chassis or base unit for convenient storage and transport. The base station may provide a landing and takeoff platform for the aerial vehicle. In embodiments the robot uses a plurality of motor-driven rotors to remain airborne and includes a camera for remote viewing and electronics for stabilization of the robot's orientation. In embodiments the robot can be tethered to a movable base station that provides power to the robot through an electrical conductor in the tether. In embodiments the movable base station can be a robot, that is, it can have wheels, tracks, or the like and be remotely controlled to allow it to access areas potentially unsafe for personnel as well.

Description

TETHERED AIRBORNE SURVEILLANCE SYSTEM

PRIORITY CLAIM

This application claims priority to U.S. Provisional Application No. 61/429,723, filed January 4, 201 1, and entitled "TETHERED AIRBORNE SURVEILLANCE PLATFORM," which is hereby incorporated by reference in its entirety.

FIELD OF THE INVENTION

The present invention relates to surveillance robots. More particularly, the present invention relates to accessories and configurations for airborne surveillance robots.

BACKGROUND OF THE INVENTION

During combat, police actions, and other situations when an armed adversary may be encountered, obtaining visual surveillance of the surrounding environment can be beneficial. Gaining an appropriate visual vantage point, however, often places individuals and equipment in harm's way. For example, peering through a doorway to look into an adjacent room can expose an individual to hostile fire. Personnel ascending and descending stairwells and entering attic spaces may be similarly exposed to hidden or unexpected dangers. Outdoor environments can provide similar obstacles to visual surveillance which, when circumnavigated or avoided, may expose an individual to hostile fire. Such obstacles may include, for example, walls, fences, debris, berms, buildings, rock formations, and the like.

The use of robotic surveillance systems is becoming increasingly common in hostile environments. The robots used in these surveillance systems are utilized to provide visual images. After delivery into an area to be monitored the robots can be remotely maneuvered with an operator control unit to position the robot and embedded camera as desired by a user.

Tethered aerial robots are known that may be elevated above a region to be observed and are generally susceptible to breezes and wind. In other words, the robot may drift away from the area directly above the base station and additional tether must be released to maintain a particular elevation. Such robots typically have a ground based station to which the tether is attached that must be manually positioned. Such a requirement often limits placement of such base stations outside a region of interdiction. SUMMARY OF THE INVENTION

Embodiments of the invention includes an aerial robotic surveillance vehicle (robot) equipped with a camera or other payload that can be launched from a base station, maintained in an elevated position, retrieved, and relaunched as desired. The aerial robot can be operated remotely or configured to operate autonomously. The equipment comprising the aerial robot can combine with or collapse into a centralized chassis or base unit for convenient storage and transport. The base station may provide a landing and takeoff platform for the aerial vehicle. In embodiments the robot uses a plurality of motor-driven rotors to remain airborne and includes a camera for remote viewing and electronics for stabilization of the robot's orientation. In embodiments the robot can be tethered to a movable base station that provides power to the robot through an electrical conductor in the tether. In embodiments the movable base station can be a robot, that is, it can have wheels, tracks, or the like and be remotely controlled to allow it to access areas potentially unsafe for personnel as well. The base station may also have a camera for providing a video feed to a remote command and control station. The tether between the aerial vehicle and the base station can provide a secure communication channel to deliver a video feed from the camera to the base station or to a remote control/viewing station in wired or wireless communication with the robot or base station. In embodiments of the invention a plurality of tethers can retain the elevation and also provide lateral position control. The tether or tethers can be wound on reels with metering for determining precisely the amount of tether dispensed and thus the elevation. In embodiments, the aerial robot can have a video camera that is primarily oriented horizontally for viewing through windows or over obstacles.

A feature and advantage of embodiments of the invention is that, especially in embodiments with a plurality of tethers, a high level of stability without complex dynamic control may be obtained. In embodiments a plurality of tethers, the tethers may be separated by a distance to provide two or more distinct lines connecting to separated connection sites on the aerial vehicle thereby maintaining the aerial vehicle in a level orientation and providing inherent stability. In such cases dynamic flight control may be minimized.

A feature and advantage of embodiments of the invention, the base station may be remotely driven into hostile areas keeping the operators out of harm's way. In embodiments, after the base station is positioned as desired, the tethered aerial robot seated on can be released for a viewing and then be retracted, and then rereleased a number of times as appropriate.

A feature and advantage of embodiments of the invention is a method of providing a primarily horizontal viewing from a selected distance above a mobile base station and to repeatedly raise and lower to a lower elevations above ground level, less than 40 feet for example, to provide periodic viewing into an upper floor window or over a barrier. An advantage is that such periodic viewing can conserve battery power compared to a continuous viewing period and can be easily accomplished with the tether and retraction mechanism. Moreover, with a plurality of tethers, and use in lower elevations, reduced or no dynamic flight control in the aerial robot is needed.

A feature and advantage of embodiments is that the tether may remain taught providing definitive elevation (altitude) control, not dependent upon flight control systems in the aerial vehicle. In embodiments the aerial vehicle with camera may remain substantially directly above the base station.

A feature and advantage of embodiments of the invention is a method of viewing into a upper floor window or over an elevated barrier with a high degree of stability of the viewing camera and precise location control.

A feature and advantage of embodiments of the invention is the base station may have motivation means such as tracks or wheels, and may be a passenger operated vehicle such as an all terrain vehicle. In such cases the control and command station can be part of the base station, that is attached to the all terrain vehicle, or may be a unit that is separable from the base station to be operated by a user that may leave the immediate vicinity of the all terrain vehicle.

A feature and advantage of embodiments of the invention, in particular those with a plurality of tethers, make it particularly applicable for low altitude (elevation) applications, for example 40 feet or less such that the aerial robot can be easily moved by way of moving the base station.

BRIEF DESCRIPTION OF THE DRAWINGS

The embodiments of the present invention may be more completely understood in consideration of the following detailed description of various embodiments of the invention in connection with the accompanying drawings, in which: Figure 1 is a perspective view of a robot vehicle in a stowed position according to an embodiment of the present invention.

Figure 2 is side elevation view of the robot vehicle of Figure 1.

Figure 3 is side view of the robot vehicle of Figure 1 in a deployed configuration. Figure 4 is a cut-away view of robot vehicle of Figure 3 according to an embodiment of the present invention.

Figure 5 is a side view of a single-tether robot vehicle according to an embodiment of the present invention.

Figure 6 is a perspective view (not to scale) of a plurality of deployed robot vehicles positioned around a surveillance area according to an embodiment of the present invention.

Figure 7 is a perspective view of a mobile base station controlled remotely by an operator with a hand held command and control station, and with a dual tether aerial vehicle for peering into a window or over an elevated ledge.

Figure 8 is a perspective view of a mobile base station with a three propeller copter connected to the base station with three tethers.

Figure 9 is a cross sectional view of a camera that may be separated from the aerial vehicle and move along a tether or other elongate member.

Figure 10 is a base station configured as an all terrain vehicle with the platform mounted at the rear of the atv.

While the present invention is amendable to various modifications and alternative forms, specifics thereof have been shown by way of example in the drawings and will be described in detail. It should be understood, however, that the intention is not to limit the present invention to the particular embodiments described. On the contrary, the intention is to cover all modifications, equivalents, and alternatives falling within the spirit and scope of the present invention. DETAILED DESCRIPTION OF THE DRAWINGS

An airborne robot vehicle and tethering base apparatus according to an embodiment of the present invention is depicted generally in Figures 1-4.

Figures 1-5 depict embodiments of the invention that includes a robotic vehicle equipped to transport an observation camera unit 100 or other surveillance equipment. An exemplary robotic aerial vehicle can include a deployable aerial vehicle which may be configured as deployable quad copter 10, that can be deployed from a base station 20 having a base frame 21 and a platform 22 for receiving the aerial vehicle. The quad copter comprising a lift mechanism 38 comprising four rotary blades 40 and an associated drive system 42. A reel device 60 retains contact between the aerial vehicle 10 and the base station 20 for the deployment of the camera unit 100 to a fixed height. The aerial vehicle 10 is coupled to and can be reeled into a base station 20 with one or more tethers 50 that can be wound onto reel device 60. The reel device as illustrated in Figure 4 has two spools or reels 62, 64 on which the tethers are wound. A motor 80 with a belt 82 may drive the reels. The reel device may be calibrated such that revolutions of the reels correlate to tether released (or retractred) or amount of tether released (or retracted) may be measured directly by a pulley 86 connected to a counter or the like. Multiple reels are synchronized such as by the common belt 82 or by synchronized motors, such as stepper motors 87.

The base station 20 can provide both power and tether support to any of a variety of aerial vehicles in addition to the exemplary aerial vehicle 10. The base station can contain one or more reels 60 that automatically maintain a fixed distance between the base station 20 and the aerial aerial vehicle 10. In one potential embodiment the aerial vehicle is limited to a maximum height of approximately less than two-hundred feet. Other distances can be provided with tethers 50 of a longer or shorter length. In one embodiment, power and video signals are can be transmitted through the tether 50 via a conductor to the aerial vehicle 10. Power can be provided to the aerial vehicle 10 by battery, generator support or by another electrical supply.

In a stowed position the aerial vehicle 10 can rest on top of the base station 20 maintaining a very small footprint. The aerial vehicle can be attached to the platform by mechanical clamps 86, see Figure 2, or by movable magnets 88, below the platform, see Figure 2. An operator may select, via a command and control unit 30 located either on/at the base station 20 or at a remote location. The command and control unit may be hand held unit 200, see Figure 7. The command and control unit may readily control the altitude to which the aerial vehicle 10 should ascend, handle camera functions, and further provide a viewing station 32 with images from the camera 100.

With the tether, a selected altitude or more simply an elevation above the base station, may be input and the motor controlling the tether(s) operated until a length of the tether(s) corresponding to the elevation is dispensed. Such is done with the aerial vehicle under lifting conditions such that the tethers remain essentially taught.

Contained within the base 20 can be the majority of the necessary electronics, including communication, power supply, sensors necessary to maintain stable flight, controls of the aerial vehicle 10 and transmission means for the video signal to the command control/viewing station 20. Transmission of video signals can be accomplished through either a wired conduit 220 between the base 10 and the remote control/viewing station 200 or by rf means or ir. Any combination of the base 10, the aerial vehicle 10 and the control/viewing station 200 can include one or more wireless transceivers 230 for transmission of the video signal or control communications.

The camera 100 can include a lowlight high-resolution camera with the additional support of infrared lighting, and a pan, tilt, and zoom (PTZ) mechanism. In one embodiment the aerial vehicle and/or base station can be controlled and monitored remotely with a command and control station configured as handheld control unit operated by the user and and that would require minimal training. The handheld unit(s) can include transmitters and receivers complementary to the aerial base station transceivers 230, and an interface including a video screen to monitor the flight of the aerial vehicle, and a control device such as a joystick or a set of buttons.

In an alternative embodiment the aerial vehicle 10 can be programmed to maintain a specified height and location, while providing continuous video surveillance, without the need for operator control to fly or control the aerial vehicle 10. In this embodiment the only limit to the flight duration of the robot is the availability of a power source or extreme environmental conditions. In such an embodiment the tether may be loose, not taught, and the elevation and positioning controlled by flight control portion 238, see Figure 5, typically located in the aerial vehicle, although same could be located in the base station. Flight control capabilities are more important where the tether is not utilized to control position, that is elevation and horizontal position. Flight control capabilities are also more important in a single tether arrangement as illustrated in Figure 5.

A feature and advantage of embodiments of the invention is that one or more tethered aerial lift vehicles providing surveillance and or lighting, visible or infrared, may be placed around an area to be surveiled 210. The one or more tethered aerial lift vehicles can provide video signals to one or more observation stations or handheld control or viewing units. One main operator can control or manage a plurality of aerial vehicle 10 deployed around a surveillance area 210, while multiple viewers can observe the video signal from one or more of the aerial vehicles 10 at separate locations around the surveillance area 210. Communication between the aerial vehicles 10, the control/viewing Station 200, and the handheld units can be through any of a variety of wireless communication or networking protocols.

Referring to Figure 7, the base station may be a tracked vehicle of dimensions that the base station may be readily transported, for example, less than 3 feet by 4 feet in the plan view and less than 3 feet in height. Such can be a robotic device controlled by the remote control by the command and control station configured as a hand held unit 200. The command and control station can have transceivers to communicate with the bases station or the base station and aerial vehicle. That is, for example, signals reflective of the images from the camera with the aerial vehicle may be transmitted directly to the command and control station, or may be transmitted to the base station with then further conveys the images or signals reflective of the images to the command and control station. Multiple tethers 222 can provide stability to the aerial vehicle minimizing the need for flight stability control either in the aerial vehicle or in the base station.

Referring to Figure 8, three tethers are illustrated, providing enhanced stability, particularly a lower elevations, for example less than 40 feet, compared to a single tether or two tethers. Also a four tether unit is contemplated herein.

In an embodiment of the invention, the aerial vehicle is tethered to a base and is elevated above the base to provide a view of an area to be observed that is in camera range of the elevated lifting vehicle. The camera may be fixed to the elevated lifting vehicle or separated from same. Referring to Figure 9, a movable camera unit 232 allowing the camera to be lowered along a tether or other elongate member is illustrated. An engaging drive pulley 234 engages the tether or elongate member and is driven by a motor 236. A control portion 238 receives and translates commands. A camera 242 is contained in housing 244. The housing can include other sensors as well. The unit may communicate with the aerial vehicle or base station by rf or ir means or by conductor.

The base may provide power for the aerial vehicle and may include transmit and receive functions and aerial control systems either through the tether or through a wireless communication mechanism such as IR or RF.

A remote station may receive video or audio from one or more aerial vehicles and may provide control and monitoring functions of the aerial vehicles and their associated tether bases. More than one tether may be utilized with the ground end of the tethers separated for providing stability of the aerial vehicle.

Referring to Figure 10, the base unit may be an all terrain vehicle("atv") with the base frame 21 and platform 22 on the rear of the atv. The command and control station 200 may be affixed to or removable from the atv. The atv may be conventional with a passenger seat 266.

Additional information regarding airborne vehicles can be found in U.S. Design Patent No. D628,658, and U.S. Patent Nos. 2,995,740; 3,053,480; 5,325,513; 5,857,534; 7,510,142; and 7,631,834 and PCT Publication WO 2010/123529 These patents and publications include technical disclosure which may be applicable to aspects and elements included herein and each is incorporated herein by reference.

Features and advantages of embodiments of the instant invention include:

Compact form

Compact packed form

A low-cost aerial alteration base station

Provides the end-user aerial surveillance of an interdict area

Provides for multiple payloads to be carried aloft

Provides for rapid deployment in emergency situations

Provides for mesh transmission of aerial surveillance amongst multiple platforms

The embodiments above are intended to be illustrative and not limiting. Additional embodiments are within the claims. In addition, although aspects of the present invention have been described with reference to particular embodiments, those skilled in the art will recognize that changes can be made in form and detail without departing from the spirit and scope of the invention, as defined by the claims.

Persons of ordinary skill in the relevant arts will recognize that the invention may comprise fewer features than illustrated in any individual embodiment described above. The embodiments described herein are not meant to be an exhaustive presentation of the ways in which the various features of the invention may be combined. Accordingly, the embodiments are not mutually exclusive combinations of features; rather, the invention may comprise a combination of different individual features selected from different individual embodiments, as understood by persons of ordinary skill in the art.

Any incorporation by reference of documents above is limited such that no subject matter is incorporated that is contrary to the explicit disclosure herein. Any incorporation by reference of documents above is further limited such that no claims included in the documents are incorporated by reference herein. Any incorporation by reference of documents above is yet further limited such that any specific definitions provided in the documents are not incorporated by reference herein unless expressly included herein.

Claims

1. An aerial robotic system comprising a base station, an aerial vehicle and a command and control station;

wherein the base station comprises: a base frame with a tether reel with a tether thereon, a motor for driving the reel, and a receiving platform on top of the base frame for receiving the aerial vehicle;

wherein the aerial vehicle comprises a receiving platform engaging portion to engage and seat on the receiving platform, a camera for providing video to the command and control station, the aerial vehicle being in communication with at least one of the base station and command and control station; and

wherein the command and control station being in communication with at least one of the aerial vehicle and the base station for transferring data and commands therebetween.

2. The aerial robotic system of claim 1 wherein the base station having a drive system including wheels, a control portion for controlling the drive system, and a communications portion for communicating at least one of data and information between the base station and the command and control station whereby the command and control station controls the base station.

3. The aerial robotic system of any one of claims 1 or 2, wherein the tether reel is calibrated to thereby release a desired length of tether based on commands from the command and control station.

4. The aerial robotic system of any one of claim 1 through 3 wherein the base station further comprises a second tether reel and a second tether, the second tether connected to the aerial vehicle.

5. The aerial robotic system of any one of the above claims wherein the aerial vehicle has flight capabilities provided by a propeller lift portion and further has a dynamic flight control system for maintaining at least one flight control parameter during flight.

6. The aerial robotic system of claim 5, wherein the propeller lift portion comprises four propellers and four associated drive systems.

7. The aerial robotic system of claim 5 or 6 wherein power for the propeller lift portion of the aerial vehicle is provided through one tether.

8. The aerial robotic system of any one of the above claims wherein the base station and aerial robot are configured for operating autonomously.

9. The aerial robotic system of any one of the above claims wherein the aerial vehicle is severable from the one or more tethers during flight and wherein the aerial vehicle comprises a flight control system to maintain flight unconnected to said one or more tethers.

10. The aerial robotic system of any one of the above claims wherein the base station is not larger than, in the plan view, 3 feet by 4 feet, and has four wheels.

1 1. A aerial robotic system comprising a base station and an aerial vehicle, the base station comprising: a base frame with a tether reel with a tether thereon, a motor for driving the reel, a drive system comprising one of a plurality of wheels and a plurality of tracks, and a drive motor, a control portion for controlling the motor for driving the tether reel; and,

wherein the aerial vehicle comprises a plurality of propellers with an associated drive system, a camera for providing video remotely from the aerial vehicle to a viewing station, a tether connection site and wherein the tether is connected to the aerial vehicle at said tether connection site.

wherein the being in communication with at least one of the aerial vehicle and the base station for transferring data and commands therebetween.

12. The aerial robotic system of claim 1 1 further comprising command and control station positioned remote from the base station and in communication with the base station and the aerial vehicle, the command and control station including the viewing station.

13. The aerial robotic system of any one of claims 11 or 12, wherein the tether reel is calibrated to thereby release a desired length of tether based on commands from the command and control station.

14. The aerial robotic system of any one of claim 11 through 13 wherein the base station further comprises a second tether reel and a second tether, the second tether connected to the aerial vehicle.

15. The aerial robotic system of any one of claims 1 1 through 14 wherein the aerial vehicle has a dynamic flight control system for maintaining at least one flight control parameter during flight.

16. The aerial robotic system of claim 15, wherein the dynamic control system is switchable on and off during flight whereby it may be used on an as needed basis.

17. The aerial robotic system of any one of claims 1 1 through 15 wherein power for the associated drive system of the aerial vehicle is provided through one tether.

18. The aerial robotic system of any one of the above claims wherein the base station and aerial robot are configured for operating autonomously.

19. The aerial robotic system of claim 10 wherein the base station comprises a vehicle with a passenger seat and passenger operating controls.

20. The aerial robotic system of any one of claims 1 1 through 18 wherein the base station is not larger than, in the plan view, 3 feet by 4 feet.

21. A method of providing surveillance of a defined region, the method comprising:

placing a base station proximate to an area to be monitored, the base station having a platform with an aerial vehicle seated thereon;

operating a lift mechanism of the aerial vehicle thereby releasing the vehicle from the platform;

controlling the elevation of the aerial vehicle by way of dispensing and retrieving a tether from the base station attached to the aerial vehicle, and

directing a camera of the aerial vehicle onto the defined region and transmitting images from the camera to a viewing station.

22. The method of claim 21 further comprising controlling the positioning of the aerial vehicle with a plurality of tethers extending from the base station.

23. The method of claim 21, further comprising retrieving the aerial vehicle to the platform by retrieving the tether.

24. The method of claim 23, further comprising periodically operating the lift mechanism of the aerial vehicle and dispensing the tether to provide periodic viewing of the defined region.

25. The method of claim 21 wherein the placing of the base station proximate to the area to be monitored comprises operating a drive system engaged with the ground on the base station, the drive system providing mobility to the base station.

26. The method of any of claims 21 to 25 further comprising controlling the aerial vehicle by way of a command and control station located remote from base station.

27. The method of any of claims 21 through 25 further comprising controlling the base station by way of a command and control station positioned with the base station.

28. The method of any one of claim 21 through 27 further comprising moving the horizontal position of the aerial vehicle by horizontally moving the base station.

29. A method of providing surveillance of a defined region, the method comprising:

operating a lift mechanism of the aerial vehicle;

releasing the vehicle from the platform;

utilizing a camera of the aerial vehicle to view the defined region and transmitting images from the camera to a viewing station.

30. A method of providing surveillance of a defined region, the method comprising:

placing a base station proximate to an area to be monitored, operating a lift mechanism of an aerial vehicle;

controlling the elevation of the aerial vehicle by way of dispensing and retrieving a plurality of tethers from the base station attached to the aerial vehicle, and

31. The method of claim 30 further comprising controlling the horizontal position of the aerial vehicle by using the plurality of tethers.