Context-based flight mode selection

• US 9,604,723 B2
• Filed: 04/01/2016
• Issued: 03/28/2017
• 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:
  US15/088,645
• Publication Number:
  US 20160217698A1
• Time in Patent Office: 361 Days
• Field of Search: None
• US Class Current: 1/1
• CPC Class Codes: B64C 19/00 Aircraft control not otherwise provided for
• 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, the system comprising:

one or more sensors carried by the unmanned aerial vehicle; and

one or more processors configured to;

select a flight mode from a plurality of different flight modes, wherein the plurality of different flight modes comprise a flight mode for use in a high obstacle density environment and a flight mode for use in a low obstacle density environment, and wherein each of the plurality of different flight modes is associated with a different obstacle avoidance strategy,

receive a signal indicating a desired movement path for the unmanned aerial vehicle,

receive a signal from the one or more sensors detecting one or more obstacles situated along or near the desired movement path, and

modify the desired movement path based on the obstacle avoidance strategy associated with the selected flight mode in order to prevent the unmanned aerial vehicle from colliding with the one or more obstacles.

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 plurality of different flight modes further comprise one or more modes selected from the group consisting of:

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

4. The system of claim 1, wherein the one or more processors are configured to select the flight mode based on sensor data obtained by the one or more sensors.

5. The system of claim 4, wherein the sensor data comprises environmental information relating to an environment in which the unmanned aerial vehicle is located.

6. The system of claim 4, wherein the sensor data comprises information relating to a state of the unmanned aerial vehicle.

7. The system of claim 1, wherein the one or more processors are configured to select the flight mode in response to a user input command received at a remote controller.

8. The system of claim 1, wherein at least one of the obstacle avoidance strategies comprises causing the unmanned aerial vehicle to hover in place at a specified distance from the one or more obstacles.

9. The system of claim 1, wherein at least one of the obstacle avoidance strategies comprises causing the unmanned aerial vehicle to navigate around the one or more obstacles.

10. The system of claim 1, wherein at least one of the obstacle avoidance strategies comprises overriding a user input that would result in a collision with the one or more obstacles.

11. The system of claim 1, wherein the signal indicating the desired movement path is received from a remote controller operated by a user of the unmanned aerial vehicle.

12. The system of claim 1, wherein the one or more processors are further configured to transmit warning information to a user indicating a potential collision with the one or more obstacles.

13. The system of claim 1, wherein the one or more processors are further configured to cause the unmanned aerial vehicle to navigate along the modified desired movement path to effect avoidance of the one or more obstacles.

14. The system of claim 1, further comprising a display unit configured to display a graphical representation of a spatial disposition of the one or more obstacles relative to the unmanned aerial vehicle.

15. The system of claim 1, wherein the one or more processors are onboard the unmanned aerial vehicle.

16. A method of controlling an unmanned aerial vehicle, the method comprising:

(a) selecting a flight mode from a plurality of different flight modes, wherein the plurality of different flight modes comprise a flight mode for use in a high obstacle density environment and a flight mode for use in a low obstacle density environment, and wherein each of the plurality of different flight modes is associated with a different obstacle avoidance strategy;

(b) receiving a signal indicating a desired movement path for the unmanned aerial vehicle;

(c) detecting one or more obstacles along the desired movement path using one or more sensors; and

(d) modifying the desired movement path based on the obstacle avoidance strategy associated with the selected flight mode in order to prevent the unmanned aerial vehicle from colliding with the one or more obstacles.

17. The method of claim 16, 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.

18. The method of claim 16, wherein the plurality of different flight modes further comprise one or more modes selected from the group consisting of:

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

19. The method of claim 16, wherein the selecting of the flight mode is based on sensor data obtained by the one or more sensors.

20. The method of claim 19, wherein the sensor data comprises environmental information relating to an environment in which the unmanned aerial vehicle is located.

21. The method of claim 19, wherein the sensor data comprises information relating to a state of the unmanned aerial vehicle.

22. The method of claim 16, wherein the selecting of the flight mode is performed in response to a user input command received at a remote controller.

23. The method of claim 16, wherein at least one of the obstacle avoidance strategies comprises causing the unmanned aerial vehicle to hover in place at a specified distance from the one or more obstacles.

24. The method of claim 16, wherein at least one of the obstacle avoidance strategies comprises causing the unmanned aerial vehicle to navigate around the one or more obstacles.

25. The method of claim 16, wherein at least one of the obstacle avoidance strategies comprises overriding a user input that would result in a collision with the one or more obstacles.

26. The method of claim 16, wherein the signal indicating the desired movement path is received from a remote controller operated by a user of the unmanned aerial vehicle.

27. The method of claim 16, further comprising transmitting warning information to a user indicating a potential collision with the one or more obstacles.

28. The method of claim 16, further comprising causing the unmanned aerial vehicle to navigate along the modified desired movement path, thereby avoiding the one or more obstacles.

29. The method of claim 16, further comprising displaying a graphical representation of a spatial disposition of the one or more obstacles relative to the unmanned aerial vehicle.

30. The method of claim 16, wherein the steps of (b) through (d) are performed with aid of one or more processors onboard the unmanned aerial vehicle.