Systems and methods for remote analyte sensing using a mobile platform

Abstract

An analyte monitoring system (100) and related techniques are provided to improve the operation of a handheld or unmanned mobile sensor or monitoring platform. An analyte monitoring system includes a logic device (112) configured to communicate with a communication module (164) and a sensor assembly (166) of a modular sensor core (160), wherein the communication module is configured to establish a wireless communication link with a base station (130) associated with the modular sensor core and / or the mobile sensor platform (110), and the sensor assembly is configured to provide analyte sensor data when the modular sensor core is maneuvered within a monitoring area.

Description

[0001] CROSS-REFERENCE TO RELATED APPLICATIONS

[0002] This application claims priority to and the benefit of U.S. Provisional Patent Application No. 62 / 847,291, filed on May 13, 2019, and entitled “Modular Sensor Core System and Method,” and U.S. Provisional Patent Application No. 62 / 855,743, filed on May 31, 2019, and entitled “Modular Sensor Core Visualization System and Method,” the entire contents of which are incorporated herein by reference. Technical Field

[0003] The present invention relates generally to modular sensor cores, and more particularly, to systems and methods for analyte characterization and localization via a modular sensor core coupled to a mobile sensor platform. Background Art

[0004] Modern unmanned sensor platforms, such as unmanned aerial vehicles (UAVs), remotely operated underwater vehicles (ROVs), unmanned (surface) surface vehicles (USVs), and unmanned ground vehicles (UGVs), are capable of operating over long distances in all environments (rural, urban, and even underwater). The operation of such systems typically includes real-time wireless transmission between the unmanned platform and a remote base station, which typically includes a display to efficiently communicate telemetry, imagery, and other sensor data captured by the platform to the operator. The operator can typically pilot or otherwise control the unmanned platform throughout the mission, relying solely on data received from the unmanned platform.

[0005] Analyte sensor systems, such as those used to detect hazardous chemical plumes in an environment, can benefit from handheld deployment or deployment on unmanned sensor platforms, but conventional analyte sensor systems are generally unable to provide intuitive and simultaneous visualization and / or characterization of such chemical plumes. Thus, there is a need for analyte sensor systems and techniques that provide intuitive and simultaneous visualization and / or characterization of hazardous chemical plumes. Summary of the invention

[0006] Analyte monitoring systems and related techniques are provided to improve the operation of a handheld or unmanned mobile sensor or monitoring platform. One or more embodiments of the analyte monitoring system may advantageously include a modular sensor core including a sensor assembly configured to provide analyte sensor data, a communication module configured to establish a wireless communication link with a base station associated with the modular sensor core and / or an attached sensor platform, a position sensor that measures the position of the attached mobile platform, a controller that controls the operation of the communication module, the position sensor, and / or the mobile platform, and one or more additional sensors that measure and provide sensor data corresponding to manipulation and / or other operation of the mobile platform.

[0007] In various embodiments, such additional sensors may include a remote sensor system configured to capture sensor data of the monitored area from which a two-dimensional and / or three-dimensional spatial map of the monitored area may be generated. For example, the mapping system may include one or more visible spectrum and / or infrared cameras and / or other remote sensor systems coupled to a mobile platform. The mobile platform may typically be an aerial platform (e.g., a manned aircraft, a UAS, and / or other aerial platform), a land platform (e.g., a mobile vehicle), a water platform (e.g., a ship or submarine), or a handheld platform.

[0008] In one embodiment, a system includes a logic device configured to communicate with a sensor assembly and a communication module of a modular sensor core connected to a mobile platform, wherein the communication module is configured to establish a wireless communication link with a base station associated with the mobile platform, and the sensor assembly is configured to provide analyte sensor data when the mobile platform is manipulated within a monitoring area. The logic device can be configured to receive analyte sensor data when the mobile platform is manipulated within the monitoring area; receive position data corresponding to the analyte sensor data; and generate analyte monitoring information corresponding to the monitoring area based at least in part on a combination of the position data and the analyte sensor data. The logic device can also be configured to perform a ventilation check or calibration of the modular sensor core. The modular sensor core can include a relatively lightweight power supply to power the sensor elements of the sensor assembly, thereby allowing the modular sensor core to be transported from a charging and / or calibration system to the mobile platform without causing significant delays in deployment.

[0009] In another embodiment, a method includes receiving analyte sensor data while a mobile platform is maneuvered within a monitoring region; receiving position data corresponding to the analyte sensor data; and generating analyte monitoring information corresponding to the monitoring region based at least in part on a combination of the position data and the analyte sensor data. In an additional embodiment, a method includes mounting a sensor holder to a sensor platform, removing a modular sensor core from a calibration system, securing the modular sensor core to the sensor holder, and deploying the modular sensor core and / or the sensor platform.

[0010] The scope of the present invention is defined by the claims, which are incorporated into this section by reference. By considering the following detailed description of one or more embodiments, those skilled in the art will more completely understand the embodiments of the present invention, as well as the realization of its additional advantages. Reference will be made to the accompanying drawings, which will first be briefly described. BRIEF DESCRIPTION OF THE DRAWINGS

[0011] Figure 1 A block diagram of an analyte monitoring system according to an embodiment of the present disclosure is shown.

[0012] Figure 2 A diagram showing a mobile platform of an analyte monitoring system according to an embodiment of the present disclosure is shown.

[0013] Figure 3 A diagram showing a modular sensor core for an analyte monitoring system according to an embodiment of the present disclosure is shown.

[0014] Figure 4 A diagram of a housing bottom including a bracket attachment interface for a modular sensor core of an analyte monitoring system is shown according to an embodiment of the present disclosure.

[0015] Figure 5 A diagram of a housing cover including an integrated sample gas channel for a modular sensor core of an analyte monitoring system is shown according to an embodiment of the present disclosure.

[0016] Figure 6 A diagram showing sensor components of a modular sensor core for an analyte monitoring system according to an embodiment of the present disclosure is shown.

[0017] Figure 7 A diagram of a core controller of a modular sensor core for an analyte monitoring system is shown according to an embodiment of the present disclosure.

[0018] Figure 8 A diagram showing a sample gas pump of a sensor assembly of a modular sensor core for an analyte monitoring system according to an embodiment of the present disclosure.

[0019] Fig. 9 A diagram showing a sensor holder for a modular sensor core of an analyte monitoring system according to an embodiment of the present disclosure is shown.

[0020] Fig.10 A diagram of a sensor holder including an external sample gas vent tube for a modular sensor core of an analyte monitoring system is shown according to an embodiment of the present disclosure.

[0021] Fig.11 A diagram of a calibration system for a sensor holder including a modular sensor core for an analyte monitoring system is shown in accordance with an embodiment of the present disclosure.

[0022] Figure 12-14 A flow chart illustrating various operations for providing analyte monitoring using an analyte monitoring system in accordance with an embodiment of the present disclosure is shown.

[0023] Figures 15A-15C 16A-16C illustrate display views presented by a user interface of an analyte monitoring system according to an embodiment of the present disclosure.

[0024] Fig.17 A diagram of an analyte monitoring system according to an embodiment of the present disclosure is shown.

[0025] Figure 18-20 A flow chart illustrating various operations for providing analyte monitoring using an analyte monitoring system in accordance with an embodiment of the present disclosure is shown.

[0026] Embodiments of the present invention and their advantages may be best understood by referring to the following detailed description.It should be appreciated that like reference numerals are used to identify like elements illustrated in one or more of the figures. DETAILED DESCRIPTION

[0027] Analyte monitoring systems and related techniques are provided to improve the operational flexibility and reliability of sensor platforms. In particular, embodiments include modular sensor cores that can be easily secured and removed from corresponding sensor holders, which can themselves be mounted on and between various devices, including various types of mobile sensor platforms, calibration systems, fixed sensor platforms, and / or other devices, without incurring downtime due to sensor element deactivation.

[0028] Modern unmanned sensor platforms, such as unmanned aerial vehicles (UAVs), remotely controlled underwater vehicles (ROVs), unmanned (surface) surface vehicles (USVs) and unmanned ground vehicles (UGVs), can operate over long distances in all environments. Such systems generally rely on portable power supplies that can limit their range of travel. Embodiments described herein provide relatively lightweight analyte sensor systems that generally increase the reachable range of such unmanned sensor platforms, which is particularly useful when attempting to characterize analyte plumes that are harmful to humans over time. Embodiments described herein are also modular, allowing sensor cores to be used in a series of sensor platforms without causing a large amount of downtime associated with the removal and installation of sensor cores between sensor platforms. Embodiments described herein are also provided with relatively lightweight internal power supplies, which are configured to keep all sensor elements in an active state, thereby not causing a large amount of downtime associated with the warm-up time of any disabled sensor element.

[0029] In various embodiments, according to the embodiments described herein, the analyte sensor data generated by the modular sensor core can be transmitted to a base station in real time or after operation, and the base station can be configured to combine the analyte sensor data with a map or a plan view of the monitoring area to present the analyte sensor data in an analyte map (e.g., a heat map), and the analyte map specifies the analyte data (e.g., concentration and / or other characteristics) on the spatial range of the map or plan view. Such a map or plan view can be two-dimensional or three-dimensional. The analyte map can be stored at the base station and, if the base station includes a display, presented to the operator / user in real time as a graphical overlay. During operation, this can provide insights for locating an unmanned sensor platform for stationary observation, for example, or, if operations are to be performed in the same area in the future, such an analyte map can provide information for route planning for future operations.

[0030] Figure 1 A block diagram of an analyte monitoring system 100 according to an embodiment of the present disclosure is shown. In some embodiments, the system 100 can be configured to fly over a scene, through a structure, or approach a target and image or sense the scene, structure, or target, or multiple portions thereof, using a gimbal system 122 to aim the imaging system / sensor payload 140 at the scene, structure, or target, or multiple portions thereof. The resulting images and / or other sensor data can be processed (e.g., by the sensor payload 140, the platform 110, and / or the base station 130) and displayed to a user using a user interface 132 (e.g., one or more displays, such as a multifunction display (MFD), a portable electronic device, such as a tablet, laptop, or smart phone, or other appropriate interface) and / or stored in a memory for later viewing and / or analysis. In some embodiments, the system 100 can be configured to use such images and / or sensor data to control the operation of the platform 110 and / or sensor payload 140, as described herein, such as controlling the gimbal system 122 to aim the sensor payload 140 in a particular direction, or controlling the propulsion system 124 to move the platform 110 to a desired position in the scene or structure or relative to the target.

[0031] In additional embodiments, the system 100 may be configured to use the platform 110 to position the modular sensor core 160 at a scene, structure, or target, or portions thereof. The resulting images and / or other sensor data may be processed (e.g., by the modular sensor core 160, the platform 110, and / or the base station 130) and displayed to a user using a user interface 132 (e.g., one or more displays, such as a multifunction display (MFD), a portable electronic device, such as a tablet, laptop, or smartphone, or other appropriate interface) and / or stored in a memory for later review and / or analysis. In some embodiments, the system 100 may be configured to use such images and / or sensor data to control the operation of the platform 110 and / or the modular sensor core 160, as described herein, such as controlling the propulsion system 124 to move the platform 110 to a desired location within a scene or structure or relative to a target.

[0032] exist Figure 1 In the illustrated embodiment, the analyte monitoring system 100 includes a platform 110, an optional base station 130, and at least one modular sensor core 160. The platform 110 may be a mobile platform configured to move or fly and position the modular sensor core 160 (e.g., relative to a designated or detection target). Figure 1 As shown in , the platform 110 may include one or more of a controller 112, an orientation sensor 114, a gyroscope / accelerometer 116, a global navigation satellite system (GNSS) 118, a communication module 120, a gimbal system 122, a propulsion system 124, a sensor bracket 128, and other modules 126. The operation of the platform 110 may be substantially autonomous and / or partially or completely controlled by an optional base station 130, which may include one or more of a user interface 132, a communication module 134, and other modules 136. In other embodiments, the platform 110 may include one or more elements of the base station 130, such as with various types of manned aircraft, ground vehicles, and / or surface or underwater vessels.

[0033] The sensor payload 140 and / or modular sensor core 160 may be physically coupled to the platform 110 and configured to capture sensor data (e.g., visible spectrum images, infrared images, narrow aperture radar data, analyte sensor data, and / or other sensor data) of a target location, area, and / or object(s) selected and / or framed by operation of the platform 110 and / or base station 130. In some embodiments, one or more elements of the system 100 may be implemented in a combined housing or structure that may be coupled to or within the platform 110 and / or held or carried by a user of the system 100.

[0034] Controller 112 may be implemented as any appropriate logic device (e.g., a processing device, a microcontroller, a processor, an application specific integrated circuit (ASIC), a field programmable gate array (FPGA), a memory storage device, a memory reader, or other device or combination of devices) that may be adapted to execute, store, and / or receive appropriate instructions, such as software instructions that implement a control loop, such as for controlling various operations of platform 110 and / or other elements of system 100. Such software instructions may also implement methods for processing infrared images and / or other sensor signals, determining sensor information, providing user feedback (e.g., via user interface 132), querying operating parameters of a device, selecting operating parameters of a device, or performing any of the various operations described herein (e.g., operations performed by logic devices of various devices of system 100).

[0035] In addition, a non-transitory medium may be provided to store machine-readable instructions to be loaded into and executed by the controller 112. In these and other embodiments, the controller 112 may be implemented with other components, such as volatile memory, non-volatile memory, one or more interfaces, and / or various analog and / or digital components for interfacing with devices of the system 100, where appropriate. For example, the controller 112 may be adapted to store sensor signals, sensor information, parameters of coordinate system transformations, calibration parameters, sets of calibration points, and / or other operating parameters, for example, over time, and to provide such stored data to a user using the user interface 132. In some embodiments, the controller 112 may be integrated with one or more other elements of the platform 110, or distributed as multiple logical devices within the platform 110, the base station 130, and / or the sensor payload 140.

[0036] In some embodiments, the controller 112 may be configured to substantially continuously monitor and / or store status and / or sensor data provided by one or more elements of the platform 110, sensor payload 140, modular sensor core 160, and / or base station 130, such as the position and / or orientation of the platform 110, sensor payload 140, and / or base station 130, and the status of communication links established between the platform 110, sensor payload 140, modular sensor core 160, and / or base station 130. Such communication links may be configured to substantially continuously establish and then transmit data between elements of the system 100 throughout operation of the system 100, wherein such data includes various types of sensor data, control parameters, and / or other data.

[0037] The orientation sensor 114 may be implemented as one or more of a compass, a float, an accelerometer, and / or other devices capable of measuring the orientation (e.g., magnitude and direction of roll, pitch, and / or yaw, relative to one or more reference orientations such as gravity and / or magnetic north) of the platform 110, the gimbal system 122, the imaging system / sensor payload 140, and / or other elements of the system 100, and providing such measurements as sensor signals and / or data that may be communicated to various devices of the system 100. The gyroscope / accelerometer 116 may be implemented as one or more electronic sextants, semiconductor devices, integrated chips, accelerometer sensors, accelerometer sensor systems, or other elements capable of measuring angular velocity / acceleration and / or linear acceleration (e.g., direction and magnitude) of the platform 110 and / or other elements of the system 100, and providing such measurements as sensor signals and / or data that may be communicated to other devices of the system 100 (e.g., user interface 132, controller 112).

[0038] GNSS 118 may be implemented in accordance with any global navigation satellite system, including GPS-, GLONASS-, and / or Galileo-based receivers and / or other devices that are capable of determining an absolute and / or relative position of platform 110 (e.g., or elements of platform 110), for example, based on wireless signals received from space and / or terrestrial sources (e.g., eLoran and / or other at least partially terrestrial systems), and can provide such measurements as sensor signals and / or data (e.g., coordinates) that can be communicated to various devices of system 100. In some embodiments, GNSS 118 may include, for example, an altimeter, or may be used to provide an absolute altitude.

[0039] The communication module 120 may be implemented as any wired and / or wireless communication module configured to transmit and receive analog and / or digital signals between elements of the system 100. For example, the communication module 120 may be configured to receive flight control signals and / or data from the base station 130 and provide them to the controller 112 and / or the propulsion system 124. In other embodiments, the communication module 120 may be configured to receive images and / or other sensor information (e.g., visible spectrum and / or infrared still images or video images) from the sensor payload 140 and relay the sensor data to the controller 112 and / or the base station 130. In further embodiments, the communication module 120 may be configured to receive analyte sensor data and / or other sensor information from the modular sensor core 160 and relay the sensor data to the controller 112 and / or the base station 130. In some embodiments, the communication module 120 may be configured to support, for example, spread spectrum transmission, and / or multiple simultaneous communication channels between elements of the system 100. The wireless communication link may include one or more analog and / or digital radio communication links, such as WiFi and others, as described herein, and may be a direct communication link established, for example, between elements of system 100, or may be relayed through one or more wireless relay stations configured to receive and transmit wireless communications.

[0040] In some embodiments, the communication module 120 can be configured to monitor the status of the communication links established between the platform 110, the sensor payload 140, and / or the base station 130. Such status information can be provided to, for example, the controller 112, or transmitted to other elements of the system 100 for monitoring, storage, or further processing, as described herein. The communication links established by the communication module 120 can be configured to transfer data between elements of the system 100 substantially continuously throughout the operation of the system 100, wherein such data includes various types of sensor data, control parameters, and / or other data, as described herein.

[0041] In some embodiments, the gimbal system 122 may be implemented as, for example, an actuated gimbal mount that may be controlled by the controller 112 to stabilize the sensor payload 140 relative to a target or aim the sensor payload 140 according to a desired orientation and / or relative position. Thus, the gimbal system 122 may be configured to provide the controller 112 and / or the communication module 120 with the relative orientation (e.g., orientation relative to the platform 110) of the sensor payload 140 (e.g., the gimbal system 122 may include its own orientation sensor 114). In other embodiments, the gimbal system 122 may be implemented as a gravity-driven mount (e.g., non-actuated). In various embodiments, the gimbal system 122 may be configured to provide power, support wired communications, and / or otherwise facilitate the operation of the articulated sensor / sensor payload 140. In further embodiments, the gimbal system 122 may be configured to couple to, for example, a laser pointer, a rangefinder, and / or other devices to substantially simultaneously support, stabilize, power, and / or aim multiple devices (e.g., the sensor payload 140 and one or more other devices).

[0042] The propulsion system 124 may be implemented as one or more propellers, turbines, or other thrust-based propulsion systems, and / or other types of propulsion systems that may be used to provide motive force and / or lift to the platform 110 and / or to steer the platform 110. In some embodiments, the propulsion system 124 may include a plurality of propellers (e.g., three, four, six, eight, or other types of "helicopters") that may be controlled (e.g., by the controller 112) to provide lift and motion to the platform 110 and to provide orientation to the platform 110. In other embodiments, the propulsion system 110 may be configured primarily to provide thrust, while other structures of the platform 110 provide lift, such as in fixed-wing embodiments (e.g., where the wings provide lift) and / or aerostat embodiments (e.g., balloons, airships, hybrid aerostats). In various embodiments, the propulsion system 124 may be implemented with a portable power source, such as a battery and / or an internal combustion engine / generator and a fuel supply.

[0043] For example, other modules 126 may include other and / or additional sensors, actuators, communication modules / nodes, and / or user interface devices, and may be used to provide, for example, additional environmental information relevant to the operation of platform 110. In some embodiments, other modules 126 may include humidity sensors, wind and / or water temperature sensors, barometers, altimeters, radar systems, proximity sensors, visible spectrum cameras or infrared cameras (with additional mountings), irradiance detectors, and / or other environmental sensors that provide measurements and / or other sensor signals that may be displayed to a user and / or used by other devices of system 100 (e.g., controller 112) to provide operational control of platform 110 and / or system 100.

[0044] In some embodiments, other modules 126 may include one or more actuation devices and / or articulation devices (e.g., multi-spectral active illuminators, visible light and / or IR cameras, radar, sonar, and / or other actuation devices) coupled to platform 110, wherein each actuation device includes one or more actuators adapted to adjust the orientation of the device relative to platform 110 in response to one or more control signals (e.g., provided by controller 112). In particular, other modules 126 may include a stereo vision system configured to provide image data that may be used, for example, to calculate or estimate the position of platform 110, or to calculate or estimate the relative position of navigation hazards proximate to platform 110. In various embodiments, controller 130 may be configured to use such proximity and / or position information to help safely navigate platform 110 and / or monitor communication link quality, as described herein.

[0045] In various embodiments, the sensor bracket 128 can be implemented as a latch mechanism that can be permanently mounted to the platform 110 to provide a mounting position and / or orientation of the modular sensor core 160 relative to the center of gravity of the platform 110, relative to the propulsion system 124, and / or relative to other elements of the platform 110. In addition, the sensor bracket 128 can be configured to provide power, support wired communications, and / or otherwise facilitate the operation of the modular sensor core 160, as described herein. Thus, the sensor bracket 128 can be configured to provide power, telemetry, and / or other sensor data interfaces between the platform 110 and the modular sensor core 160.

[0046] The user interface 132 of the base station 130 may be implemented as one or more of a display, a touch screen, a keyboard, a mouse, a joystick, a knob, a steering wheel, a yoke, and / or any other device capable of accepting user input and / or providing feedback to a user. In various embodiments, the user interface 132 may be adapted to provide user input (e.g., as a signal and / or sensor information transmitted by the communication module 134 of the base station 130) to other devices of the system 100 (e.g., the controller 112). The user interface 132 may also be implemented with one or more logic devices (e.g., similar to the controller 112), which may be adapted to store and / or execute instructions, such as software instructions, that implement any of the various processes and / or methods described herein. For example, the user interface 132 may be adapted to, for example, form a communication link, transmit and / or receive communications (e.g., infrared images and / or other sensor signals, control signals, sensor information, user input, and / or other information), or perform various other processes and / or methods described herein.

[0047] In one embodiment, user interface 132 may be adapted to display time series of various sensor information and / or other parameters as part of or superimposed on a graph or map, which may reference the location and / or orientation of platform 110 and / or other elements of system 100. For example, user interface 132 may be adapted to display a time series of the location, heading, and / or orientation of platform 110 and / or other elements of system 100 superimposed on a geographic map, which may include one or more graphs indicating corresponding time series of actuator control signals, sensor information, and / or other sensor and / or control signals.

[0048] In some embodiments, user interface 132 may be adapted to accept user input, including, for example, a user-defined target heading, waypoint, route, and / or orientation of elements of system 100, and to generate control signals to move platform 110 according to the target heading, route, and / or orientation, or to accordingly aim sensor payload 140. In other embodiments, user interface 132 may be adapted to accept user input that modifies control loop parameters of controller 112, for example.

[0049] In further embodiments, the user interface 132 may be adapted to accept user input, for example, including a user-defined target attitude, orientation, and / or position of an actuating device or articulated device (e.g., sensor payload 140) associated with the platform 110, and generate a control signal for adjusting the orientation and / or position of the actuating device based on the target attitude, orientation, and / or position. Such control signals may be transmitted to the controller 112 (e.g., using the communication modules 134 and 120), which may then control the platform 110 accordingly.

[0050] The communication module 134 may be implemented as any wired and / or wireless communication module configured to transmit and receive analog and / or digital signals between elements of the system 100. For example, the communication module 134 may be configured to transmit flight control signals from the user interface 132 to the communication module 120 or 144. In other embodiments, the communication module 134 may be configured to receive sensor data (e.g., visible spectrum and / or infrared still or video images, or other sensor data) from the sensor payload 140. In some embodiments, the communication module 134 may be configured to support, for example, spread spectrum transmission, and / or multiple simultaneous communication channels between elements of the system 100. In various embodiments, the communication module 134 may be configured to monitor the status of the communication link established between the base station 130, the sensor payload 140, and / or the platform 110 (e.g., including packet loss of data transmitted and received between elements of the system 100, such as using a digital communication link), as described herein. For example, such status information may be provided to the user interface 132, or transmitted to other elements of the system 100 for monitoring, storage, or further processing, as described herein.

[0051] For example, other modules 136 of base station 130 may include other and / or additional sensors, actuators, communication modules / nodes, and / or user interface devices for providing additional environmental information associated with base station 130. In some embodiments, other modules 136 may include humidity sensors, wind and / or water temperature sensors, barometers, radar systems, visible spectrum cameras, infrared cameras, GNSS, and / or other environmental sensors that provide measurements and / or other sensor signals that may be displayed to a user and / or used by other devices of system 100 (e.g., controller 112) to provide operational control of platform 110 and / or system 100 or process sensor data to compensate for environmental conditions, such as water content in the atmosphere at approximately the same altitude and / or in the same area as platform 110 and / or base station 130. In some embodiments, other modules 136 may include one or more actuation devices and / or articulation devices (e.g., multi-spectral active illuminators, visible light and / or IR cameras, radar, sonar, and / or other actuation devices), wherein each actuation device includes one or more actuators adapted to adjust the orientation of the device in response to one or more control signals (e.g., provided by user interface 132).

[0052] In embodiments where the imaging system / sensor payload 140 is implemented as an imaging device, the imaging system / sensor payload 140 may include an imaging module 142 that may be implemented as an array of cooled and / or uncooled detector elements, such as visible spectrum and / or infrared sensitive detector elements, including quantum well infrared photodetector elements, bolometer or microbolometer based detector elements, type II superlattice based detector elements, and / or other infrared spectrum detector elements that may be arranged in a focal plane array. In various embodiments, the imaging module 142 may include one or more logic devices (e.g., similar to the controller 112) that may be configured to process images captured by the detector elements of the imaging module 142 before providing the images to the memory 146 or the communication module 144. In general, the imaging module 142 may be configured to perform any of the operations or methods described herein, at least in part or in conjunction with the controller 112 and / or the user interface 132.

[0053] In some embodiments, sensor payload 140 may be implemented with a second or additional imaging module similar to imaging module 142, for example, which may include detector elements configured to detect other electromagnetic spectra (e.g., visible light, ultraviolet light, and / or other electromagnetic spectra or subsets of such spectra). In various embodiments, such additional imaging modules may be calibrated or registered to imaging module 142 such that images captured by each imaging module occupy a known and at least partially overlapping field of view of the other imaging module, thereby allowing different spectral images to be geometrically registered to one another (e.g., by scaling and / or positioning). In some embodiments, in addition to or as an alternative to relying on known overlapping fields of view, pattern recognition processing may be used to register different spectral images to one another.

[0054] The communication module 144 of the sensor payload 140 may be implemented as any wired and / or wireless communication module configured to transmit and receive analog and / or digital signals between elements of the system 100. For example, the communication module 144 may be configured to transmit an infrared image from the imaging module 142 to the communication module 120 or 134. In other embodiments, the communication module 144 may be configured to receive control signals from the controller 112 and / or the user interface 132 (e.g., control signals directing acquisition, focusing, selective filtering, and / or other operations of the sensor payload 140). In some embodiments, the communication module 144 may be configured to support, for example, spread spectrum transmission, and / or multiple simultaneous communication channels between elements of the system 100. In various embodiments, the communication module 144 may be configured to monitor the status of a communication link established between the sensor payload 140, the base station 130, and / or the platform 110 (e.g., including packet loss of data transmitted and received between elements of the system 100, such as using a digital communication link), as described herein. For example, such status information may be provided to imaging module 142, or transmitted to other elements of system 100 for monitoring, storage, or further processing, as described herein.

[0055] Memory 146 may be implemented as one or more machine-readable media and / or logic devices configured to, for example, store software instructions, sensor signals, control signals, operating parameters, calibration parameters, infrared images, and / or other data that facilitates operation of system 100 and provide it to various elements of system 100. Memory 146 may also be implemented at least in part as a removable memory, such as a secure digital memory card, for example, including an interface for such a memory.

[0056] The orientation sensor 148 of the sensor payload 140 may be implemented similarly to the orientation sensor 114 or the gyroscope / accelerometer 116 and / or any other device capable of measuring the orientation (e.g., the magnitude and direction of roll, pitch, and / or yaw, relative to one or more reference orientations such as gravity and / or magnetic north) of the sensor payload 140, the imaging module 142, and / or other elements of the sensor payload 140, and providing such measurements as sensor signals that may be communicated to various devices of the system 100. The gyroscope / accelerometer (e.g., angular motion sensor) 150 of the sensor payload 140 may be implemented as one or more electronic sextants, semiconductor devices, integrated chips, accelerometer sensors, accelerometer sensor systems, or other devices capable of measuring the angular velocity / acceleration (e.g., angular motion) and / or linear acceleration (e.g., direction and magnitude) of the sensor payload 140 and / or various elements of the sensor payload 140 and providing such measurements as sensor signals that may be communicated to various devices of the system 100.

[0057] For example, other modules 152 of sensor payload 140 may include other and / or additional sensors, actuators, communication modules / nodes, cooled or uncooled filters, and / or user interface devices for providing additional environmental information associated with sensor payload 140. In some embodiments, other modules 152 may include humidity sensors, wind and / or water temperature sensors, barometers, radar systems, visible spectrum cameras, infrared cameras, GNSS, and / or other environmental sensors that provide measurements and / or other sensor signals that may be displayed to a user and / or used by imaging module 142 or other devices of system 100 (e.g., controller 112) to provide operational control of platform 110 and / or system 100 or process images to compensate for environmental conditions.

[0058] In various embodiments, the modular sensor core / sensor payload 160 may be implemented as an analyte sensor configured to detect analytes in the environment surrounding the platform 110. Figure 1 In the illustrated embodiment, the modular sensor core 160 includes a core controller 162, a communication module 164, a sensor assembly 166, a power source 168, and other modules 170. In various embodiments, the sensor assembly 166 may be implemented with one or more sensor elements configured to detect an analyte in the air proximate to the platform 110 and / or the modular sensor core 160. In some embodiments, for example, the modular sensor core 160 may be implemented with a second or additional sensor assembly 166, which may be configured to detect various characteristics of the analyte, such as ionizing radiation and / or other characteristics of the analyte or other hazardous materials, as described herein.

[0059] The core controller 162 may be implemented as one or more of any suitable logic devices (e.g., a processing device, a microcontroller, a processor, an application specific integrated circuit (ASIC), a field programmable gate array (FPGA), a memory storage device, a memory reader, or other devices or combinations of devices) that may be adapted to execute, store, and / or receive appropriate instructions, such as software instructions that implement control loops for controlling various operations of the modular sensor core 160 and / or other elements of the modular sensor core 160. Such software instructions may also implement methods for processing sensor signals, determining sensor information, providing user feedback (e.g., via the user interface 132), querying operating parameters of the device, selecting operating parameters of the device, or performing any of the various operations described herein.

[0060] Additionally, a non-transitory medium may be provided to store machine-readable instructions to be loaded into and executed by the core controller 162. In these and other embodiments, the core controller 162 may be implemented with other components, such as volatile memory, non-volatile memory, one or more interfaces, and / or various analog and / or digital components, as appropriate, for interfacing with modules of the modular sensor core 160 and / or devices of the system 100. For example, the core controller 162 may be adapted to store sensor signals, sensor information, parameters for coordinate system transformations, calibration parameters, sets of calibration points, and / or other operating parameters, for example, over time, and to provide such stored data to a user using the user interface 132. In some embodiments, for example, the core controller 162 may be integrated with one or more other elements of the modular sensor core 160, or distributed as multiple logical devices within the platform 110, the base station 130, and / or the modular sensor core 160.

[0061] In some embodiments, the controller 112 may be configured to substantially continuously monitor and / or store the status of sensor data and / or sensor data provided by one or more elements of the sensor assembly 166 of the modular sensor core 160, such as the position and / or orientation of the platform 110, the modular sensor core 160, and / or the base station 130, and the status of a communication link established between the platform 110, the modular sensor core 160, and / or the base station 130. Such a communication link may be configured to substantially continuously establish and then transmit data between elements of the system 100 throughout operation of the system 100, wherein such data includes various types of sensor data, control parameters, and / or other data.

[0062] The communication module 164 of the modular sensor core 160 can be implemented as any wired and / or wireless communication module that is configured to transmit and receive analog and / or digital signals between elements of the system 100. For example, the communication module 164 can be configured to transmit analyte sensor data from the sensor assembly 166 to the communication module 120 of the platform 110 (e.g., for further transmission to the base station 130) or directly to the communication module 134 of the base station 130. In other embodiments, the communication module 164 can be configured to receive control signals (e.g., control signals that direct the operation of the modular sensor core 160) from the controller 112 and / or the user interface 132. In some embodiments, the communication module 164 can be configured to support, for example, spread spectrum transmission, and / or multiple simultaneous communication channels between elements of the system 100.

[0063] The sensor assembly 166 can be implemented as one or more sensor element supports (e.g., printed circuit boards), sensor elements, sample gas pumps, and / or other modules configured to detect analytes in proximity to the platform 110 and / or the modular sensor core 160 and / or in an environment otherwise associated therewith.

[0064] The power source 168 may be implemented as any power storage device that is configured to provide sufficient power to each sensor element of the sensor assembly 166 to keep all such sensor elements active and capable of sensing analytes when the modular sensor core 160 is otherwise disconnected from an external power source (e.g., provided by the platform 110 and / or the base station 130). In various embodiments, the power source 168 may be implemented by a supercapacitor so as to be relatively lightweight and facilitate flight of the platform 110 and / or relatively easy handheld operation of the platform 110 (e.g., where the platform 110 is implemented as a handheld sensor platform).

[0065] For example, other modules 170 of modular sensor core 160 may include other and / or additional sensors, actuators, communication modules / nodes, and / or user interface devices for providing additional environmental information associated with modular sensor core 160. In some embodiments, other modules 170 may include humidity sensors, wind and / or water temperature sensors, barometers, GNSS, and / or other environmental sensors that provide measurements and / or other sensor signals that may be displayed to a user and / or used by core controller 162 or other devices of system 100 (e.g., controller 112) to provide operational control of platform 110 and / or system 100 or process analyte sensor data to compensate for environmental conditions, as described herein.

[0066] Generally, each element of system 100 may be implemented using any appropriate logic device (e.g., a processing device, a microcontroller, a processor, an application specific integrated circuit (ASIC), a field programmable gate array (FPGA), a memory storage device, a memory reader, or other device or combination of devices) that may be adapted to execute, store and / or receive appropriate instructions, such as software instructions implementing methods for providing, for example, sensor data and / or images, or for transmitting and / or receiving communications, such as sensor signals, sensor information and / or control signals, between one or more devices of system 100.

[0067] Additionally, one or more non-transitory media may be provided to store machine-readable instructions for loading into and execution by any logic device implemented with one or more devices of system 100. In these and other embodiments, the logic device may be implemented with other components, such as volatile memory, non-volatile memory, and / or one or more interfaces (e.g., an Inter-Integrated Circuit (I2C) interface, a Mobile Industry Processor Interface (MIPI), a Joint Test Action Group (JTAG) interface (e.g., the IEEE 1149.1 Standard Test Access Port and Boundary Scan Architecture), and / or other interfaces, such as interfaces for one or more antennas, or interfaces for particular types of sensors), where appropriate.

[0068] Sensor signals, control signals, and other signals can be communicated between elements of system 100 using various wired and / or wireless communication technologies, including, for example, voltage signals, Ethernet, WiFi, Bluetooth, Zigbee, Xbee, microgrids, or other media and / or short-range wired and / or wireless network protocols and / or implementations. In such embodiments, each element of system 100 can include one or more modules that support wired, wireless, and / or a combination of wired and wireless communication technologies. In some embodiments, various elements or portions of elements of system 100 can be integrated with each other, for example, or can be integrated onto a single printed circuit board (PCB) to reduce system complexity, manufacturing costs, power requirements, coordinate system errors, and / or timing errors between various sensor measurements.

[0069] For example, each element of system 100 may include one or more batteries, capacitors, or other power storage devices, and may include one or more solar cell modules or other power generation devices. In some embodiments, one or more devices may be powered by the power supply of platform 110 using one or more power lines. Such power lines may also be used to support one or more communication technologies between elements of system 100.

[0070] Figure 2A diagram of mobile platforms 110A and 110B of an analyte monitoring system 200 including an embodiment of a modular sensor core 160 and an associated sensor bracket 128 is shown in accordance with an embodiment of the present disclosure. Figure 2 In the illustrated embodiment, the analyte monitoring system 200 includes a base station 130, an optional co-pilot station 230, a mobile platform 110A having an articulated imaging system / sensor payload 140, a gimbal system 122, a modular sensor core 160 and a sensor bracket 128, and a mobile platform 110B having an articulated imaging system / sensor payload 140, a gimbal system 122, a modular sensor core 160 and a sensor bracket 128, wherein the base station 130 and / or the optional co-pilot station 230 can be configured to control the movement, position, orientation and / or general operation of the platform 110A, the platform 110B, the sensor payload 140 and / or the modular sensor core 160.

[0071] In various embodiments, the co-pilot station 230 may be implemented similarly with respect to the base station 130, e.g., include similar elements and / or be capable of similar functionality. In some embodiments, the co-pilot station 230 may include multiple displays to facilitate operation of the modular sensor core 160 and / or various imaging and / or sensor payloads of the mobile platforms 110A-B that are typically separate from the piloting mobile platforms 110A-B, and to facilitate basic real-time analysis, visualization, and communication of sensor data and corresponding instructions, e.g., to first responders who are in contact with a co-pilot or user of the system 200. For example, both the base station 130 and the co-pilot station 230 may be configured to present any of the display views described herein.

[0072] Figure 3 A diagram of a modular sensor core 360 ​​for use with an analyte monitoring system 100 is shown in accordance with an embodiment of the present disclosure. Figure 3 , the modular sensor core 360 ​​includes a housing cover 310, a housing bottom 320, and a sensor assembly 166 including a plurality of sensor elements 366 and a sample gas pump 330. Also shown are a supercapacitor 368, a sample gas inlet 322, a housing bottom seal 324, and a wireless communication antenna 364 (e.g., coupled to the communication module 164).

[0073] An example listing of sensor elements 366 is (with example readings in the second and third columns):

[0074]

[0075] Where PID refers to photoionization detector, LEL refers to lower explosion limit, TVOC refers to total volatile organic compounds, and all other sensor element types are named after the chemical formula of the analyte they detect. In various embodiments, the core controller 162 can be configured to detect when a sensor element reports a specific value above a threshold (e.g., a threshold %vol or ppm) and issue an audible or visual alarm (e.g., highlight the reported value in red) when the reported value exceeds the threshold. In addition, each sensor element 366 can be sensitive to one or more different analytes.

[0076] The supercapacitor 368 can be implemented as an aerogel-based capacitor of 90F or other capacity, and in some embodiments can be charged by an approximately 5.5VDC power supply provided on the electrical interface of the modular sensor core 360. Typically, the supercapacitor 368 can be configured to have sufficient capacity to power each of the sensor elements 366 to keep them active for a known period of time (e.g., 5-10 minutes). Typically, the sensor elements may require a warm-up time of 5 minutes or more to provide reliable calibration analyte detection, so the supercapacitor 368 can be configured to keep the modular sensor core 360 ​​active when it is transported from a power source (e.g., a calibration system) to the platform 110 or otherwise transported between external power sources, so that the modular sensor core 360 ​​can be deployed with minimal delay, for example, in time-critical monitoring applications to protect first responders.

[0077] Figure 4 A diagram of a housing bottom 320 including a bracket attachment interface (e.g., a mounting flange 440, an electrical interface 442, and a pneumatic interface 322) for a modular sensor core 360 ​​for an analyte monitoring system 100 is shown in accordance with an embodiment of the present disclosure. In various embodiments, the mounting flange 440 can be configured to releasably mechanically couple to a sensor bracket, as described herein. The electrical interface 442 can be implemented as an environmentally sealable electrical interface configured to support power delivery from the platform 110 and / or wired communication between the platform 110 and the modular sensor core 360. Figure 4 Also shown is an environmental sensor aperture 442 configured to provide environmental access to an environmental sensor of the modular sensor core 360. In some embodiments, for example, the housing bottom 320 may additionally include a louvered portion 426, which may be configured to provide additional surface area to dissipate heat (e.g., to a surrounding medium, such as air, to serve as a heat sink) and / or provide substantially unobstructed sample gas exhaust for the sample gas pump 330 of the modular sensor core 360. In other embodiments, such sample gas exhaust may be directed through any available portion of the cover 310 and / or bottom 320.

[0078] Figure 5FIG. 1 is a diagram of a housing cover 310 including an integrated sample gas channel 532 of a modular sensor core 360 ​​for an analyte monitoring system 100 according to an embodiment of the present disclosure. Figure 5 , the housing cover 310 includes a housing cover seal 524, a sample gas inlet 534, a sample gas pump interface 530, and a plurality of sample element containers 536 (e.g., larger) and 538 (e.g., smaller), each having their own sample element seal 537 to ensure that the sample gas is retained within the sample gas passage 532 and the sample element containers 536 and 538. Generally, the sample gas passage 532 allows the sample gas pump 330 to draw sample gas from the sample gas inlet 534 at the top of the sample element 366 passing through the sensor assembly 166 to allow the various sample elements 366 to detect one or more analytes and / or the concentration of such analytes in the sample gas.

[0079] Figure 6 FIG. 6 is a diagram of a sensor assembly 600 of a modular sensor core 360 ​​for use with an analyte monitoring system 100 according to an embodiment of the present disclosure. In various embodiments, the sensor assembly 600 may be configured to Figure 1 The sensor assembly 166 is similarly implemented. Figure 6 , the sensor assembly 600 includes various sensor elements 166 releasably mounted to a sensor support 667. For example, the sensor support 667 can be implemented as a printed circuit board (PCB) having a plurality of sockets, each socket configured to receive and mechanically and releasably secure a corresponding sensor element 166, as shown. The sensor support 667 can also include an electrical connection between each sensor element 166 and a power source 168 and / or a core controller 162, thereby providing power to the sensor element 166 and / or monitoring a sensor signal provided by the sensor element 166. The sensor support 667 can also include an electrical connection between the power source 168 and an electrical interface 632 of the sample gas pump actuator 630.

[0080] In various embodiments, the power source 168, and in particular the power provided by the supercapacitor 368, can be coupled to the sensor element 166 and / or the sample gas pump actuator 630 via a sensor support 667 and a controller support 662, which can be implemented as a PCB. For example, the supercapacitor 368 and / or the core controller 162 can be mechanically coupled to, for example, the controller support 662, and the controller support 662 can be mechanically and / or electrically coupled to the sensor support 667 to support powering the sensor element 166 via the supercapacitor 368 (e.g., and various power conditioning circuits of the power source 168) and / or monitoring sensor signals provided by the sensor element 166 (e.g., by the core controller 162). Figure 7Also shown in FIG. 6 is a sample inlet aperture 622 , for example in a controller support 662 , which is configured to provide access for a sample gas inlet 322 / 534 .

[0081] Figure 7 FIG. 7 is a diagram of a core controller 762 of a sensor assembly 600 of a modular sensor core 360 ​​for an analyte monitoring system 100 according to an embodiment of the present disclosure. In various embodiments, the core controller 762 may be coupled to a Figure 1 The core controller 162, communication module 164, power supply 168 and / or other modules 170 of the modular sensor core 160 are similarly implemented and / or have similar functions. Figure 7 In, the core controller 762 is mechanically and electrically coupled to the controller support 662. Figure 7 Also shown are an environmental sensor 772 and a junction box 742 mounted to the controller support 662, which can be configured to provide electrical connections and mechanical support for the electrical connections between the environmental sensor 772, the junction box 742, the core controller 762, and the ultracapacitor 368, as shown. In some embodiments, the core controller 762 can be configured to monitor the ground state of one or more pins of the junction box 742 and allow power and / or data to be provided through the junction box 742 only after such (one or more) pins are detected as grounded, so as to reduce or eliminate the risk of electrical damage to the platform 110 and / or the modular sensor core 360.

[0082] Figure 8 FIG. 8 is a diagram of a sample gas pump 830 of a sensor assembly 600 of a modular sensor core 360 ​​for an analyte monitoring system 100 according to an embodiment of the present disclosure. In particular, Figure 8 Two perspective exploded views 830 and 831 of the components of the sample gas pump 830 are shown. Figure 8, the sample gas pump 830 can be implemented as a piezoelectric pump configured to draw in sample gas through a pump inlet 844 and exhaust the sample gas through an exhaust passage 846. The sample gas pump 830 can include a pump cover 838 configured to support or form a pump inlet 844 (e.g., which can be configured to interface with the pump interface 530 of the cover 310) and accommodate a pump spring 836, a pump actuator 630, and at least a portion of an electrical interface 632, including a pump actuator electrode 832. The sample gas pump 830 can also include a pump base 840 configured to support or form an exhaust passage 846 and accommodate or provide a sealing passage for a flow seal 850 and / or a pump housing seal 842. The pump base 840 can also be configured to form an exhaust chamber 847, into which an exhaust nozzle 834 of the pump actuator 830 can protrude. The pump spring 836 can be configured to secure the pump actuator 630 between the pump cover 838 and the pump base 840 and provide vibration isolation / shock resistance for the pump actuator 630. In some embodiments, the exhaust nozzle 834, the exhaust passage 846, and / or the exhaust chamber 847 can be configured to interface with an exhaust tube configured to provide an outlet through the cover 310 or the base 320 for drawing sample gas from the modular sensor core 360.

[0083] In alternative embodiments, the flow seal 850 may be formed of, for example, closed-cell silicone foam and configured to provide a pneumatic seal within the sample gas pump 830 and vibration isolation configured to protect elements of the sample gas pump 830 (e.g., pump cover 838, pump actuator 630, pump base 840) from damage caused by impacts to the modular sensor core 360 ​​and / or platform 110. By combining such impact protection with the flow seal 850, the sample gas pump 830 and its installation within the modular sensor core 360 ​​may be made more compact, and servicing the sample gas pump 830 may be a less complex process. In various embodiments, the flow seal 850 may be implemented as two closed-cell silicone foam rings, one disposed between the pump actuator 630 and the pump cover 838 (e.g., and / or spring 836, which may be replaced by elements of the flow seal 850 in some embodiments), and one disposed between the pump actuator 630 and the pump base 840.

[0084] Fig. 9 A diagram of a sensor holder 128 of a modular sensor core 360 ​​for use with an analyte monitoring system 100 is shown in accordance with an embodiment of the present disclosure. Fig. 9, the sensor holder 128 includes a sealable electrical interface 942, a mechanical latch 940, a mechanical lock release 944, a sealable pneumatic interface 922, and a pneumatic interface extender 924. In various embodiments, the mechanical lock release 944 can be pressed toward the center of the sensor holder 128 to allow the mounting flange 440 of the modular sensor core 360 ​​to engage or disengage with the mechanical latch 940. In some embodiments, the mounting flange 440 and the mechanical latch 940 can be configured to allow the modular sensor core 360 ​​to be pressed into the sensor holder 128 and snapped or locked into the sensor holder 128 (and form a sealed pneumatic interface via the pneumatic interface 922 and / or form a sealed electrical interface via the electrical interface 942) without actuating the mechanical lock release 944. In various embodiments, the pneumatic interface extender 924 can be configured to sealably couple to an external tube or other interface to provide a conduit for the gas sample to reach the sealable pneumatic interface 922.

[0085] Fig.10 FIG. 1 shows a diagram of a sensor holder 1028 including an external sample gas vent tube 1030 for a modular sensor core 360 ​​of an analyte monitoring system 100 according to an embodiment of the present disclosure. Fig.10 As shown in , the external sample gas vent tube 1030 can be coupled to the sensor bracket 1028 at the pneumatic interface extender 924 to collect the sample gas at a desired distance and / or relative orientation from the sensor bracket 1028. The external sample gas vent tube 1030 can be implemented as a carbon fiber tube (e.g., for lightweight applications), a metal tube (e.g., for heat or chemical resistance), a flexible tube, and / or other sample gas conduits and / or combinations thereof, which are configured to be suspended or coupled to, for example, an appendage of the platform 110 to sample gas outside the propeller wash of the platform 110 and / or at a safe distance from the platform 110 and / or the modular sensor core 360, thereby allowing safe sampling of hazardous gas plumes or combustion areas. In various embodiments, the external sample gas vent tube 1030 can be implemented with a specific filter 1032 to reduce or eliminate the risk of airborne particulates entering and / or damaging the modular sensor core 360, the sensor element 166, and / or the sample gas pump 330 / 830.

[0086] In various embodiments, modular sensor core 360 ​​may weigh approximately 16 ounces and sensor bracket 128 may weigh approximately 3 ounces. Other embodiments, including those in which modular sensor core 360 ​​is modified to couple directly to platform 110 and / or has fewer sensor elements, may weigh 2-25 ounces in total.

[0087] Fig.11A diagram of a calibration system 1110 including a sensor holder 1128 for use with the modular sensor core 360 ​​of the analyte monitoring system 100 and / or 1100 is shown in accordance with an embodiment of the present disclosure. Fig.11 1, the calibration system 1110 includes a display 1132 and various button / joystick selection devices 1133 (e.g., elements of the user interface 132), a sample holder 1128 configured to be coupled to the modular sensor core 360, and an optional sample interface 1122. In various embodiments, the calibration system 1100 can be configured to provide power to the modular sensor core 360 ​​via the sealable electrical interface 942 and / or to provide a metered calibration gas sample via the sealable pneumatic interface 922, which is controlled by the user interface 1133.

[0088] In some embodiments, the calibration system 1110 may be configured, for example, to perform a bump check of one or more sensor elements of the sensor assembly 166, wherein a ventilation gas sample including a particular analyte to which the one or more sensor elements 366 are sensitive is provided to the modular sensor core 360 ​​to cause those sensor elements 366 to record an analyte response, thereby ensuring that those sensor elements 366 are functioning. Such a ventilation gas sample may include sufficient analyte to induce a measurable analyte response within the typical dynamic range of the calibrated sensor element.

[0089] In other embodiments, the calibration system 1110 can be configured to, for example, perform a calibration check of one or more sensor elements of the sensor assembly 166, wherein a metered gas sample of a particular analyte (e.g., provided at a selected or known concentration and rate) to which the one or more sensor elements 366 are sensitive is provided to the modular sensor core 360 ​​so that those sensor elements 366 record a known analyte response, thereby ensuring that those sensor elements 366 are functional and calibrating those sensor elements 366 to the selected or known analyte concentration and / or rate. Such calibration can include adjusting, for example, the amplitude, frequency, and / or other signal characteristics of a sensor control signal provided to a particular sensor element 366, and / or adjusting amplification and / or other sensor signal processing characteristics applied by the core controller 162 to a sensor signal provided by a particular sensor element 366, so as to provide a known analyte response to the metered gas sample.

[0090] In further embodiments, the calibration system 1110 may be implemented as, for example, a portable user interface for the modular sensor core 360 ​​and configured to determine and display sensor data corresponding to a gas sample processed by the modular sensor core 360, such as analyte type, analyte concentration, and / or other analyte characteristics associated with and / or detectable by one or more sensor elements 366 of the sensor assembly 166. In some embodiments, a metered or other type of gas source may be coupled to the calibration system 1110 via the sample interface 1122 to facilitate a vent check and / or calibration of the modular sensor core 360. In certain embodiments, the calibration system / portable user interface 1110 may be mounted to a pole and the sample interface 1122 may be coupled to an external sample gas vent tube 1030 to safely sample hazardous gas plumes when a user manually carries the portable user interface 1110 and the modular sensor core 360 ​​in a handheld application.

[0091] In embodiments where the calibration system 1110 is implemented as a portable user interface 1110 for the modular sensor core 360, the portable user interface 1110 may lack a sample interface 1122, may include an internal battery or other power source to facilitate portable, handheld use, and may omit any ability to perform ventilation checks or calibrations of the modular sensor core 360. Such embodiments of the portable user interface 1110 may be lighter and smaller than embodiments of the calibration system 1110, and such embodiments may be smaller and lighter than conventional analyte sensor systems.

[0092] In further embodiments, the portable user interface 1100 may be implemented as a fixed location mounted system and configured to continuously monitor the environment at the fixed location as the analyte plume proximate the modular sensor core 360 ​​evolves over time. The corresponding analyte data may be transmitted to the base station 130 in real time, or recorded and stored within the modular sensor core 360 ​​for later retrieval.

[0093] Figure 12-14 Flowcharts 1200, 1300, 1400 illustrate various operations for providing analyte monitoring using the analyte monitoring system 100 according to embodiments of the present disclosure. In some embodiments, Figure 12-14 The operation can be realized by Figure 1-11 More generally, Figure 12-14 The operations of may be implemented with any combination of software instructions, mechanical elements, and / or electronic hardware (eg, inductors, capacitors, amplifiers, actuators, or other analog and / or digital components).

[0094] It should also be appreciated that any step, sub-step, sub-process, or block of processes 1200, 1300, 1400 may be performed in different Figure 12-14 The embodiments shown may be performed in the order or arrangement of the embodiments shown. For example, in other embodiments, one or more blocks may be omitted or added from each individual process. In addition, block inputs, block outputs, various sensor signals, sensor information, calibration parameters, and / or other operating parameters may be stored in one or more memories before moving to subsequent portions of the corresponding process. Although reference is made to Figure 1-11 The systems described in are used to describe processes 1200, 1300, 1400, but processes 1200, 1300, 1400 may be performed by other systems that differ from those systems and include different selections of electronics, sensors, components, mechanisms, platforms, and / or platform attributes.

[0095] Fig.12 The process 1200 can generally correspond to a method for assembling the analyte monitoring system 100 .

[0096] At block 1202, the sensor holder is mounted to the sensor platform. For example, a user or manufacturer of the modular sensor core 360 ​​can be configured to mount the sensor holder 128 to, for example, the platform 110 or the calibration system / portable user interface 1110. In some embodiments, such mounting can include coupling the sealable electrical interface 942 to a power source or the calibration system / portable user interface 1110 of the platform 110. At optional block 1204, an external sample gas vent tube is coupled to the sensor holder. For example, a user or manufacturer of the modular sensor core 360 ​​and / or the platform 110 can be configured to mount the external sample gas vent tube 1030 to, for example, the platform 110 or the calibration system / portable user interface 1110.

[0097] At block 1206, the modular sensor core is secured to the sensor holder. For example, a user or manufacturer of the modular sensor core 360 ​​and / or the platform 110 may be configured to mount the modular sensor core 360 ​​to the sensor holder 128 of the platform 110 and / or the sensor holder 1128 of the calibration system / portable user interface 1110. At optional block 1208, a mechanical safety measure is installed to secure the modular sensor core to the sensor holder or the platform. For example, a user or manufacturer of the modular sensor core 360 ​​and / or the platform 110 may be configured to install a mechanical safety measure, such as a mechanical strap, to secure the modular sensor core 360 ​​to, for example, the sensor holder 128 and / or the platform 110, and / or to secure the modular sensor core 360 ​​to the sensor holder 1128 of the calibration system / portable user interface 1110.

[0098] Fig.13The process 1300 may generally correspond to a method for maintaining the analyte monitoring system 100 .

[0099] At block 1302, a depleted sensor element within the modular sensor core is reported. For example, the controller 162, the communication module 164, the user interface 132, and / or the communication module 132 may be configured to report a depleted sensor element (e.g., one of the sensor elements 366 of the sensor assembly 166) between various elements of the system 100, including displaying a depleted sensor element alert on the user interface 132. In some embodiments, the controller 162 may be configured to detect a depleted sensor element (e.g., a sensor element that is no longer sensitive to its designated analyte) by detecting or reporting, for example, a degraded or missing analyte response for a ventilation check or calibration of the modular sensor core 160, or by detecting or reporting an analyte response of a first sensor element that is degraded or missing relative to a second sensor element, where both sensor elements are sensitive to a common analyte.

[0100] In block 1304, a cover of the modular sensor core is removed. For example, a user or manufacturer of the modular sensor core 360 ​​and / or the platform 110 may be configured to remove the cover 310 of the modular sensor core 360 ​​to access the sensor assembly 166. In block 1306, a depleted sensor element is removed from the modular sensor core. For example, a user or manufacturer of the modular sensor core 360 ​​and / or the platform 110 may be configured to remove the depleted sensor element 366 identified in block 1302 from the modular sensor core 360. In block 1308, a new sensor element is inserted into the modular sensor core. For example, a user or manufacturer of the modular sensor core 360 ​​and / or the platform 110 may be configured to insert a new sensor element 366 into the modular sensor core 360 ​​to replace the depleted sensor element 366 removed in block 1306. In block 1310, a cover for the modular sensor core is replaced. For example, a user or manufacturer of the modular sensor core 360 ​​and / or platform 110 may be configured to replace the cover 310 of the modular sensor core 360 ​​to seal the sensor assembly 166 and / or other components of the modular sensor core 360 ​​from damage caused by environmental conditions (including moisture and / or heat).

[0101] At block 1312, the new sensor element status is reported. For example, controller 162, communication module 164, user interface 132, and / or communication module 132 may be configured to report the status of the new sensor element, including displaying the new sensor element ventilation check response or calibration response on user interface 132. In some embodiments, a calibration process may be performed prior to or as part of such reporting of the status of the new sensor element. Such a calibration process may include Fig.14One or more elements of process 1400 , for example, include securing modular sensor core 360 ​​to calibration system 1110 .

[0102] Fig.14 The process 1400 may generally correspond to a method for maintaining and / or calibrating the analyte monitoring system 100 .

[0103] At optional block 1402, an external power source is provided to the calibration system. For example, a user or manufacturer of the modular sensor core 360 ​​and / or platform 110 may configure to provide an external power source to the calibration system 1100 to ensure that the calibration system 1100 can perform a ventilation check procedure and / or a calibration procedure, as described herein, and / or to charge the supercapacitor 368 of the modular sensor core 360.

[0104] At block 1404, the calibration system is initialized. For example, a user or manufacturer of the modular sensor core 360 ​​and / or platform 110, or a controller 112 of the calibration system 1110, may be configured to initialize the calibration system 1110 by detecting, for example, that external power has been provided at block 1402 or by detecting a user selection of one or more user interfaces 1132 or 1133.

[0105] At block 1406, the modular sensor core is secured to the calibration system. For example, a user or manufacturer of the modular sensor core 360 ​​and / or the platform 110 may be configured to secure or couple the modular sensor core 360 ​​to the sensor holder 1128 of the calibration system 1110. After such coupling, the controller 112 of the calibration system 1110 may be configured to receive a user selection from the user interface 1133, corresponding to, for example, performing a ventilation check of the modular sensor core 360, or corresponding to performing a calibration of the modular sensor core 360, and the process 1400 may proceed to the appropriate block as shown. In various embodiments, the calibration system 1110 may be configured to perform a ventilation check of the modular sensor core 360 ​​by default, such as after a predetermined time has passed after the controller 112 detects that the modular sensor core 360 ​​is coupled to the calibration system 1110.

[0106] At block 1408, a ventilation check of the modular sensor core is performed. For example, the controller 112 and / or the core controller 162 may be configured to perform a ventilation check of the modular sensor core 360. In some embodiments, the calibration system 1110 may be configured to provide a ventilation gas sample (e.g., originating from the sample interface 1122) to the modular sensor core 360 ​​via the sealable pneumatic interface 922, receive corresponding analyte responses from one or more sensor elements 366 of the modular sensor core 360 ​​via the sealable electrical interface 942, and determine whether the one or more sensor elements 366 are operational or exhausted based at least in part on the corresponding analyte responses. In various embodiments, such a state may be referred to as a ventilation check result of the modular sensor core 360.

[0107] At block 1410, ventilation check results of the modular sensor core are reported. For example, the controller 112 and / or the core controller 162 may be configured to report ventilation check results of the modular sensor core 360 ​​generated in response to the ventilation check performed in block 1408. In some embodiments, the calibration system 1110 may be configured to report ventilation check results corresponding to one or more sensor elements 366 of the modular sensor core 360 ​​by listing the sensor elements 366 on the display 1132 and visually or textually indicating operational or depleted sensor elements in the sensor elements 366. In other embodiments, the calibration system 1110 may be configured to report ventilation check results corresponding to one or more sensor elements 366 of the modular sensor core 360 ​​by emitting audible indications corresponding to all operational or any depleted states of the sensor elements 366.

[0108] At optional block 1412, calibration of the modular sensor core is performed. For example, in embodiments where the calibration system 1110 is configured to perform calibration of one or more sensor elements 366 of the modular sensor core 360, the configuration system 1110 may be configured to calibrate the one or more sensor elements 366 by providing a metered gas sample (e.g., originating from the sample interface 1122) to the modular sensor core 360 ​​via the sealable pneumatic interface 922, receiving corresponding analyte responses from the one or more sensor elements 366 of the modular sensor core 360 ​​via the sealable electrical interface 942, and determining one or more sensor control signal characteristics and / or sensor signal processing characteristics and / or associated signal adjustments based at least in part on the corresponding analyte responses. In various embodiments, such signal characteristics and / or adjustments may be referred to as calibration results for the modular sensor core 360. Depending on the state and number of sensor elements 366 in the sensor assembly 166, the time required to calibrate the modular sensor core 360 ​​using such a process may vary from approximately 2-20 minutes.

[0109] At optional block 1414, calibration results of the modular sensor core are reported. For example, in embodiments where the calibration system 1110 is configured to perform calibration of one or more sensor elements 366 of the modular sensor core 360, the configuration system 1110 may be configured to report calibration results of the modular sensor core 360 ​​generated in response to the calibration performed in block 1412. In some embodiments, the calibration system 1110 may be configured to report calibration results corresponding to the one or more sensor elements 366 of the modular sensor core 360 ​​by listing the sensor elements 366 on the display 1132 and visually or textually indicating the calibrated ones of the sensor elements 366. In other embodiments, the calibration system 1110 may be configured to report calibration results corresponding to the one or more sensor elements 366 of the modular sensor core 360 ​​by issuing an audible indication corresponding to all calibrations or any uncalibrated status of the sensor elements 366.

[0110] At block 1418, the modular sensor core is removed from the calibration system. For example, a user or manufacturer of the modular sensor core 360 ​​and / or the platform 110 may be configured to remove or disengage the modular sensor core 360 ​​from the sensor holder 1128 of the calibration system 1110. After such coupling, the controller 162 of the modular sensor core 360 ​​may be configured to power the sensor element 366 using the supercapacitor 368 until the modular sensor core 360 ​​is secured in and / or powered by the sensor holder 128 of the platform 110, so as to enable relatively rapid deployment of the modular sensor core on the platform 110.

[0111] By providing such systems and techniques for analyte monitoring, embodiments of the present disclosure significantly improve the operational flexibility and reliability of unmanned sensor platforms. Moreover, such systems and techniques can be used to increase the operational safety of users of analyte measurement systems, including unmanned mobile sensor platforms beyond what is achievable with conventional systems. Thus, embodiments provide analyte monitoring systems with significantly increased monitoring convenience and performance.

[0112] According to embodiments described herein, analyte monitoring systems can benefit from various visualization and analyte monitoring techniques configured to improve the operational flexibility, reliability, and accuracy of such systems. In particular, embodiments can be configured to provide various display views, such as to allow a user to access and selectively enable such features and capabilities, and can be implemented according to various processes and / or control loops configured to reduce driver burden, protect the operation of the mobile platform of such systems, and qualitatively and quantitatively assess potential exposure events more quickly and more reliably than conventional systems.

[0113] In various embodiments, the system 100 can be configured to visualize and characterize distributed hazardous gas threats by using a mobile platform 110 and sensors mounted to the mobile platform 110 for sampling. Typically, the mobile platform 110 relays analyte sensor data back to an operator at the base station 130 and / or the co-pilot station 230, where it will be presented on or within a geospatial map to help visualize and characterize the threat. For example, first responders often need to assess hazardous situations and determine the extent of associated contamination or threats. The elements of the system 100 can autonomously plot the extent of hazardous gases and overlay the resulting sensor data onto a geospatial map so that the operator can visualize the full extent of the hazard (e.g., a gas cloud) and proceed safely. The elements of the system 100 can also use a visual system to identify and relay information about warning signs and related information, and visually report specific threats and locations. In an embodiment where the system 100 includes a handheld mobile platform, the elements of the system 100 can aggregate various data to provide critical and timely warnings and / or safety instructions to the user of the handheld platform.

[0114] Embodiments may overlay 2D or 3D analyte sensor data onto a geospatial map as icons or colored highlights or spots so that a user can visualize the extent of a hazardous gas plume. Embodiments may optionally include a second screen / additional base station so that users other than the UAV / UGV driver can view / manipulate sensor data. Embodiments may use image recognition technology to read NFPA diamonds and DOT chemical placards using an online or built-in database and relay relevant hazard information and / or safety instructions to users of the system 100.

[0115] In addition to the analyte sensor data provided by embodiments of the modular sensor core 160, which is essentially in-situ analyte sensor data, the mobile platform 110 can include an embodiment of an imaging module 142 that is configured to provide remote analyte sensor data, such as by gas imaging. For example, the imaging module 142 can be implemented as a visible spectrum, infrared, and / or multi-spectral (e.g., visible light and infrared, visible light and thermal, or visible light, infrared, and ultraviolet) imaging module that is configured to detect the presence of gaseous analytes and / or estimate the concentration of specific gaseous analytes based on the emission and / or absorption spectra of the gaseous analytes. Moreover, the mobile platform 110 can be implemented with multiple imaging modules, each imaging module configured to image a scene according to a different spectrum (e.g., which can partially overlap), and the system 100 can be configured to combine or fuse such images to generate a multi-spectral image, which can be used to help guide the mobile platform 110 around a dangerous monitoring area and / or aim the gimbal system 122. Thus, the system 100 may be configured to perform analyte detection according to a variety of different detection protocols associated with individual types of analyte sensor data and / or combinations of different types of analyte sensor data.

[0116] Fig.15A -C shows display views 1500, 1502, 1504 presented by a user interface for the analyte monitoring system 100 or 200 (e.g., the user interface 132 of the base station 130 and / or the co-pilot station 230) according to an embodiment of the present disclosure. Fig.15A In the illustrated embodiment, display view 1500 includes a geospatial map 1510 surrounded by various selector / indicator groups (e.g., header 1512, payload controller menus 1514 and 1516, video feed 1518, and platform telemetry indicators 1520 configured to visualize and / or quantify analyte detection and operate mobile platform 110 and / or elements of mobile platform 110). For example, header 1512 may include one or more selectors and / or indicators configured to, for example, receive a user selection of a particular selector to enable, disable, or select an active sensor payload (e.g., imaging module 142, modular sensor core 160) for display of corresponding geo-referenced sensor data within geospatial map 1510, or to indicate the operational status of mobile platform 110 and / or various elements of mobile platform 110.

[0117] The payload controller menu 1514 may include one or more selectors or buttons configured to receive user selections of particular selectors to control the functionality of the imaging module 142, the modular sensor core 160, and / or other sensors of the mobile platform 110. The payload controller menu 1516 may also include one or more selectors or buttons configured to receive user selections of particular selectors to control the functionality of the imaging module 142, the modular sensor core 160, and / or other sensors of the mobile platform 110, such as zoom level, aperture, sample gas pump rate, and / or other functions or operating states of sensors of the mobile platform 110. The video feed 1518 may be configured to display images or videos (e.g., visible spectrum, infrared spectrum, and / or multi-spectral images or videos) captured by the imaging module 142 to facilitate driving of the mobile platform 110 or to provide situational awareness to a pilot or co-pilot of the system 100 or 200. Platform telemetry indicator 1520 may be configured to indicate various types of telemetry associated with the position, orientation, or motion of mobile platform 110 , gimbal system 122 , modular sensor core 160 , and / or other elements of mobile platform 110 .

[0118] In certain embodiments, a selector within header 1512 or load controller menu 1514 or 1516 may be implemented as an automatic drift detection mode selector configured to place mobile platform 110 in an automatic drift detection mode. Once placed in such a mode, mobile platform 110 may be configured to control propulsion system 124 to allow the mobile platform to drift horizontally and / or vertically for a specified time period (e.g., a drift period associated with the automatic drift detection mode) based on local winds affecting mobile platform 110. During such an automatic drift detection mode, mobile platform 110 may be configured to determine a first estimated drift velocity due to such winds, yaw mobile platform 110 ninety degrees, measure a second horizontal orthogonal estimated drift velocity due to such winds, and determine a local wind velocity based on the first and second estimated drift velocities.

[0119] For example, to determine the estimated drift velocity, the mobile platform 110 may be configured to measure an initial drift position of the mobile platform 110 (e.g., using GNSS 118), to allow the mobile platform 110 to drift for a preselected period of time or until the mobile platform 110 approaches a maneuvering obstacle or hazard, and to measure a final drift position after such a preselected time has elapsed, and to determine the estimated drift velocity based on a vector difference between the initial and final drift positions. In various embodiments, the local wind speed may be an average of the first and second estimated drift velocities. Upon determining the local wind speed, the mobile platform 110 may be configured to exit the automatic drift detection mode and / or to hover in place until a subsequent maneuvering or analyte detection instruction is provided, as described herein.

[0120] exist Fig.15AIn the illustrated embodiment, geospatial map 1510 includes mobile platform indicator 110 and analyte plume overlay 1530 presented above a base map or map 1511. In various embodiments, when the mobile platform is within the area shown in geospatial map 1510, system 100 may be configured to determine the shape, extent, and / or other characteristics of analyte plume overlay 1530 within geospatial map 1510 based at least in part on analyte sensor data provided by modular sensor core 160 and orientation and / or position data provided by orientation sensor 114, GNSS 118, and / or other orientation and / or position or motion sensors of mobile platform 110 or elements of mobile platform 110. For example, system 100 may be configured to determine a concentration profile associated with the analyte plume based on analyte sensor data provided by mobile platform 110 and / or environmental conditions, and present analyte plume overlay 1530 according to a color plot to indicate relative concentrations, such as hot colors (e.g., red) indicating relatively high concentrations of the analyte and cool colors (e.g., blue) indicating relatively low concentrations of the analyte. Such color mapping may be based, for example, on the relative toxicity of the analytes (eg, highly toxic analytes appear red at relatively low absolute concentrations / ppm), and / or on the relative hazards to organisms, structures, and / or machinery.

[0121] In some embodiments, system 100 may be configured to determine various characteristics of analyte plume overlay 1530 displayed within geospatial map 1510 based on environmental conditions associated with a monitoring area corresponding to base map or map 1511. For example, system 100 may be configured to determine a location of a potential source 1532 of an analyte plume corresponding to analyte plume overlay 1530 based on a concentration of a corresponding analyte measured within geospatial map 1510 (e.g., by imaging module 142 and / or modular sensor core 160), a determined wind speed (e.g., measured according to an automatic drift detection mode), ambient temperature, ambient humidity, and / or other environmental conditions that affect the spatial evolution of the analyte plume and / or detection of the analyte plume by modular sensor core 160 and / or mobile platform 110.

[0122] In another embodiment, the system 100 can be configured to, for example, determine that multiple types of analytes are present within a particular monitoring area, and present each type of analyte according to a different overlay presented in the display view 1500, each of which can be selectively enabled and / or disabled by the user. Separate types of analytes can include, for example, flammable analytes, corrosive analytes (e.g., hydrogen sulfide), halogenated compounds, odorless asphyxiation risks, and / or other different types of analytes.

[0123] In various embodiments, the mobile platform 110 can be configured to adjust its route 110 based on, for example, analyte sensor data provided by the imaging module 142 and / or the modular sensor core 160 and / or based on various environmental conditions measured by sensors mounted to the mobile platform 110 or by external systems and transmitted to the system 100 (e.g., regional weather data provided by an online database via a wireless network linked to the base station 130 or the co-pilot station 230). Thus, the mobile platform 110 can be configured to autonomously avoid entering hazardous analyte plumes (e.g., hazardous concentrations of analytes within a particular analyte plume) or environments (e.g., significant downdrafts or other undesirable environmental conditions and / or hazardous analyte plumes within such undesirable environmental conditions). For example, sending a UAV / UGV into a hazardous environment could put the mobile platform 110 at risk of damage or contamination, thereby requiring replacement or decontamination. By adding intelligent hazard avoidance based on onboard analyte and environmental sensors, hazardous exposure can be limited through automatic route adjustments, thereby protecting the mobile platform 110 and its associated sensor suite.

[0124] Embodiments described herein can provide autonomous responses to analyte and / or environmental sensor data. For example, controller 112 and / or a controller of base station 130 or co-pilot station 230 can be configured to receive analyte and / or environmental sensor data from mobile platform 110 and / or from sensors mounted to mobile platform 110, and determine route adjustments to avoid detected hazardous analyte plumes and / or environmental conditions. Examples of route adjustments can include stopping, climbing, and / or reverse routes to retreat from a hazardous environment. For example, such route adjustments can be relayed to a user of base station 130, or can be implemented directly / autonomously by mobile platform 110. Such autonomous responses are intended to maintain the integrity of mobile platform 110 and avoid bringing contamination into other non-contaminated areas. Situations that may prompt these responses include: when a combustible gas sensor element of the modular sensor core 160 indicates a relatively high concentration of explosive gases; when a sensor element of the modular sensor core 160 indicates a relatively high concentration of toxic gases; when an oxygen sensor element of the modular sensor core 160 indicates a relatively high or low O2 gas concentration; and / or when one or more environmental sensors of the mobile platform 110 (e.g., other modules 126) indicate destructively high temperatures (e.g., temperatures associated with a fly-over fire).

[0125] Typically, the hazard avoidance correction may interrupt manual flight / control or automatically planned flight / route. For example, the pilot / user may be provided with various selectors within the display view to abort autonomous operation if desired if the situation is deemed unsuitable. For example, in Fig. 15BIn the illustrated embodiment, display view 1502 includes many of the same features as display view 1500 , but hazard warning menu 1522 is presented centered within display view 1502 as an overlay above geospatial map 1510 .

[0126] In various embodiments, system 100 may be configured to trigger presentation of hazard warning menu 1522 when mobile platform 110 enters a relatively high concentration or hazardous portion of an analyte plume corresponding to analyte plume overlay 1530, as determined, for example, by the location of mobile platform 110 in geospatial map 1510, and / or based on analyte sensor data provided by imaging module 142 and / or modular sensor core 160. Hazard warning menu 1522 may include alert text indicating the type of hazard (e.g., analyte-based or environmental condition-based) and one or more selectors that allow a user to cause mobile platform 110 to enter an automatic retreat mode (e.g., in which mobile platform 110 autonomously adjusts its course to move away from a detected hazard), allow a user to cancel and ignore the hazard warning (e.g., to provide emergency exit guidance to first responders), and / or other selectors associated with other navigation options of system 100.

[0127] In some embodiments, the hazard warning menu 1522 may include an accelerate escape selector configured to cause the mobile platform 110 to enter an accelerate escape mode, in which the mobile platform 110 controls the propulsion system 124 to provide maximum vertical thrust and suddenly increase the altitude of the mobile platform 110. In alternative embodiments, the hazard warning menu 1522 may include a selector, for example, that allows the user to cause the mobile platform 110 to enter an assisted hazard navigation mode, in which the mobile platform 110 allows the pilot to manually adjust the course of the mobile platform 110 in any direction that will not place the mobile platform within a relatively high concentration or hazardous portion of the analyte plume. For example, the mobile platform 110 may be configured to attenuate any manual user control signal that attempts to steer the mobile platform 110 toward and / or into such a hazardous portion.

[0128] In some embodiments, hazard warning menu 1522, header 1512, and / or selector / indicator group of display view 1500 or 1502 may include an analyte concentration contour plot selector configured to cause mobile platform 110 to enter an analyte concentration contour plot mode, wherein mobile platform 110 uses analyte sensor data provided by imaging module 142 and / or modular sensor core 160 to determine one or more analyte concentration boundaries and / or corresponding contour lines within a monitoring area represented in geospatial map 1510. For example, mobile platform 110 may be configured to move mobile platform 110 within the monitoring area and around an analyte plume corresponding to analyte plume overlay 1530 to generate sufficient analyte sensor data to determine an analyte concentration contour plot.

[0129] For example, in Fig. 15C In the embodiment shown in , display view 1504 includes many of the same features as display view 1500, and additionally includes analyte concentration boundaries 1546-1550 that define corresponding analyte concentration segments 1540-1544, as shown. For example, mobile platform 110 may approach or enter relatively high analyte concentration segment 1540, receive analyte sensor data indicating a dangerous concentration of the corresponding analyte from modular sensor core 160, and trigger presentation of hazard warning menu 1522 on base station 130 or co-pilot station 230. The pilot or co-pilot may select the analyte concentration contour plot selector to cause mobile platform 110 to enter analyte concentration contour plot mode, and mobile platform 110 may autonomously maneuver mobile platform 110 around the analyte plume to determine the range of analyte concentration segments 1540-1544 and / or spatial contours of analyte concentration boundaries 1546-1550, as shown.

[0130] More generally, the pilot or co-pilot may select the analyte concentration contour plot selector at any time, regardless of whether the mobile platform 110 has entered any portion of the analyte plume corresponding to the analyte plume overlay 1530. For example, such autonomous contour plotting provides for significantly faster analyte concentration contour plotting than manual techniques, and the resolution of such plotting may be adjusted to increase spatial clarity and reduce plotting speed, or vice versa. In a related embodiment, the mobile platform 110 may be configured with a concentration finder mode, wherein when such mode is selected, the mobile platform 110 may be configured to maneuver the mobile platform 110 around the analyte plume corresponding to the analyte plume overlay 1530 to find the highest or lowest analyte concentration within the monitoring area displayed in the geospatial map 1510.

[0131] In various embodiments, analyte concentration contour plotting and / or other modes of operation of mobile platform 110 may be performed in a plane, such as at a selected height, or may be performed in a volume (e.g., in three dimensions), such as to generate three-dimensional analyte concentration contours. Fig.16A -C shows display views 1600, 1602, 1604 presented by a user interface of the analyte monitoring system 100 or 200 (e.g., user interface 132 of the base station 130 and / or the co-pilot station 230) according to an embodiment of the present disclosure. In particular, display views 1600, 1602, 1604 provide a three-dimensional view of the analyte plume within the monitoring area 1630. Fig.16AAs shown in FIG. 1 , a monitoring area 1630 is disposed above a parking lot 1640 between a plurality of buildings 1642 and adjacent to a highway 1644, all displayed in a three-dimensional geospatial map 1610. In display view 1600, monitoring area / point cloud 1630 includes three analyte plume overlays / point clouds 1632, 1634, and 1636 corresponding to three analyte plumes within the monitoring area. In particular, analyte plume point clouds 1632 and 1636 correspond to one type of analyte, while analyte plume point cloud 1634 corresponds to a different type of analyte.

[0132] Also shown in display view 1600 are various selectors and / or indicators configured to receive user selections of particular selectors, e.g., to adjust the perspective or other characteristics of display view 1600, geospatial map 1610, and / or point clouds 1630-1636, or to indicate, e.g., the status of geospatial map 1610 and / or point clouds 1630-1636. In particular, header 1612 may include a selector configured to allow a user to change the zoom level or view perspective of display view 1600, time evolution controller 1614 may include a selector configured to allow a user to present any one or more of point clouds 1630-1636 according to a selected timestamp or to animate one or more point clouds 1630-1636 according to a selected time period and / or rate (e.g., to show how each analyte plume evolves over time), and timeline indicator 1616 may be configured to indicate a particular time or time range corresponding to the animation of the timestamps and / or point clouds 1630-1636. Fig. 16B Display view 1602 shows a magnified perspective view of monitoring area 1630 and analyte plume overlay / point cloud 1632-36, and Fig. 16C Display view 1604 shows a top-down perspective view of monitoring area 1630 and analyte plume overlays / point clouds 1632 - 36 .

[0133] exist Fig.16A In the embodiment shown in Figure 16-C, points within monitoring area 1630 are colored as a neutral color to indicate that the corresponding area has been sampled but no dangerous analytes have been detected. Points within analyte plume 1630 are colored as hot (e.g., red) to indicate relatively high analyte concentrations, and colored as cold (e.g., blue) to indicate relatively low analyte concentrations. In other embodiments, for example, different analytes can be assigned different colors, and other characteristics of the point cloud (e.g., saturation, opacity, point diameter, and / or other characteristics) can be used to convey concentrations to the user. Portions of display views 1600-1604 without points are not sampled.

[0134] In some embodiments, the system 100 may be configured to compensate for sensor time delays associated with the modular sensor core 160 when associating particular analyte sensor element responses with locations within the monitoring area depicted by the geospatial maps 1510 and / or 1610. For example, the sample gas pump 330 may be set to a particular pump rate such that an analyte in a 1 cc sample taken by the modular sensor core 160 (e.g., possibly via the sample gas vent tube 1030) may not be recorded by the sensor elements of the modular sensor core 160 for a particular period of time, such as 1 second (e.g., a sensor time delay associated with the modular sensor core 160). The mobile platform 110 and / or other elements of the system 100 may be configured to monitor and record the motion of the mobile platform 110 and / or various environmental conditions (e.g., local wind speed) and compensate for such sensor time delays by spatially and temporally associating the analyte sensor data with location data associated with the mobile platform 110 (e.g., provided by the GNSS 118). By providing such time compensation, embodiments are able to monitor a particular monitoring region and / or analyte plume more quickly than conventional systems due to the reduction and / or elimination of sample residence time at each sample location within the monitoring region.

[0135] As described herein, embodiments may be configured to capture images of various types of chemical placards and related information, process the images to determine associated analyte characteristics, and determine analyte condition reports and / or safety instructions associated with the indicated analytes. Fig.17 1700 is a diagram of an analyte monitoring system according to an embodiment of the present disclosure. Fig.17 In the present invention, the analyte monitoring system 1700 includes a base station 130 having a user interface / display 132, a mobile platform 110 (e.g., implemented with an articulated imaging system / sensor payload 140, a gimbal system 122, a modular sensor core 160, and a sensor bracket 128), wherein the base station 130 (and / or an optional co-pilot station) can be configured to control the movement, position, orientation, and / or general operation of the mobile platform 110 and / or elements of the mobile platform 110.

[0136] exist Fig.17In the illustrated embodiment, the mobile platform 110 is monitoring a tank truck 1710 to assess a hazardous condition associated with the tank truck 1710. For example, the mobile platform 110 may be configured to scan the imaging module 142 along the view 1720 to capture an image of a chemical placard 1714 (e.g., an NFPA diamond and / or a DOT placard), and process such an image (e.g., using image recognition techniques) to determine the type of analyte contained in the tank 1712. The system 100 may be configured to reference a NIOSH or other similar database to determine the chemical properties of the analyte identified on the chemical placard 1714, including, but not limited to, boiling point, flash point, density, molecular weight, IDHL, LEL, LD50, etc., and present such information (or portions thereof) on the display 132 of the base station 130. The mobile platform 110 can also be configured to scan the imaging module 142 along the view 1722 to capture an image of the license plate 1716 or other identifying information, and process such image to determine and / or cross-reference the owner, contents, and / or legal status of the tanker 1710 (e.g., by accessing a federal, state, or other online or built-in database or list, as appropriate). The system 100 can be configured to process the same or similar images of the tanker 1710 to identify the type of tanker or vehicle and estimate the potential volume of the analyte carried in the tank 1712.

[0137] In some embodiments, imaging module 142 may be implemented with a thermal imaging sensor, and system 100 may be configured to process radiometric thermal images of tanker 1710 and / or the surrounding monitoring area to identify potential flash points (e.g., locations within the monitoring area) based on the analytes identified in chemical placard 1714. Such thermal images may also be processed to identify the remaining level of liquid within tank 1712. For example, mobile platform 110 may be configured to relay sensor data and / or processed images and related information to base station 130 and / or co-pilot station, and system 100 may be configured to generate safety instructions accordingly, such as recommending a safety perimeter given the composition and / or estimated volume of the analytes and related environmental conditions (e.g., a flash point determined near or in tanker 1710).

[0138] Figure 18-20 A flow chart illustrating various operations for providing analyte monitoring using an analyte monitoring system in accordance with an embodiment of the present disclosure is shown.

[0139] Fig.18 The process 1800 may generally correspond to a method of using the analyte monitoring system 100 to monitor a monitoring area.

[0140] At block 1802, analyte sensor data is received from the mobile platform in the monitoring area. For example, the controller 112 and / or 162, the communication module 164, the user interface 132, the communication module 132, and / or other elements of the system 100 may be configured to receive analyte sensor data from the modular sensor core 160 and / or the imaging module 142 as the mobile platform 110 is maneuvered within the monitoring area.

[0141] In block 1804, location data corresponding to the analyte sensor data is received. For example, the system 100 can be configured to receive location data corresponding to the analyte sensor data received in block 1802. In block 1806, analyte monitoring information is generated. For example, the system 100 can be configured to generate analyte monitoring information corresponding to the monitoring area based at least in part on a combination of the location data and analyte sensor data received in blocks 1802 and 1804.

[0142] At block 1808, a display view including the analyte monitoring information is presented. For example, the system 100 may be configured to present a display view including the analyte monitoring information generated at block 1806 in a display of the user interface 132. At block 1810, entry into a hazardous portion of the analyte plume is detected. For example, the system 100 may be configured to detect entry of the mobile platform 110 into the hazardous portion of the analyte plume based at least in part on the analyte monitoring information generated at block 1806. At block 1812, a route of the mobile platform is adjusted. For example, the system 100 may be configured to adjust the route of the mobile platform 110 to avoid the hazardous portion of the analyte plume detected at block 1810.

[0143] Fig.19 Process 1900 may generally correspond to a method of determining local wind speed within a monitoring area using the analyte monitoring system 100 .

[0144] At block 1902, the mobile platform 110 enters an automatic drift detection mode. For example, the system 100 may be configured to detect a user selection of the automatic drift detection mode and transmit the selection to the mobile platform 110. In block 1904, a first estimated drift speed is determined. For example, the system 100 may be configured to control the propulsion system 124 of the mobile platform 110 to allow the mobile platform 110 to drift with the wind affecting the mobile platform 110 and determine a first estimated drift speed associated with the wind affecting the mobile platform based on a measurement of such drift. In block 1906, a second estimated drift speed is determined. For example, the system 100 may be configured to control the propulsion system 124 of the mobile platform 110 to yaw the mobile platform 110 approximately ninety degrees, then allow the mobile platform 110 to drift with the wind affecting the mobile platform 110, and determine a second estimated drift speed associated with the wind affecting the mobile platform based on a measurement of such drift. In block 1908, a local wind speed is determined. For example, system 100 may be configured to determine the local wind speed based at least in part on the first and second estimated drift speeds determined in blocks 1904 and 1906 .

[0145] Fig. 20 Process 2000 may generally correspond to a method of determining an analyte concentration contour map associated with a monitoring area using the analyte monitoring system 100 .

[0146] At block 2002, the mobile platform 110 enters an analyte concentration contour plotting mode. For example, the system 100 can be configured to detect a user selection of an analyte concentration contour plotting mode and communicate the selection to the mobile platform 110. At block 2004, the mobile platform 110 is manipulated to sample the monitoring area. For example, the system 100 can be configured to control the propulsion system 124 of the mobile platform 110 to manipulate the mobile platform 110 within the monitoring area to generate analyte monitoring information, similar to Fig.18 In block 2006, one or more analyte concentration boundaries are determined. For example, the system 100 can be configured to determine one or more analyte concentration boundaries based at least in part on the analyte monitoring information generated in block 2004. In block 2008, a display view including the analyte concentration boundaries is presented. For example, the system 100 can be configured to present a display view including the analyte concentration boundaries determined in block 2006 in a display of the user interface 132.

[0147] Where applicable, hardware, software, or a combination of hardware and software may be used to implement the various embodiments provided by the present disclosure. In addition, where applicable, the various hardware components and / or software components set forth herein may be combined into composite components comprising software, hardware, and / or both, without departing from the spirit of the present disclosure. Where applicable, the various hardware components and / or software components set forth herein may be divided into subcomponents comprising software, hardware, or both, without departing from the spirit of the present disclosure. In addition, where applicable, it may be expected that software components may be implemented as hardware components, and vice versa.

[0148] Software according to the present disclosure, such as non-transitory instructions, program code and / or data, can be stored on one or more non-transitory machine-readable media. It is also contemplated that the software identified herein can be implemented using one or more general-purpose or special-purpose computers and / or computer systems, whether networked and / or otherwise. Where applicable, the order of the various steps described herein can be changed, combined into composite steps and / or divided into sub-steps to provide the features described herein.

[0149] The above embodiments illustrate but do not limit the present invention. It should also be understood that many modifications and variations are possible based on the principles of the present invention. Therefore, the scope of the present invention is limited only by the following claims.

Claims

1. A system, comprising: Mobile platforms; A sensor bracket mounted to the mobile platform, wherein the sensor bracket includes a first electrical interface and a first pneumatic interface; A modular sensor core comprising a communication module, a sensor assembly, and a bracket attachment interface, wherein the bracket attachment interface comprises: a mounting flange to releasably couple the modular sensor core to a sensor bracket; a second electrical interface and a second pneumatic interface configured to be releasably coupled to the first electrical interface and the first pneumatic interface of the sensor holder, respectively; and wherein the modular sensor core is configured to receive power on a first electrical interface and a second electrical interface and to receive samples on a first pneumatic interface and a second pneumatic interface; a logic device configured to communicate with the sensor assembly and the communication module; and, wherein the communication module is configured to establish a wireless communication link with a base station associated with the mobile platform, and the sensor assembly is configured to provide analyte sensor data when the mobile platform is maneuvered within a monitoring area, and the logic device is configured to: receiving analyte sensor data while the mobile platform is maneuvered within a monitoring area, receiving location data corresponding to the analyte sensor data, and Analyte monitoring information corresponding to the monitoring region is generated based at least in part on the combination of the location data and the analyte sensor data.

2. The system according to claim 1, wherein: The logic device is configured to: detecting that a first sensor element of the sensor assembly is depleted by detecting a degradation or absent analyte response of the first sensor element relative to a second sensor element, the second sensor element being sensitive to a common analyte; reporting a first sensor element that is exhausted; detecting that a new sensor element has been inserted into the sensor assembly; as well as A status of the new sensor element is reported based on a response of the new sensor element to a metered analyte sample provided to the new sensor element via the first pneumatic interface and the second pneumatic interface.

3. The system according to claim 1, wherein: The logic device is configured to: detecting that the modular sensor core is secured to the sensor bracket mounted on the mobile platform; as well as A power supply of the modular sensor core is controlled to obtain power from the mobile platform on the sensor bracket through a first electrical interface and a second electrical interface.

4. The system of claim 1, further comprising a calibration system for the modular sensor core, wherein: The calibration system is configured to: performing a breath check or calibration on the modular sensor core; and reporting ventilation check results or calibration results of the modular sensor core; and The logic device is configured to: detecting that the modular sensor core is secured to the calibration system, controlling a power supply of the modular sensor core to draw power from the calibration system, detecting removal of the modular sensor core from the calibration system, and A power supply of the modular sensor core is controlled to draw power from an internal power supply of the modular sensor core.

5. The system of claim 1, further comprising a user interface associated with the mobile platform, wherein: The logic device is configured to: A display view including analyte monitoring information is presented in a display of the user interface.

6. The system according to claim 1, wherein: The logic device is configured to: detecting that the mobile platform has entered a hazardous portion of an analyte plume based at least in part on the analyte monitoring information; adjusting a route of the mobile platform to avoid a hazardous portion of an analyte plume; controlling a propulsion system of the mobile platform to allow the mobile platform to drift with winds affecting the mobile platform; determining a first estimated drift speed associated with wind affecting the mobile platform; controlling a propulsion system of the mobile platform to yaw the mobile platform approximately ninety degrees and then allowing the mobile platform to drift with winds affecting the mobile platform; determining a second estimated drift speed associated with winds affecting the mobile platform; and A local wind speed is determined based at least in part on the first estimated drift speed and the second estimated drift speed.

7. The system according to claim 1, wherein: The logic device is configured to: determining one or more analyte concentration boundaries based at least in part on the analyte monitoring information; and A display view including the analyte concentration boundary is presented in a display of a user interface associated with the mobile platform.

8. The system of claim 1, further comprising an imaging module coupled to the mobile platform, wherein: The logic device is configured to: receiving a visible spectrum and / or infrared image of a surveillance area from the imaging module while the mobile platform is maneuvering within the surveillance area; and Analyte monitoring information corresponding to the monitoring area is generated based at least in part on a combination of the position data, the analyte sensor data, and the visible spectrum and / or infrared image of the monitoring area.

9. The system of claim 1, wherein: The sensor bracket is mounted on the mobile platform; The bracket attachment interface is configured to releasably couple the modular sensor core to an external sample gas vent tube and / or a calibration system; The sensor bracket includes a mechanical latch and a mechanical lock release, the mechanical lock release allowing the mounting flange to selectively engage or disengage with the mechanical latch; and The modular sensor core comprises: a sample element container associated with a corresponding sample element of the sensor assembly, and A piezoelectric pump is configured to draw a sample gas from the sample element container, allowing the sample element to detect one or more analytes and / or the concentration of the analytes in the sample gas.

10. A method comprising: receiving analyte sensor data from a modular sensor core coupled to the mobile platform while the mobile platform is maneuvered within a monitoring area, wherein the modular sensor core comprises a bracket attachment interface, the bracket attachment interface comprising: a mounting flange to releasably couple the modular sensor core to a sensor bracket mounted to the mobile platform, wherein the sensor bracket includes a first electrical interface and a first pneumatic interface, a second electrical interface and a second pneumatic interface configured to be releasably coupled to the first electrical interface and the first pneumatic interface of the sensor holder, respectively; and wherein the modular sensor core is configured to receive power on a first electrical interface and a second electrical interface and to receive samples on a first pneumatic interface and a second pneumatic interface; receiving location data corresponding to the analyte sensor data; generating analyte monitoring information corresponding to the monitoring region based at least in part on the combination of the location data and the analyte sensor data; and Wherein, the method is executed by a logic device.

11. The method according to claim 10, wherein: The modular sensor core includes a sensor assembly, and the method further includes: detecting that a first sensor element of the sensor assembly is depleted by detecting a degradation or absent analyte response of the first sensor element relative to a second sensor element, the second sensor element being sensitive to a common analyte; reporting a first sensor element that is exhausted; detecting that a new sensor element has been inserted into the sensor assembly; and A status of the new sensor element is reported based on a response of the new sensor element to a metered analyte sample provided to the new sensor element via the first pneumatic interface and the second pneumatic interface.

12. The method according to claim 10, further comprising: detecting that the modular sensor core is secured to the sensor bracket mounted on the mobile platform; as well as A power source of the modular sensor core is controlled to obtain power from the mobile platform on the sensor bracket through a first electrical interface and a second electrical interface.

13. The method according to claim 10, further comprising: Initializing a calibration system for the modular sensor core; mounting the modular sensor core to a sensor holder of a calibration system; performing a ventilation check or calibration on the modular sensor core; detecting that the modular sensor core is secured to a calibration system; controlling a power supply of the modular sensor core to draw power from the calibration system; detecting removal of the modular sensor core from the calibration system; controlling a power supply of the modular sensor core to draw power from an internal power supply of the modular sensor core; detecting that the modular sensor core is secured to a sensor bracket of a mobile platform; as well as Power is obtained from the mobile platform through a sensor bracket of the mobile platform.

14. The method according to claim 10, further comprising: A display view including analyte monitoring information is presented in a display of a user interface associated with the mobile platform.

15. The method according to claim 10, further comprising performing, by the logic device: detecting that the mobile platform has entered a hazardous portion of an analyte plume based at least in part on the analyte monitoring information; adjusting a route of the mobile platform to avoid a hazardous portion of the analyte plume; controlling a propulsion system of the mobile platform to allow the mobile platform to drift with winds affecting the mobile platform; determining a first estimated drift speed associated with wind affecting the mobile platform; controlling a propulsion system of the mobile platform to yaw the mobile platform approximately ninety degrees and then allowing the mobile platform to drift with winds affecting the mobile platform; determining a second estimated drift speed associated with winds affecting the mobile platform; and A local wind speed is determined based at least in part on the first estimated drift speed and the second estimated drift speed.

16. The method according to claim 10, further comprising performing, by the logic device: determining one or more analyte concentration boundaries based at least in part on the analyte monitoring information; and A display view including the analyte concentration boundary is presented in a display of a user interface associated with the mobile platform.

17. The method according to claim 10, further comprising performing, by the logic device: receiving a visible spectrum and / or infrared image of the surveillance area from an imaging module while the mobile platform is maneuvering within the surveillance area; and Analyte monitoring information corresponding to the monitoring area is generated based at least in part on a combination of the position data, the analyte sensor data, and the visible spectrum and / or infrared image of the monitoring area.

18. The method of claim 10, wherein: The sensor bracket is mounted on the mobile platform; The bracket attachment interface is configured to releasably couple the modular sensor core to an external sample gas vent tube and / or a calibration system; The sensor bracket includes a mechanical latch and a mechanical lock release, the mechanical lock release allowing the mounting flange to selectively engage or disengage with the mechanical latch; and The modular sensor core comprises: a sample element container associated with a corresponding sample element of the sensor assembly, and A piezoelectric pump is configured to draw a sample gas from the sample element container, allowing the sample element to detect one or more analytes and / or the concentration of the analytes in the sample gas.

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