VEHICLE ALTITUDE RESTRICTIONS AND CONTROL

• US 20160327956A1
• Filed: 07/19/2016
• Published: 11/10/2016
• Est. Priority Date: 12/31/2014
• 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: Zhang, Xingyu, Tang, Ketan, Zhao, Cong
• Granted Patent: US 9,501,060 B1
• Time in Patent Office: Days
• US Class Current: 1/1
• CPC Class Codes: B64C 39/024 of the remote controlled vehicle type, i.e. RPV
• CPC Class Codes: B64D 45/00 Aircraft indicators or protectors not otherwise provided for camouflage F41H3/00
• CPC Class Codes: B64D 47/08 Arrangements of cameras
• CPC Class Codes: B64U 10/13 Flying platforms
• CPC Class Codes: G01C 5/00 Measuring height; Measuring distances transverse to line of sight; Levelling between separated points; Surveyors' levels G01C3/20, G01C3/30 take precedence
• CPC Class Codes: G01C 5/005 altimeters for aircraft G01C5/02, G01C5/06 take precedence
• CPC Class Codes: G05D 1/005 by providing the operator with signals other than visual, e.g. acoustic, haptic
• CPC Class Codes: G05D 1/042 specially adapted for aircraft
• CPC Class Codes: G05D 1/106 Change initiated in response to external conditions, e.g. avoidance of elevated terrain or of no-fly zones

Abstract

Systems, methods, and devices are provided for providing flight response to flight-restricted altitudes. The altitude of an unmanned aerial vehicle (UAV) may be compared with an altitude restriction. If needed a flight-response measure may be taken by the UAV to prevent the UAV from flying in a restricted altitude. The altitude measurement of the UAV and/or altitude restriction of the UAV may be modified for improved performance. Different flight-response measures may be taken depending on preference and the rules of a jurisdiction within which the UAV falls.

Claims

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

a vehicle body;

one or more propulsion units coupled to the vehicle body and adapted to effect movement of the UAV; and

one or more processors operably coupled to the one or more propulsion units and individually or collectively configured to;

receive one or more altitude restrictions for the UAV;

receive elevation and/or map information for an area;

modify the one or more altitude restrictions based on the elevation or map information so as to produce one or more modified altitude restrictions; and

output control signals to the one or more propulsion units to cause the UAV to comply with the one or more modified altitude restrictions while operating in the area.

2. The system of claim 1, wherein the one or more altitude restrictions comprise a maximum altitude limit.

3. The system of claim 2, wherein the one or more processors are configured to modify the one or more altitude restrictions by increasing or decreasing the maximum altitude limit based on the elevation or map information.

4. The system of claim 1, wherein the one or more altitude restrictions are preset prior to flight of the UAV.

5. The system of claim 1, wherein the elevation information is indicative of elevation of terrain in the area.

6. The system of claim 1, wherein the elevation information is indicative of height of one or more manmade structures or natural structures in the area.

7. The system of claim 1, wherein the one or more processors are configured to receive the elevation or map information by receiving a map of the area comprising the elevation information.

8. The system of claim 7, wherein the map is received prior to flight of the UAV.

9. The system of claim 7, wherein the map is received during flight of the UAV.

10. The system of claim 7, wherein the one or more processors are configured to:

assess a current location of the UAV;

identify a location on the map corresponding to the current location of the UAV; and

use the map to obtain elevation information for the location.

11. The system of claim 1, wherein the one or more processors are configured to receive the elevation information by receiving sensor data indicative of the elevation information for the area.

12. The system of claim 11, wherein the sensor data is generated by one or more sensors carried by the UAV and configured to measure height above ground of the UAV.

13. The system of claim 12, wherein the sensor data comprises a weighted average of height above ground measurements for the UAV over a predetermined time interval.

14. The system of claim 1, wherein the one or more processors are configured to modify the one or more altitude restrictions during operation of the UAV.

15. A method for controlling movement of an unmanned aerial vehicle (UAV) having one or more propulsion units, the method comprising:

with aid of one or more processors, individually or collectively;

receiving one or more altitude restrictions for the UAV;

receiving elevation and/or map information for an area;

modifying the one or more altitude restrictions based on the elevation or map information so as to produce one or more modified altitude restrictions; and

outputting control signals to the one or more propulsion units to cause the UAV to comply with the one or more modified altitude restrictions while operating in the area.

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

a vehicle body;

one or more propulsion units coupled to the vehicle body and adapted to effect movement of the UAV; and

one or more processors operably coupled to the one or more propulsion units and individually or collectively configured to;

output signals to the one or more propulsion units to cause the UAV to operate according to a first set of altitude restrictions, wherein the first set of altitude restrictions constrain altitude of the UAV relative to a first reference altitude;

assess, based on one or more criteria, whether the UAV should operate according to a second set of altitude restrictions; and

output signals to the one or more propulsion units to cause the UAV to operate according to the second set of altitude restrictions if the one or more criteria are fulfilled according to the assessment, wherein the second set of altitude restrictions constrain altitude of the UAV relative to a second reference altitude.

17. The system of claim 16, wherein the first reference altitude is altitude at sea level and wherein the second reference altitude is altitude at ground level at a current location of the UAV.

18. The system of claim 16, wherein at least one of the first or second set of altitude restrictions comprises a maximum altitude limit.

19. The system of claim 18, wherein the maximum altitude limit is about 120 m above the first or second reference altitude.

20. The system of claim 16, wherein the one or more criteria comprise whether a current flight time of the UAV has exceeded a predetermined flight time threshold.

21. The system of claim 20, wherein the predetermined flight time threshold is about 10 seconds.

22. The system of claim 16, wherein the one or more criteria comprise whether a current altitude of the UAV has exceeded a predetermined altitude threshold.

23. The system of claim 22, wherein the predetermined altitude threshold is about 100 m above ground level.

24. The system of claim 16, wherein the one or more criteria comprise whether a current altitude of the UAV is greater than an altitude of an initial location of the UAV.

25. The system of claim 16, wherein the one or more criteria comprise whether the UAV is not currently within a restricted airspace.

26. The system of claim 16, wherein the one or more criteria comprise whether the second set of altitude restrictions are not currently prohibited by a controller for the UAV.

27. The system of claim 26, wherein the controller is located onboard the UAV.

28. The system of claim 26, wherein the controller is a remote control device in communication with the UAV.

29. The system of claim 16, wherein the one or more criteria are preset prior to flight of the UAV.

30. A method for controlling movement of an unmanned aerial vehicle (UAV) having one or more propulsion units, the method comprising:

with aid of one or more processors, individually or collectively;

outputting control signals to the one or more propulsion units to cause UAV to operate according to a first set of altitude restrictions, wherein the first set of altitude restrictions constrain altitude of the UAV relative to a first reference altitude;

assessing, based on one or more criteria, whether the UAV should operate according to a second set of altitude restrictions; and

outputting control signals to the one or more propulsion units to cause the UAV to operate according to the second set of altitude restrictions if the one or more criteria are fulfilled according to the assessment, wherein the second set of altitude restrictions constrain altitude of the UAV relative to a second reference altitude.