Method and apparatus for navigating unmanned aerial vehicle

• US 9,645,581 B1
• Filed: 06/08/2016
• Issued: 05/09/2017
• Est. Priority Date: 02/04/2016
• Status: Active Grant

• Current Assignee: Zerotech shenzhen Intelligence Robot Co Ltd
• Original Assignee: Zerotech shenzhen Intelligence Robot Co Ltd
• Inventors: Yang, Jianjun, Feng, Mingliang
• Primary Examiner(s): Sample, Jonathan L
• Application Number:
  US15/176,158
• Time in Patent Office: 335 Days
• CPC Class Codes: B64U 2101/30 for imaging, photography or videography
• 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 2201/20 Remote controls
• CPC Class Codes: G01C 21/20 Instruments for performing navigational calculations G01C21/24, G01C21/26 take precedence
• CPC Class Codes: G05D 1/101 specially adapted for aircraft
• CPC Class Codes: G08G 5/0069 specially adapted for an unmanned aircraft

Abstract

A method for navigating an unmanned aerial vehicle (UAV) from an initial position of the UAV towards a base position comprises A) flying the UAV to a plurality of destination positions each having a first predetermined distance from the initial position of the UAV, wherein the plurality of destination positions correspond to a plurality of trial directions with respect to the initial position, respectively; B) detecting, for each of the plurality of destination positions, a distance from the base position to the destination position when the UAV is at the destination position, thereby to obtain a plurality of detected distances corresponding to the plurality of trial directions, respectively; C) determining a return direction of the UAV on the basis of the plurality of detected distances; and D) flying the UAV a second predetermined distance along the return direction.

Claims

1. A method for navigating an unmanned aerial vehicle (UAV) from an initial position of the UAV towards a base position, comprising:

A) flying the UAV to a plurality of destination positions each having a first predetermined distance from the initial position of the UAV, wherein the plurality of destination positions correspond to a plurality of trial directions with respect to the initial position, respectively;

B) detecting, for each of the plurality of destination positions, a distance from the base position to the destination position when the UAV is at the destination position, thereby to obtain a plurality of detected distances corresponding to the plurality of trial directions, respectively;

C) determining a return direction of the UAV on the basis of the plurality of detected distances, wherein the return direction is substantially directed towards the base position; and

D) flying the UAV a second predetermined distance along the return direction such that the UAV is relatively closer to the base position.

2. The method of claim 1, further comprising:

repeating steps A to D, unless the distance from the UAV to the base position is smaller than or equal to a threshold distance.

3. The method of claim 1, wherein step A further comprises flying the UAV along one of the plurality of trial directions to one of the plurality of destination positions, and flying the UAV from the destination position back to the initial position.

4. The method of claim 1, wherein the plurality of destination positions are approximately located at a circle centered at the initial position of the UAV.

5. The method of claim 4, wherein the plurality of trial directions comprise four trial directions, and wherein each two adjacent trial directions of the four trial directions have an angle of 90 degrees.

6. The method of claim 1, wherein step A further comprises:

after the UAV arrives at one of the plurality of destination positions, flying the UAV directly to a next destination position without flying the UAV back to the initial position.

7. The method of claim 6, wherein UAV'"'"'s flight tracks to previous destination positions are considered in order to adjust a next direction and the first predetermined distance to be flied by UAV along the next direction.

8. The method of claim 7, wherein the plurality of destination positions are approximately located at a circle centered at the initial position of the UAV.

9. The method of claim 1, wherein step C comprises:

C1) comparing the plurality of detected distances; and

C2) identifying a trial direction having the shortest detected distance among the plurality of trial directions as the return direction, according to the comparison of the plurality of detected distances, or

identifying a direction between two trial directions which both have the shortest detected distance among the plurality of trial directions as the return direction, according to the comparison of the plurality of detected distances.

10. The method of claim 9, wherein the identified direction between the two trial directions both having the shortest detected distance is in the middle of the two trial directions.

11. The method of claim 1, wherein step C comprises:

C1) comparing the plurality of detected distances;

C2) identifying two trial directions both having the shortest detected distance among the plurality of trial directions;

C3) flying the UAV to two or more supplemental destination positions each having a third predetermined distance from the initial position, wherein the two or more supplemental destination positions correspond to two or more respective supplemental trial directions with respect to the initial position, and wherein the two or more supplemental trial directions are between the identified two trial directions;

C4) detecting, for each supplemental destination position, a distance from the base position to the supplemental destination position when the UAV is at the supplemental destination position, thereby to obtain two or more detected distances corresponding to the two or more supplemental trial directions, respectively; and

C5) determining the return direction of the UAV on the basis of the two or more detected distances.

12. The method of claim 11, wherein step C5 of determining the return direction of the UAV comprises:

comparing the two or more detected distances; and

identifying a supplemental trial direction having the shortest detected distance among the two or more supplemental trial directions as the return direction, according to the comparison of the two or more detected distances, or

identifying a direction between two supplemental trial directions both having the shortest detected distance among the two or more supplemental trial directions as the return direction, according to the comparison of the two or more detected distances.

13. The method of claim 12, wherein the identified direction between the two supplemental trial directions both having the shortest detected distance is in the middle of the two supplemental trial directions.

14. The method of claim 11, wherein the third predetermined distance is shorter than the second predetermined distance.

15. The method of claim 11, wherein the third predetermined distance is equal to the first predetermined distance.

16. The method of claim 11, wherein step C3 further comprises:

flying the UAV along one of the two or more supplemental trial directions to one of the two or more supplemental destination positions, and flying the UAV from the supplemental destination position back to the initial position.

17. The method of claim 11, wherein step C3 further comprises:

after the UAV arrives at one of the two or more supplemental destination positions, flying the UAV directly to a next destination position without flying the UAV back to the initial position.

18. The method of claim 4, wherein step C further comprises:

identifying a first trial direction having the shortest detected distance and a second trial direction having the longest detected distance among the plurality of trial directions, and

identifying a direction between the first trial direction and an opposite direction of the second trial direction as the return direction.

19. The method of claim 18, wherein the identified return direction is in the middle of the first trial direction and the opposite direction of the second trial direction.

20. The method of claim 1, wherein the first predetermined distance is shorter than the second predetermined distance.

21. The method of claim 1, wherein the UAV is in wireless communication with a remote terminal positioned at the base position, and wherein detecting the distance from the UAV to the base position comprises:

transmitting a distance measurement signal from the UAV to the remote terminal, wherein the distance measurement signal contains a first time at which the distance measurement signal is transmitted;

receiving the distance measurement signal by the remote terminal and determining a second time at which the distance measurement signal is received; and

calculating the distance from the UAV to the remote terminal at the base position using the first time and the second time.

22. The method of claim 1, wherein the UAV is in wireless communication with a remote terminal positioned at the base position, and wherein detecting the distance from the UAV to the base position comprises:

transmitting a distance measurement signal from the remote terminal to the UAV, wherein the distance measurement signal contains a first time at which the distance measurement signal is transmitted;

receiving the distance measurement signal by the UAV and determining a second time at which the distance measurement signal is received; and

calculating the distance from the UAV to the remote terminal at the base position using the first time and the second time.

23. The method of claim 1, wherein the initial position of the UAV is out of a predetermined scope which the UAV is permitted to fly within.

24. The method of claim 1, wherein the plurality of trial directions are determined by the UAV based on the initial position and the plurality of destination positions, respectively.

25. An apparatus for navigating a UAV from an initial position of the UAV towards a base position, the apparatus comprising a processor and a memory for storing executable instructions that, when executed by the processor, causes the UAV to perform:

A) flying the UAV to a plurality of destination positions each having a first predetermined distance from the initial position of the UAV, wherein the plurality of destination positions correspond to a plurality of trial directions with respect to the initial position, respectively;

B) detecting, for each of the plurality of destination positions, a distance from the base position to the destination position when the UAV is at the destination position, thereby to obtain a plurality of detected distances corresponding to the plurality of trial directions, respectively;

C) determining a return direction of the UAV on the basis of the plurality of detected distances, wherein the return direction is substantially directed towards the base position; and

D) flying the UAV a second predetermined distance along the return direction such that the UAV is relatively closer to the base position.

26. A UAV comprising:

an apparatus for navigating a UAV from an initial position of the UAV towards a base position, the apparatus comprising a processor and a memory for storing executable instructions that, when executed by the processor, causes the UAV to perform;

A) flying the UAV to a plurality of destination positions each having a first predetermined distance from the initial position of the UAV, wherein the plurality of destination positions correspond to a plurality of trial directions with respect to the initial position, respectively;

B) detecting, for each of the plurality of destination positions, a distance from the base position to the destination position when the UAV is at the destination position, thereby to obtain a plurality of detected distances corresponding to the plurality of trial directions, respectively;

C) determining a return direction of the UAV on the basis of the plurality of detected distances, wherein the return direction is substantially directed towards the base position; and

D) flying the UAV a second predetermined distance along the return direction such that the UAV is relatively closer to the base position; and

a communication unit for wireless communication.

27. The UAV of claim 26, wherein the UAV is in wireless communication with a remote terminal positioned at the base position, and the UAV is further configured to perform:

receiving a distance measurement signal sent by the remote terminal, wherein the distance measurement signal contains a first time at which the distance measurement signal is transmitted,

determining a second time at which the distance measurement signal is received; and

calculating the distance from the UAV to the remote terminal using the first time and the second time.

28. A remote terminal comprising:

an apparatus for navigating a UAV from an initial position of the UAV towards a base position, the apparatus comprising a processor and a memory for storing executable instructions that, when executed by the processor, causes the UAV to perform;

A) flying the UAV to a plurality of destination positions each having a first predetermined distance from the initial position of the UAV, wherein the plurality of destination positions correspond to a plurality of trial directions with respect to the initial position, respectively;

B) detecting, for each of the plurality of destination positions, a distance from the base position to the destination position when the UAV is at the destination position, thereby to obtain a plurality of detected distances corresponding to the plurality of trial directions, respectively;

C) determining a return direction of the UAV on the basis of the plurality of detected distances, wherein the return direction is substantially directed towards the base position; and

D) flying the UAV a second predetermined distance along the return direction such that the UAV is relatively closer to the base position; and

a communication unit for wireless communication.

29. The remote terminal of claim 28, wherein the remote terminal is in wireless communication with the UAV and is positioned at the base position, and the remote terminal is further configured to perform:

receiving a distance measurement signal sent by the UAV, wherein the distance measurement signal contains a first time at which the distance measurement signal is transmitted,

determining a second time at which the distance measurement signal is received; and

calculating the distance from the UAV to the remote terminal using the first time and the second time.