Context-based flight mode selection

• US 10,029,789 B2
• Filed: 11/01/2016
• Issued: 07/24/2018
• Est. Priority Date: 09/05/2014
• Status: Active Grant

• Current Assignee: SZ DJI Technology Co., Ltd. (d/b/a DJI) (iFlight Technology Company Limited)
• Original Assignee: SZ DJI Technology Co., Ltd. (d/b/a DJI) (iFlight Technology Company Limited)
• Inventors: Liu, Ang, Hu, Xiao, Zhou, Guyue, Pan, Xuyang
• Primary Examiner(s): Davis, Richard G
• Application Number:
  US15/340,404
• Publication Number:
  US 20170045886A1
• Time in Patent Office: 630 Days
• Field of Search: None
• CPC Class Codes: B64C 19/00 Aircraft control not otherwise provided for
• CPC Class Codes: B64C 39/024 of the remote controlled vehicle type, i.e. RPV
• CPC Class Codes: B64U 2101/30 for imaging, photography or videography
• CPC Class Codes: B64U 2201/10 autonomous, i.e. by navigating independently from ground or air stations, e.g. by using inertial navigation systems [INS]
• CPC Class Codes: B64U 2201/104 using satellite radio beacon positioning systems, e.g. GPS
• CPC Class Codes: B64U 2201/20 Remote controls
• CPC Class Codes: G05D 1/0061 for transition from automatic pilot to manual pilot and vice versa
• CPC Class Codes: G05D 1/0088 characterized by the autonomous decision making process, e.g. artificial intelligence, predefined behaviours using knowledge based models G06N5/00
• CPC Class Codes: G05D 1/0202 specially adapted to aircraft
• CPC Class Codes: G05D 1/042 specially adapted for aircraft
• CPC Class Codes: G08G 5/045 Navigation or guidance aids, e.g. determination of anti-collision manoeuvers radar or analogous systems specially adapted for anti-collision between aircraft G01S13/933

Abstract

Systems and methods for controlling an unmanned aerial vehicle within an environment are provided. In one aspect, a system comprises one or more sensors carried by the unmanned aerial vehicle and configured to provide sensor data and one or more processors. The one or more processors can be individually or collectively configured to: determine, based on the sensor data, an environment type for the environment; select a flight mode from a plurality of different flight modes based on the environment type, wherein each of the plurality of different flight mode is associated with a different set of operating rules for the unmanned aerial vehicle; and cause the unmanned aerial vehicle to operate within the environment while conforming to the set of operating rules of the selected flight mode.

Claims

1. A system for controlling an unmanned aerial vehicle (UAV), the system comprising:

one or more processors configured to;

identify an environment type for the UAV from a plurality of different environment types;

select a flight mode from a plurality of different flight modes based on the identified environment type, wherein each of the plurality of different flight modes contains a different set of operating rules for the UAV;

detect a safety risk for the UAV based on sensor data collected by one or more sensors carried onboard the UAV; and

effect operation of the UAV in response to the detected safety risk in accordance with the set of operating rules of the selected flight mode.

2. The system of claim 1, wherein the one or more sensors comprise one or more of:

a GPS sensor, an inertial sensor, a vision sensor, a lidar sensor, an ultrasonic sensor, a barometer, or an altimeter.

3. The system of claim 1, wherein the sensor data is indicative of a physical state of the UAV and the physical state of the UAV comprises a spatial disposition and/or state of motion of the UAV detected by the one or more sensors.

4. The system of claim 1, wherein the plurality of different flight modes comprise one or more modes selected from the group comprising:

an indoor flight mode, an outdoor flight mode, a high altitude flight mode, a low altitude flight mode, a long range flight mode, a short range flight mode, a fully autonomous flight mode, a semi-autonomous flight mode, a manual flight mode, and an autonomous return mode.

5. The system of claim 4, wherein at least one of the plurality of different flight modes comprise a set of operating rules for implementing an autonomous obstacle avoidance strategy.

6. The system of claim 4, wherein the sensor data is further indicative of a distance between the UAV and a remote controller, and

wherein the one or more processors are configured to:

(a) select the short range flight mode when the distance between the UAV and the remote controller is less than a predetermined threshold distance, and (b) select the long range flight mode when the distance between the UAV and the remote controller is greater than the predetermined threshold distance.

7. The system of claim 6, wherein the short range flight mode provides a greater degree of control over the UAV to an operator of the UAV, as compared to the long range flight mode.

8. The system of claim 1, wherein the different sets of operating rules for the UAV are configured to control one or more of the following:

(i) a physical state of the UAV, (ii) a behavior of the UAV within the environment type, or (iii) one or more functionalities of the UAV.

9. The system of claim 8, wherein the one or more functionalities of the UAV are associated with obstacle collision avoidance, fault detection, safety mechanisms, flight navigation, environmental mapping, aerial photography, and/or sensor data collection.

10. The system of claim 1, wherein the sensor data is indicative of an operational state of one or more components onboard the UAV and the operational state of the one or more components is indicative of:

(i) whether the one or more components are malfunctioning, (ii) a power level of the one or more components, and/or (iii) a strength of the signals received by the one or more components.

11. The system of claim 10, wherein the one or more processors are configured to select an autonomous return mode from the plurality of different flight modes when (i) the one or more components are malfunctioning, and/or (ii) when the power level of the one or more components falls below a predetermined power threshold.

12. The system of claim 10, wherein the one or more processors are configured to select an autonomous return mode from the plurality of different flight modes when the strength of the received signals falls below a predetermined signal threshold.

13. The system of claim 10, wherein the one or more components comprise a GPS sensor onboard the UAV, and wherein the strength of the GPS signals depends on the environment type in which the UAV is operating.

14. The system of claim 1, wherein the one or more processors are configured to:

select two or more flight modes from the plurality of plurality of different flight modes;

determine whether two or more selected flight modes will conflict with one another and affect the operation of the UAV; and

prioritize between the two or more selected flight modes when the two or more selected modes are determined to conflict with one another, so as to mitigate the conflict.

15. The system of claim 1, wherein the one or more processors are configured to select the one or more flight modes (i) based on the sensor data and (ii) in response to a user input command received at a remote controller.

16. The system of claim 15, wherein the one or more processors are configured to override the user input command if the user input command causes a first flight mode to be selected that would result in collision of the UAV with one or more obstacles.

17. The system of claim 16, wherein the one or more processors are configured to select a second flight mode instead of the first flight mode to prevent collision of the UAV with the one or more obstacles, and wherein the second flight mode is selected based on the sensor data and comprises a set of operating rules for implementing an autonomous obstacle avoidance strategy.

18. The system of claim 1, wherein the detected safety risk comprises a system malfunction.

19. The system of claim 1, wherein detecting the safety risk comprises:

predicting a UAV state based on the sensor data; and

comparing the predicted UAV state with an actual UAV state.

20. A method of controlling an unmanned aerial vehicle (UAV), comprising:

identifying an environment type for the UAV from a plurality of different environment types;

selecting a flight mode from a plurality of different flight modes based on the identified environment types, wherein each of the plurality of different flight modes contains a different set of operating rules for the UAV;

detecting a safety risk for the UAV based on sensor data collected by one or more sensors carried onboard the UAV; and

effecting operation of the UAV in response to the detected safety risk in accordance with the set of operating rules of the selected flight mode.

21. The method of claim 20, wherein the selecting of the one or more flight modes is (i) based on the sensor data and (ii) in response to a user input command received at a remote controller.

22. The method of claim 21, further comprising:

overriding the user input command if the user input command causes a first flight mode to be selected that would result in collision of the UAV with one or more obstacles.