# US 10,480,953 B2 · Semi-autonomous monitoring system

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- Number: US 10,480,953 B2
- Document ID: US10480953B2
- Status: Granted
- Kind: B2
- Application number: 15/573,978
- Filed: 2015-07-07
- Published: 2018-10-11
- Granted: 2019-11-19
- Earliest claimed: 2015-07-07
- Assignees: Halliburton Energy Services, Inc.
- Applicants: Halliburton Energy Services, Inc.
- Inventors: Nathan P. Leach
- Web page: https://patentgrep.com/patent/US10480953B2

## CPC

- G05D 1/106: {Change initiated in response to external conditions, e.g. avoidance of elevated terrain or of no-fly zones}
- B64F 5/10: Manufacturing or assembling aircraft, e.g. jigs therefor
- G01C 21/20: Instruments for performing navigational calculations (G01C21/24, G01C21/26 take precedence)
- G01C 21/3415: {Dynamic re-routing, e.g. recalculating the route when the user deviates from calculated route or after detecting real-time traffic data or accidents}
- G01C 21/3461: {Preferred or disfavoured areas, e.g. dangerous zones, toll or emission zones, intersections, manoeuvre types or segments such as motorways, toll roads or ferries}
- G01C 21/3469: {Fuel consumption; Energy use; Emission aspects}
- G05D 1/00: Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots (drive control systems specially adapted for autonomous road vehicles B60W60/00)
- G05D 1/0094: {involving pointing a payload, e.g. camera, weapon, sensor, towards a fixed or moving target}
- G05D 1/0225: {involving docking at a fixed facility, e.g. base station or loading bay (parking aids B62D15/027)}
- H04N 7/185: {from a mobile camera, e.g. for remote control}
- H04N 23/62: Control of parameters via user interfaces
- H04N 23/66: Remote control of cameras or camera parts, e.g. by remote control devices
- H04N 23/69: Control of means for changing angle of the field of view, e.g. optical zoom objectives or electronic zooming
- B64U 10/14: with four distinct rotor axes, e.g. quadcopters
- B64U 50/30: Supply or distribution of electrical power
- B64U 50/37: Charging when not in flight
- B64U 80/25: for recharging batteries; for refuelling
- B64U 2101/31: for surveillance
- B64U 2201/10: autonomous, i.e. by navigating independently from ground or air stations, e.g. by using inertial navigation systems [INS]
- B64U 2201/104: using satellite radio beacon positioning systems, e.g. GPS
- B64U 2201/20: Remote controls
- G05D: SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- B64F: GROUND OR AIRCRAFT-CARRIER-DECK INSTALLATIONS SPECIALLY ADAPTED FOR USE IN CONNECTION WITH AIRCRAFT; DESIGNING, MANUFACTURING, ASSEMBLING, CLEANING, MAINTAINING OR REPAIRING AIRCRAFT, NOT OTHERWISE PROVIDED FOR; HANDLING, TRANSPORTING, TESTING OR INSPECTING AIRCRAFT COMPONENTS, NOT OTHERWISE PROVIDED FOR
- G01C: MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY (measuring liquid level G01F; radio navigation, determining distance or velocity by use of propagation effects, e.g. Doppler effects, propagation time, of radio waves, analogous arrangements using other waves G01S)
- H04N: PICTORIAL COMMUNICATION, e.g. TELEVISION
- B64U: UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR

## Abstract

A monitoring system may include a semi-autonomous mobile monitoring device capable of determining whether it has a sufficient power level to perform a monitoring task based on the distance between the position of the mobile monitoring device and a task area corresponding to the monitoring task. Upon determining a sufficient power level to perform the monitoring task, the mobile monitoring device may calculate a path to a task area corresponding to the monitoring task based on map information stored in a memory of the mobile monitoring device. The mobile monitoring system may automatically avoid known obstacles in the monitoring area between the position of the mobile monitoring device and the task area without using a remote control.

## Claims

### Claim 1

A monitoring system, comprising:
a mobile monitoring device including a monitoring subsystem for generating monitoring information and a processor for causing the mobile monitoring device to:
determine a position of the mobile monitoring device;
determine an ability of the mobile monitoring device to perform a monitoring task based on a power level of the mobile monitoring device and a distance between the position of the mobile monitoring device and a task area corresponding to the monitoring task in a monitoring area, wherein the monitoring area is an oilfield and the task area relates to oilfield equipment; and
calculate a path between the position of the mobile monitoring device and the task area that avoids exclusion areas based on boundary points stored in a memory of the mobile monitoring device; and
a control unit communicatively coupled to the mobile monitoring device for transmitting the monitoring task to the mobile monitoring device and receiving the monitoring information from the mobile monitoring device.

### Claim 2 (depends on 1)

The monitoring system of claim 1, further comprising a user interface having a display that is communicatively coupled to the control unit for transmitting a request for the monitoring information, wherein the control unit is configured to transmit the monitoring task to the mobile monitoring device in response to the request.

### Claim 3 (depends on 2)

The monitoring system of claim 2, wherein the user interface includes a control panel for controlling an aspect of the monitoring subsystem of the mobile monitoring device.

### Claim 4 (depends on 3)

The monitoring system of claim 3, wherein the monitoring subsystem includes a camera, wherein the monitoring information includes a video feed generated by the camera, wherein the control panel includes selection options for allowing a user to control a zoom level or a direction of the camera during generation of the monitoring information.

### Claim 5 (depends on 1)

The monitoring system of claim 1, wherein the control unit is further communicatively coupled to the mobile monitoring device for monitoring completion of the monitoring task to determine an availability of the mobile monitoring device to receive a new monitoring task.

### Claim 6 (depends on 1)

The monitoring system of claim 1, wherein the processor is configured to cause the mobile monitoring device to determine the ability of the mobile monitoring device to perform the monitoring task by:
retrieving a stored power consumption cost representing an amount of power consumed by the mobile monitoring device traveling a known distance to an outer boundary of the monitoring area;
calculating a ratio between the known distance and the distance between the position of the mobile monitoring device and the task area;
determining a task power consumption cost for the monitoring task by applying the ratio to the amount of power consumed by the mobile monitoring device traveling the known distance to the outer boundary of the monitoring area; and
comparing the task power consumption cost and the power level of the mobile monitoring device.

### Claim 7 (depends on 1)

The monitoring system of claim 1, wherein the processor is configured to cause the mobile monitoring device to calculate the path between the position of the mobile monitoring device and the task area that avoids the exclusion areas by:
retrieving boundary points representing task area boundaries and exclusion area boundaries; and
determining the exclusion area boundaries between the position of the mobile monitoring device and the task area boundaries.

### Claim 8 (depends on 1)

The monitoring system of claim 1, further including one or more ground sensors communicatively coupled to the control unit and positioned in a critical area of the monitoring area,
wherein the control unit is configured to transmit a surveillance task to the mobile monitoring device in response to a detection signal from the one or more ground sensors,
wherein the processor is configured to cause the mobile monitoring device to calculate the path to the critical area that avoids the exclusion areas,
wherein the monitoring subsystem generates the monitoring information in the critical area.

### Claim 9 (depends on 1)

The monitoring system of claim 1, wherein the control unit is configured to transmit a command for implementing the monitoring task to the mobile monitoring device in response to a request for data related to the oilfield equipment.

### Claim 10

A mobile monitoring device, comprising:
a transceiver communicatively coupled to a control unit for receiving a monitoring task from the control unit and for transmitting monitoring information to the control unit;
a processor coupled to the transceiver and a plurality of systems, the processor being configured to determine an ability of the mobile monitoring device to perform the monitoring task based on a power level of the mobile monitoring device and a distance between a position of the mobile monitoring device and a task area corresponding to the monitoring task in a monitoring area, wherein the monitoring area is an oilfield and the task area relates to oilfield equipment; and
memory communicatively coupled to the processor for storing a set of instructions and map information, the map information corresponding to a monitoring area, the task area, a home base, or a transport region between the monitoring area and the home base, the set of instructions being executable by the processor for causing the mobile monitoring device to autonomously avoid obstacles when the mobile monitoring device navigates in the transport region or monitoring area.

### Claim 11 (depends on 10)

The mobile monitoring device of claim 10, further including the plurality of systems, the plurality of systems comprising:
a positioning subsystem for determining the position of the mobile monitoring device;
a mobility subsystem for navigating the mobile monitoring device between the home base and the monitoring area;
a power consumption subsystem for determining the power level of the mobile monitoring device; and
a monitoring subsystem for generating the monitoring information corresponding to the monitoring task.

### Claim 12 (depends on 11)

The mobile monitoring device of claim 11, wherein the monitoring subsystem includes a reader for locating equipment in the oilfield by interfacing with a sensor affixed to the equipment, wherein the monitoring subsystem further includes a camera for generating images or video of the equipment subsequent to locating the equipment.

### Claim 13 (depends on 10)

The mobile monitoring device of claim 10, wherein the map information includes boundary points defining one or more exclusion areas representing oilfield equipment or a hazardous area of an oilfield, wherein the set of instructions include one or more algorithms for causing the processor to calculate a path from the position of the mobile monitoring device to the task area that avoids the one or more exclusion areas.

### Claim 14 (depends on 10)

The mobile monitoring device of claim 10, wherein the map information includes boundary points defining one or more adjustment areas within the monitoring area, wherein the set of instructions include one or more algorithms for causing the processor to adjust a flight altitude threshold of the mobile monitoring device when the mobile monitoring device is navigating within the one or more adjustment areas.

### Claim 15

A method, comprising:
receiving, from a control unit, a monitoring task to perform in a monitoring area by a mobile monitoring device, wherein the monitoring area is an oilfield;
receiving a position of the mobile monitoring device;
determining a power level of the mobile monitoring device;
determining an ability to perform the monitoring task based on the position and the power level;
calculating a path from the position to a task area associated with the monitoring task and within the monitoring area, wherein the task area relates to oilfield equipment;
navigating the path to the task area;
generating monitoring information; and
transmitting the monitoring information to the control unit.

### Claim 16 (depends on 15)

The method of claim 15, wherein determining the ability to perform the monitoring task includes:
retrieving a stored power consumption cost representing an amount of power consumed by the mobile monitoring device traveling a known distance to a boundary of the monitoring area;
calculating a ratio between the known distance and a distance between the position of the mobile monitoring device and the task area;
determining a task power consumption cost for the monitoring task by applying the ratio to the amount of power consumed by the mobile monitoring device traveling the known distance to an outer boundary of the monitoring area; and
comparing the task power consumption cost and the power level of the mobile monitoring device.

### Claim 17 (depends on 15)

The method of claim 15, further comprising:
monitoring a power consumption associated with the mobile monitoring device during performance of the monitoring task;
determining an inability to complete the monitoring task based on the power consumption; and
navigating to a recharging station to charge a battery of the mobile monitoring device.

### Claim 18 (depends on 15)

The method of claim 15, further comprising:
receiving an overriding task from the control unit, wherein the overriding task includes a priority indicator for preempting performance of the monitoring task;
aborting the monitoring task based on the priority indicator;
calculating a new path from the task area to a new task area associated with the overriding task;
navigating the new path to the new task area;
generating new monitoring information associated with the overriding task; and
transmitting the new monitoring information to the control unit.

### Claim 19 (depends on 15)

The method of claim 15, wherein calculating the path from the position to the task area includes:
retrieving boundary points representing boundaries of the task area within the oilfield;
retrieving exclusion area boundary points representing at least one object or hazardous area within the oilfield;
determining the at least one object or hazardous area between the position of the mobile monitoring device and the boundaries of the task area; and
calculating the path to avoid the at least one object or hazardous area within the oilfield based on the exclusion area boundary points.

### Claim 20 (depends on 15)

The method of claim 15, wherein navigating the path to the task area includes:
retrieving boundary points representing an adjustment area; and
adjusting an altitude threshold for the mobile monitoring device when the mobile monitoring device is navigating within the adjustment area.