System and method for automated aerial system operation

• US 10,222,800 B2
• Filed: 06/01/2017
• Issued: 03/05/2019
• Est. Priority Date: 01/04/2015
• Status: Active Grant

• Current Assignee: Hangzhou Zero Zero Technology Co.Ltd (Shenzhen Zero Zero Infinite Technology Co. Ltd.)
• Original Assignee: Hangzhou Zero Zero Technology Co.Ltd (Shenzhen Zero Zero Infinite Technology Co. Ltd.)
• Inventors: Wang, Mengqiu, Liu, Lixin, Jin, Pengxiang, Lu, Jia, Zhang, Tong
• Primary Examiner(s): Dunn, Alex C
• Application Number:
  US15/610,851
• Publication Number:
  US 20170269596A1
• Time in Patent Office: 642 Days
• CPC Class Codes: B64C 39/024 of the remote controlled vehicle type, i.e. RPV
• CPC Class Codes: B64U 10/13 Flying platforms
• CPC Class Codes: B64U 10/14 with four distinct rotor axes, e.g. quadcopters
• CPC Class Codes: B64U 2201/00 UAVs characterised by their flight controls
• 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 30/20 Rotors; Rotor supports
• CPC Class Codes: B64U 70/30 for capturing UAVs in flight by ground or sea-based arresting gear, e.g. by a cable or a net
• CPC Class Codes: G05D 1/0016 characterised by the operator's input device input arrangements for computing systems in general G06F3/00
• CPC Class Codes: G05D 1/0033 by having the operator tracking the vehicle either by direct line of sight or via one or more cameras located remotely from the vehicle
• 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 1/042 specially adapted for aircraft
• CPC Class Codes: G05D 1/0669 specially adapted for vertical take-off
• CPC Class Codes: G05D 1/0858 specially adapted for vertical take-off of aircraft

Abstract

A method for controlling an aerial system with a rotor enclosed by a housing, including: operating the rotor in a flight mode, detecting a grab event indicative of the aerial system being grabbed, and automatically operating the rotor in a standby mode. A method for controlling an aerial system including a central axis extending normal to a lateral plane of the aerial system, including: generating a first aerodynamic force with a set of rotors enclosed by a housing, detecting that an acute angle between the central axis and a gravity vector is greater than a threshold angle, and operating each rotor of the set of rotors to cooperatively generate a second aerodynamic force less than the first aerodynamic force with the set of rotors.

Claims

1. A method for controlling an aerial system comprising a rotor, the method comprising:

operating the rotor in a flight mode, comprising controlling the rotor to rotate about a rotor axis, wherein the rotor is substantially fully enclosed by a housing of the aerial system;

while operating the rotor in the flight mode, detecting an orientation change of the aerial system, wherein the orientation change is greater than a threshold orientation change; and

at a processor mounted to the housing of the aerial system, in response to detecting the orientation change, automatically operating the rotor in a standby mode, comprising reducing a rotation speed of the rotor.

2. The method of claim 1, wherein the orientation change is detected based on a measurement sampled by a sensor mounted to the housing.

3. The method of claim 2, wherein:

the sensor comprises an inertial measurement unit; and

the measurement is sampled by the inertial measurement unit.

4. The method of claim 2, further comprising classifying the measurement as indicative of the aerial system being grabbed, wherein automatically operating the rotor in the standby mode is performed in response to classifying the measurement as indicative of the aerial system being grabbed.

5. The method of claim 1, further comprising:

while operating the rotor in the flight mode, detecting a retention mechanism; and

at the processor, in response to detecting the retention mechanism and before detecting the orientation change, automatically controlling the aerial system to fly proximal the retention mechanism;

wherein, while operating the rotor in the standby mode, the aerial system is retained by the retention mechanism.

6. The method of claim 5, further comprising capturing an image with a camera mounted to the housing, wherein the retention mechanism is detected based on the image.

7. The method of claim 1, wherein:

while operating the rotor in the flight mode, a central axis of the housing is substantially parallel a gravity vector; and

detecting the orientation change comprises determining that an angle between the central axis and the gravity vector is greater than a threshold angle.

8. The method of claim 1, wherein:

the rotor defines a swept area;

the aerial system defines a retention region; and

a projection of the retention region onto a rotor plane normal to the rotor axis overlaps a majority of a projection of the swept area onto the rotor plane.

20. The method of claim 1, wherein reducing the rotation speed of the rotor comprises substantially stopping rotor rotation about the rotor axis.

9. A method for controlling an aerial system, the method comprising:

operating the aerial system in a flight mode, comprising generating a first aerodynamic force with a set of rotors of the aerial system, wherein the first aerodynamic force is substantially equal to a total aerodynamic force generated by the aerial system;

after generating the first aerodynamic force, at the aerial system, detecting a grab event indicative of the aerial system being grabbed; and

at a processor of the aerial system, in response to detecting the grab event, automatically operating each rotor of the set of rotors to cooperatively generate a second aerodynamic force less than the first aerodynamic force, wherein the second aerodynamic force is substantially greater than zero.

10. The method of claim 9, wherein operating each of rotor of the set of rotors to cooperatively generate a second aerodynamic force comprises reducing a power provided to the set of rotors to less than a power threshold required for aerial system flight, wherein aerial system flight comprises aerial system hovering.

11. The method of claim 9, further comprising, at the aerial system, detecting a start event indicative of aerial system free-fall, wherein generating the first aerodynamic force is performed automatically in response to detecting the start event.

12. The method of claim 11, wherein detecting the start event comprises detecting a proper acceleration having a magnitude substantially equal to zero with an accelerometer mechanically coupled to a housing of the aerial system, wherein each rotor of the set is rotationally coupled to the housing.

13. The method of claim 9, further comprising, at the aerial system:

after generating the first aerodynamic force, optically detecting a retention mechanism; and

in response to detecting the retention mechanism and before detecting the acute grab event, automatically controlling the aerial system to fly proximal the retention mechanism;

wherein, while automatically operating each rotor of the set of rotors to cooperatively generate the second aerodynamic force, the aerial system is retained by the retention mechanism.

14. The method of claim 13, wherein the retention mechanism comprises a human hand.

15. The method of claim 9, wherein the grab event is detected based on a measurement sampled by a sensor mounted to a housing of the aerial system, wherein each rotor of the set is rotationally coupled to the housing.

16. The method of claim 15, wherein detecting the grab event comprises classifying the grab event as indicative of the aerial system being grabbed, based on the measurement.

17. The method of claim 9, wherein:

the set of rotors is substantially fully enclosed by a housing of the aerial system;

the housing comprises a plurality of airflow apertures fluidly coupling each rotor of the set to an ambient environment; and

each airflow aperture of the plurality defines an aperture area, each aperture area less than a threshold area.

18. The method of claim 9, further comprising, at the aerial system, detecting a start event indicative of aerial system support in a substantially horizontal orientation throughout a time interval greater than a threshold time interval, wherein generating the first aerodynamic force is performed automatically in response to detecting the start event.

19. The method of claim 9, wherein the grab event is indicative of the aerial system being supported by and restrained by a human hand.

21. The method of claim 9, wherein operating the aerial system in the flight mode further comprises controlling the aerial system to hover.

22. The method of claim 17, wherein the threshold size is 16 mm.