Autonomous insect carrier

Abstract

Unmanned autonomous vehicles UAV (e.g., drones) are described that include an insect carrier for transporting and/or capturing mosquitoes or other insects and/or their larvae. The insect carrier may include a programmable opening for delivering the insects/larvae to a select location and/or capture the insects from the select location. Target locations include underground sewers, and the UAV includes sonar sensors to assess spatial surroundings and adjust positioning to avoid any collisions.

Claims

1. An unmanned, rotary wing drone having an insect carrier, the drone comprising: a body having one or more propulsion units, each of which of the one or more propulsion units include a motor and a propeller, wherein the one or more propulsion units are configured to provide sufficient lift when operating to allow the drone to fly; a flight controller disposed on the body that comprises (1) a transmitter/receiver for transmission to and receipt of data from a remote source, and (2) a memory configured to store at least one flight plan, wherein the flight controller is configured to semi-autonomously or autonomously control the one or more propulsion units and fly the drone from a first drone position to a second drone position; a plurality of sonar sensors positioned on the drone to detect spatial positioning data of the drone; and an insect carrier coupled to the body, the insect carrier comprising: a hollow shape in contact with the body, the hollow shape having a cavity for containing one or more insects or insect larvae, the hollow shape further comprising a mesh bag of titanium dioxide (TiO.sub.2) powder posited in the cavity and a vent that allows air to flow into and out of the insect carrier while retaining the one or more insects in the cavity; and a portal component in contact with the hollow shape, wherein the hollow shape comprises a closed state and an open state formed by a corresponding closed position and a corresponding open position of the portal component, wherein the portal component comprises: an outer set of one or more openings positioned in the hollow shape and an inner cassette positioned within the hollow shape, the inner cassette comprising: (i) an inner set of one or more openings having the same number, shape, and at least the same area as the outer set of one or more openings, and (ii) a servomechanism capable of actuating a rotation of the inner cassette about a center axis to align the inner set of one or more openings with the outer set of openings to provide one or more passages from the cavity inside the hollow shape to outside the insect carrier, wherein when the one or more passages are provided the hollow shape comprises the open state.

2. The drone of claim 1, wherein the drone further comprises at least one ultraviolet (UV) light source configured to emit UV light on the TiO.sub.2 powder to produce carbon dioxide (CO.sub.2).

3. The drone of claim 1, wherein the one or more propulsion units comprises at least four propulsion units and the plurality of sonar sensors include at least six sonar sensors positioned on the body.

4. The drone of claim 3, wherein each of four of the at least six sonar sensors is positioned in between two of the at least four propulsion units, one of the at least six sonar sensors is positioned on top of the body, and one of the at least six sonar sensor is positioned on the surface of the body opposite the insect carrier.

5. The drone of claim 1, wherein the body is made from or has an outer surface made from a water-resistant or waterproof material.

6. The drone of claim 5, wherein the water-resistant or waterproof material is selected from polyurethanes, polyesters, epoxy resins, phenolic resins, polyvinylchloride (PVC), polystyrene, polytetrafluoroethylene (Teflon), high density polyethylene (HDPE), polypropylene, or combinations thereof.

7. The drone of claim 1, wherein the insect is a mosquito.

8. The drone of claim 1, further comprising a visual or infrared camera, a GPS beacon, a light beacon.

9. The drone of claim 1, wherein the flight controller includes at least one camera for first person viewing (FPV) by a remote operator, and a corresponding flight plan from the first drone position to the second drone position.

10. A method of transporting one or more mosquitoes or one or more mosquito larvae to and/or from a first location to a second location using the unmanned, rotary wing drone of claim 1, wherein the second location is underground, the method comprising: programming the flight controller to either (i) transport the one or more mosquitoes or the one or more mosquito larvae from the first location to the second location, or (ii) transport the insect carrier from the first location to the second location for providing a mosquito trap at the second location, wherein upon arrival of the drone to the second position, the programming further comprises: actuating the rotation of the inner cassette about a center axis to align the inner set of one or more openings with the outer set of openings to provide the one or more passages from the cavity inside the hollow shape to outside the insect carrier to thereby allow for either (i) delivery of the one or more mosquitoes or the one or more mosquito larvae to the second location, or (ii) providing the mosquito trap to the second location.

Description

BRIEF DESCRIPTION OF THE DRAWINGS

(1) FIG. 1 is a schematic of one embodiment of the UAV having an insect carrier with conditional openings for controlled release and/or trapping of insects.

(2) FIG. 2A is a schematic of one embodiment of a portal component of an insect carrier illustrating the closed and open states of the openings.

(3) FIG. 2B is a schematic of one embodiment of a portal component of an insect carrier illustrating an inner portal component feature that enables the closed and open states of the openings in an outer portal component of the insect carrier.

(4) FIG. 3A illustrates a perspective view of one embodiment of the UAV in-flight.

(5) FIG. 3B illustrates a top view of the UAV of FIG. 3A.

(6) FIG. 4A illustrates one embodiment of an insect trap for use on a UAV.

(7) FIG. 4B illustrates one embodiment of an insect trap for use on a UAV.

(8) FIG. 5 is a chart showing the percentage of mosquitoes captured using different lures.

(9) FIG. 6 is a chart showing a number of mosquitoes captured at different times of day.

(10) FIG. 7 is a chart of potential ranges of a UAV under varying conditions.

(11) FIG. 8 is a chart of solar panel voltages as a function of time of day.

(12) FIG. 9 presents various measurements from a flight of a UAV.

(13) FIG. 10 is a chart of characteristics of the propulsion units at full throttle.

(14) FIG. 11 is a photograph of one embodiment of a lure for an insect trap.

DETAILED DESCRIPTION

(15) The following discussion provides many example embodiments of the inventive subject matter. Although each embodiment represents a single combination of inventive elements, the inventive subject matter is considered to include all possible combinations of the disclosed elements. Thus, if one embodiment comprises elements A, B, and C, and a second embodiment comprises elements B and D, then the inventive subject matter is also considered to include other remaining combinations of A, B, C, or D, even if not explicitly disclosed.

(16) The inventive subject matter provides apparatus, systems, and methods in which a lightweight, unmanned aerial vehicle (UAV) includes an insect carrier configured to carry and controllably distribute mosquitoes or other insects and/or the insect carrier is configured to attract and trap mosquitoes or other insects. The UAV is preferably autonomously flown according to a stored flight plan, such that the UAV can take off from a first (initial or starting) position, fly to a second position (e.g., a selected or target position), land, and then take off and return to the first position. The UAV may include sonar sensors for determining the spatial environment surrounding the UAV in real time to allow for effective navigation through enclosed spaces such as underground sewers. The UAV can include a power source sufficient to permit flight to the second position. The UAV may also include solar panels to recharge the power source to permit the UAV to take the return flight to the first position. The outer covering and components of the UAV may be made of waterproof material to maintain function of the UAV in wet environments such as underground sewers. Additionally, the insect carrier may include titanium oxide (TiO.sub.2) powder as an attractant for luring mosquitoes into the insect carrier and/or retaining the mosquitoes in the insect carrier.

(17) UAVs are aircraft with no pilot on board. UAVs are commonly referred to as drones and may be semi-autonomous or fully autonomous. A semi-autonomous UAV is remotely controlled (e.g., flown by a pilot at a ground control station) while an autonomous UAV can fly without a remote pilot based on pre-programmed flight plans of more complex dynamic automation systems. One type of UAV is a quadcopter which has two pairs of rotors (vertically oriented propellers). One pair of the rotors rotates clockwise, and the other rotates counterclockwise. Flight is controlled by the speed of each rotor.

(18) Control and operation of an UAV may be one of several configurations depending on the desired or available sensing system for the UAV. The desired operational and sensing system for a UAV having an insect carrier may depend on the location restrictions where the insects are to be distributed and/or collected. The UAV or drone is typically flown with First Person View (FPV), which means a video camera is mounted on the UAV, broadcasting the live video to the pilot on the ground. This allows the pilot to fly the UAV as if onboard rather than look at the UAV from the pilot's actual ground position.

(19) Use of the presently disclosed UAV for carrying genetically modified insects such as mosquitoes to a selected location and/or trapping sample insects (e.g., mosquitoes) from a selected location may be especially helpful for underground locations, including underground waterways and sewers. For transport of insects, the presently disclosed UAV includes an insect carrier having a controllable portal component allowing for one or more openings in the carrier to be closed during transport to the specific location, and then actuating the one or more openings to an open position thereby allowing any insects inside the carrier to fly out. As such the insect carrier has an open state and a close state in which the portal component which includes one or more openings which are occluded in the closed position and controllably opened in the open position allowing creating a passage between the inside of the hollow shape cavity and the outside. The portal component would be either remotely controlled by a remote operator or could be programmed to open upon reaching the target location by way of receipt of a signal from a beacon at the selected location. Similarly, an empty insect carrier for luring and collecting insects from a selected location may be closed or open during transport as determined by the operator. Upon transport to the selected location, the one or more openings in the portal component of the insect carrier may be opened (if they were closed), thereby allowing for any insects in the surroundings to enter into the insect carrier. Contemplated methods for attracting insects such as mosquitoes into the insect carrier are described in this disclosure. For example, an attractant for mosquitoes includes TiO.sub.2 powder.

(20) With reference to FIG. 1, an example UAV 10 is depicted schematically having a body 12, an insect carrier 20 with openings 22, sonar sensors 30, and four propulsion units 104. With reference to FIGS. 2A and 2B, an example portal component 21 is depicted having a first member 23 and second member 25. The first member 23 may be a section of the insect carrier 20. In this example, the openings 22 in the first member 23 are on the outer surface of the insect carrier. The openings 22 are opened by an actuated movement 28 as shown in FIG. 2A. In the example shown in FIG. 2B, the second member 25 has openings 24 and the second member is configured to be positioned inside the hollow shape proximal to the first member 23 such that it is possible to align the openings 22 with the openings 24 thereby forming at least one passage opening from outside the insect carrier to inside the insect carrier.

(21) In aspects of the contemplated insect carrier, actuation of the portal component by the portal motor controllably occludes the one or more openings in the insect carrier and controllably removes the occlusion from the one or more openings thereby creating an opening for the insects to fly out of and/or into the insect carrier to/from the surrounding. Preferably, the portal motor is a servomechanism capable of receiving an actuation signal or capable of being programmed to actuate the portal component upon arrival to one or more programmed locations.

(22) In aspects of the contemplated drone having an insect carrier, the drone includes more than one sonar sensor 30 positioned on the drone. In typical embodiments, the drone includes four sonar sensors with one sonar sensor positioned between each of the four propulsion units 104. In more typical embodiments, the drone includes at least six sonar sensors with at least one positioned between each of the four propulsion units 104, at least one on top of the insect carrier (the top being the side of the body coupled to the insect carrier) and at least one sonar sensor on the bottom or underneath surfacethe side of the body opposite the side of the insect carrier). Sonar sensors may be of any suitable type and configuration. For example, the sonar sensing may be reactive autonomy, such as collective flight, real-time collision avoidance, wall following and corridor centering. Advantageously, the contemplated UAV having an insect carrier and a configuration of a plurality of sonar sensors for wall following and corridor sensing allows for the UAV to navigate through underground tunnels including underground sewers.

(23) The sonar sensors may be simple sensing systems or may be complex. The sonar sensing may rely on telecommunication and situational awareness and it may be coupled with radar including light radar. More complex systems may include ranger sensors which analyze electromagnetic radiation that is reflected off the environment and received by the sensor. This system may include a camera (for visual flow) which acts as simple receivers. Examples of more complex sensing systems include simultaneous localization and mapping (SLAM). SLAM combines odometry and external data to represent the position of the UAV in three dimensions relative to the regional surroundings and also possibly relative to the world.

(24) In more preferred embodiments, the contemplated UAV having an insect carrier has an outer material or casing to protect the functionality of the operational components (e.g., transmitters, receivers, sonar sensors, cameras, etc.) of the UAV from water. Accordingly, the outer material or a casing of the body, including the operational components thereon, is made from a water-resistant and/or a waterproof material. Exemplary materials suitable for protecting the UAV and its components from condensation and/or falling or splashing water include any suitable thermoset or thermoplastic material. Examples include polyurethanes, polyesters, epoxy resins, phenolic resins, polyvinylchloride (PVC), polystyrene, polytetrafluoroethylene (Teflon), high density polyethylene (HDPE), polypropylene, and combinations thereof.

(25) FIGS. 3A-3B and 4A-4B illustrate one embodiment of a rotary wing, unmanned aerial vehicle 100. The UAV 100 has a body 102 with four propulsion units 104, each comprising a variable-speed motor 105 coupled with a propeller 106. The motor 105 and propeller 106 are selected such that rotation of one or more of the propulsion units 104 provides sufficient lift to allow the body 102 and UAV 100 to fly. Preferably, the body 102 has a carbon fiber frame to reduce weight although other commercially suitable materials or combinations thereof could be used. Additionally, the body material or a casing around the body may be water-resistant or waterproof as disclosed herein.

(26) Where four propulsion units 104 are used, it is preferred that two of the propulsion units are configured to rotate their respective propellers clockwise, with the other two propulsion units configured to rotate their respective propellers counter-clockwise, to thereby allow directional control of the drone by varying the rotational speed of the units.

(27) UAV 10 or 100 further comprises a flight controller disposed on the body 12 or 102 and that comprises (1) a transmitter/receiver for transmission to and receipt of data from a remote source, and (2) a memory configured to store at least one flight plan. The flight controller is preferably configured to autonomously control the propulsion units 104 as a function of the stored flight plan and fly the UAV 100 from a first, initial position to a second position, all while remotely controlled or in autonomous operation.

(28) The UAV 10 or 100 can optionally include a video camera 140 and a GPS unit 150. The video camera 140 can be used to provide a pilot with POV flight control when needed or desired, and in some cases, permit live or recorded view of the surroundings where the UAV 100 has landed. The GPS unit provides updated location information to at least one of the flight controllers and a remote pilot to determine the location of the UAV 10 or 100 and make any adjustments to the course as needed, for example.

(29) A power source such as a battery is coupled to the body to provide power to the propulsion units 104, the flight controller, and other components on the UAV (UV light sources) that may require power. Preferably, the power source is selected such that the UAV 100 can take-off from a first position, fly a distance of at least one, or at least three, or at least five miles and then land at the second position according to a stored flight plan. Preferably, the power source has a storage capacity of between 4,000 to 6,000 mAh (milliampere hours), although smaller or larger capacities could be used so long as the UAV 100 can meet the above flight requirements. As configured, it is preferred that the UAV 10 or 100 will fly past its point of no return (with respect to the power source), such that the power source must be charged at the second position before the UAV 10 or 100 can return to the first position.

(30) Because the UAV 10 or 100 is preferably configured to take off, travel to and land at a destination, and then take off from that destination and return back, all without swapping the power source or other physical interaction with the UAV 10 or 100, it is preferred that the UAV 10 or 100 has one or more photovoltaic panels 110 that can provide power to and thereby recharge the power source 10 or 100, while the UAV 10 or 100 is away. FIG. 8 illustrates voltage produced by the photovoltaic panels 110 during an afternoon, with the voltage expectedly decreasing in the later afternoon as compared with high noon.

(31) Without the photovoltaic panels 110, the distance that can be traveled would be limited by the power source used. In addition, it is preferred that the photovoltaic panels 110 are sufficiently sized to permit recharge of the battery to permit the UAV 10 or 100 to take off and return to the first position from the second position.

(32) The UAV 100 also has an insect carrier 120 coupled to the body 102. In the example depicted in FIGS. 4A-4B, the insect carrier 120 has an opening 122 that leads to a funnel 124 placed on a container 126. In some embodiments, the opening 122 comprises a grate sized and dimensioned to permit entry into the insect trap of the mosquito or other insect, although in other embodiments the opening could be one or more openings. As will be appreciated, the insect carrier may be fabricated in any suitable manner using various materials, including 3D printing of polymers (e.g., BPA/resin), machining of aluminum, etc.

(33) The funnel 124 preferably has an opening at one end that allows only one-way movement of a mosquito or other insect into the container 126 via the funnel 124.

(34) With continued reference to FIGS. 4A-4B, to lure the mosquitoes into the container, the insect carrier 120, and specifically the container 126, preferably creates carbon dioxide (CO.sub.2) on demand. Although prior art insect traps have utilized CO.sub.2 cartridges or other inefficient means of producing CO.sub.2, such traps were not suitable for use in a UAV due to high power requirements (e.g., the use of a fan), high weight (many components), and/or a need for manual replacement of cartridges. While working to address these issues, the inventor discovered that sufficient CO.sub.2 to attract mosquitoes can be produced using at least one very low-power ultraviolet light sources 128, such as ultraviolet LEDs in the mW range when high-surface titanium dioxide (TiO.sub.2) is used.

(35) Ordinarily, high-surface material is loose powder of micron/nanosize particles, which would be blown off/away from a UAV during flight or with wind flow. Surprisingly, however, when high-surface TiO.sub.2 powder was contained in a porous thin-walled mesh bag 130 (e.g., a tea bag), the porous nature of the bag 130 permitted sufficient ultraviolet light and ambient organic volatile molecules to interact with the TiO.sub.2 to produce sufficient quantities of CO.sub.2 to attract mosquitoes. An exemplary embodiment of a mesh bag 900 disposed within an insect carrier 902 is shown in FIG. 11.

(36) This was proven effective during various tests, in which different combinations of the use of low-power UV lights and TiO.sub.2 were used. As shown in FIG. 5, the combination of low-power UV lights and TiO.sub.2 far outperformed tests using (i) no UV light sources and no TiO.sub.2, (ii) UV light sources but no TiO.sub.2, and (iii) TiO.sub.2 but no UV light sources.

(37) It is contemplated that the UV light source(s) could be powered by the power source and/or the photovoltaic panels 110.

(38) The inventor also tested for time of day to determine whether certain time periods were better for collecting mosquitoes. Based on the results from the limited testing shown in FIG. 6, early morning was found to be best to catch mosquitoes.

(39) Using a range estimator with the results shown in FIG. 7, the inventor found that the UAV 100 as described above had the best range using an air speed of 25 km/h, although the specific air speed would depend on the final weight of the UAV, the power source, and other factors.

(40) Various measurements from the UAV 100 during a flight are shown in FIG. 9. FIG. 10 presents characteristics of the propulsion units at full throttle.

(41) Although the TiO.sub.2 powder is preferably disposed within the container 126, it is contemplated that the TiO.sub.2 powder could alternatively or additionally be disposed on the funnel 124.

(42) As shown in FIG. 6, the low-power UV light sources 128 can be disposed within the insect carrier 120, and preferably below the funnel 124 and within the container 126. However, it is also contemplated that the UV light sources 128 could be disposed outside of the container 126, such as where at least a portion of the container is transparent or translucent to allow UV light to pass through the container's wall.

(43) In testing, the UAV 100 was able to fly to distant locations and utilize its UV light sources to produce CO.sub.2 from the TiO.sub.2 powder. In initial testing, the UAV 100 was calculated to fly approximately 3 miles at a speed of about 15.5 mph.

(44) Methods of using the presently disclosed UAV having an insect carrier include the transport and release genetically modified mosquitoes. The modified mosquitoes would then mate with native mosquitoes, and their progeny could be resistant to spreading disease due to the alteration in genetic material.

(45) Taking the above challenges into consideration, the use of a lightweight UAV having an insect carrier provides an ideal solution for navigating the insect carrier into remote locations and confined spaces where it can release and/or capture insects such as mosquitoes. In addition, an economical UAV with insect carrier would also allow financially strapped government agencies to more readily access mosquitoes for testing.

(46) As used herein, and unless the context dictates otherwise, the term coupled to is intended to include both direct coupling (in which two elements that are coupled to each other contact each other) and indirect coupling (in which at least one additional element is located between the two elements). Therefore, the terms coupled to and coupled with are used synonymously.

(47) In some embodiments, the numbers expressing quantities of ingredients, properties such as concentration, reaction conditions, and so forth, used to describe and claim certain embodiments of the invention are to be understood as being modified in some instances by the term about. Accordingly, in some embodiments, the numerical parameters set forth in the written description and attached claims are approximations that can vary depending upon the desired properties sought to be obtained by a particular embodiment. In some embodiments, the numerical parameters should be construed in light of the number of reported significant digits and by applying ordinary rounding techniques. Notwithstanding that the numerical ranges and parameters setting forth the broad scope of some embodiments of the invention are approximations, the numerical values set forth in the specific examples are reported as precisely as practicable. The numerical values presented in some embodiments of the invention may contain certain errors necessarily resulting from the standard deviation found in their respective testing measurements.

(48) Unless the context dictates the contrary, all ranges set forth herein should be interpreted as being inclusive of their endpoints and open-ended ranges should be interpreted to include only commercially practical values. Similarly, all lists of values should be considered as inclusive of intermediate values unless the context indicates the contrary.

(49) As used in the description herein and throughout the claims that follow, the meaning of a, an, and the includes plural reference unless the context clearly dictates otherwise. Also, as used in the description herein, the meaning of in includes in and on unless the context clearly dictates otherwise.

(50) The recitation of ranges of values herein is merely intended to serve as a shorthand method of referring individually to each separate value falling within the range. Unless otherwise indicated herein, each individual value with a range is incorporated into the specification as if it were individually recited herein. All methods described herein can be performed in any suitable order unless otherwise indicated herein or otherwise clearly contradicted by context. The use of any and all examples, or exemplary language (e.g. such as) provided with respect to certain embodiments herein is intended merely to better illuminate the invention and does not pose a limitation on the scope of the invention otherwise claimed. No language in the specification should be construed as indicating any non-claimed element essential to the practice of the invention.

(51) Groupings of alternative elements or embodiments of the invention disclosed herein are not to be construed as limitations. Each group member can be referred to and claimed individually or in any combination with other members of the group or other elements found herein. One or more members of a group can be included in, or deleted from, a group for reasons of convenience and/or patentability. When any such inclusion or deletion occurs, the specification is herein deemed to contain the group as modified thus fulfilling the written description of all Markush groups used in the appended claims.

(52) It should be apparent to those skilled in the art that many more modifications besides those already described are possible without departing from the inventive concepts herein. The inventive subject matter, therefore, is not to be restricted except in the spirit of the appended claims. Moreover, in interpreting both the specification and the claims, all terms should be interpreted in the broadest possible manner consistent with the context. In particular, the terms comprises and comprising should be interpreted as referring to elements, components, or steps in a non-exclusive manner, indicating that the referenced elements, components, or steps may be present, or utilized, or combined with other elements, components, or steps that are not expressly referenced. Where the specification or claims refer to at least one of something selected from the group consisting of A, B, C . . . and N, the text should be interpreted as requiring only one element from the group, not A plus N, or B plus N, etc.