Method and an apparatus for controlling a UAV, and a UAV take-off system

• US 9,783,286 B1
• Filed: 06/16/2016
• Issued: 10/10/2017
• Est. Priority Date: 04/11/2016
• Status: Active Grant

• Current Assignee: Zerotech shenzhen Intelligence Robot Co Ltd
• Original Assignee: Zerotech shenzhen Intelligence Robot Co Ltd
• Inventors: Yang, Jianjun
• Primary Examiner(s): Burgess, Marc
• Application Number:
  US15/183,806
• Publication Number:
  US 20170291692A1
• Time in Patent Office: 481 Days
• Field of Search: 244 122, 244 1713, 244 1723, 244 1711
• CPC Class Codes: B64C 13/20 using radiated signals
• CPC Class Codes: B64C 39/024 of the remote controlled vehicle type, i.e. RPV
• CPC Class Codes: B64U 10/10 Rotorcrafts
• 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 70/00 Launching, take-off or landing arrangements
• CPC Class Codes: B64U 70/10 for releasing or capturing UAVs by hand
• CPC Class Codes: B64U 70/60 Take-off or landing of UAVs from a runway using their own power
• CPC Class Codes: G05D 1/0661 specially adapted for take-off
• CPC Class Codes: G05D 1/0669 specially adapted for vertical take-off

Abstract

A method for controlling an unmanned aerial vehicle (UAV) is provided. The UAV comprises at least one rotor. The method includes receiving a take-off signal; initiating the at least one rotor to operate with a first preset rotation acceleration in response to the take-off signal; detecting a take-off status information of the UAV, the take-off status information at least comprising a current height of the UAV; determining whether the detected current height of the UAV is equal to or greater than a threshold; and sending a hover signal to the at least one rotor to enable the UAV to hover in the current height in response to the determination that the detected current height of the UAV is equal to or greater than the threshold.

Claims

1. A method for controlling an unmanned aerial vehicle (UAV), the UAV comprising at least one rotor, the method comprising the steps of:

receiving a take-off signal;

initiating the at least one rotor to operate with a first preset rotation acceleration in response to the take-off signal;

detecting a take-off status information of the UAV, the take-off status information at least comprising a vertical velocity of the UAV and a current height of the UAV;

determining whether the detected vertical velocity of the UAV reaches a descending velocity threshold;

adjusting the at least one rotor in response to the determination of the detected vertical velocity of the UAV;

determining whether the detected current height of the UAV is equal to or greater than a threshold; and

sending a hover signal to the at least one rotor to enable the UAV to hover in the current height in response to the determination that the detected current height of the UAV is equal to or greater than the threshold;

wherein the step of adjusting comprises;

in response to the determination that the vertical velocity of the UAV is less than or equal to the descending velocity threshold, controlling the at least one rotor to operate with the first preset rotation acceleration, until it is determined that the current height of the UAV being equal to or greater than the threshold.

2. The method of claim 1, wherein the take-off signal is triggered by inputting an instruction from a user.

3. The method of claim 2, wherein prior to the step of inputting further comprises:

placing, by a user, the UAV in a take-off platform, wherein the take-off platform is for a take-off preparation of the UAV.

4. The method of claim 1, wherein the current height of the UAV is a relative height from the UAV to a take-off platform and the threshold is a minimum height unit that is detectable by a sensor of the UAV.

5. The method of claim 1, wherein the step of adjusting comprises:

in response to the determination that the vertical velocity of the UAV is greater than the descending velocity threshold, controlling the at least one rotor to operate with a second preset rotation acceleration, wherein the second preset rotation acceleration is greater than the first preset rotation acceleration.

6. The method of claim 5, wherein controlling the at least one rotor to operate with the second preset rotation acceleration comprises:

updating the vertical velocity of the UAV;

determining whether the updated vertical velocity of the UAV is less than or equal to the descending velocity threshold; and

switching the at least one rotor to operate from the second preset rotation acceleration to the first preset rotation acceleration in response to the determination that the updated vertical velocity of the UAV being less than or equal to the descending velocity threshold.

7. The method of claim 5, wherein prior to the step of controlling the at least one rotor to operate with the second preset rotation acceleration, further comprises:

awaiting a first preset delay time after initiating the at least one rotor to operate with the first preset rotation acceleration.

8. The method of claim 1, wherein the detected take-off status information further comprises an acceleration of the UAV;

and the method further comprises the steps of;

before the detected current height of the UAV becomes equal to or greater than the threshold, determining whether the detected acceleration of the UAV reaches an ascending acceleration threshold;

adjusting the at least one rotor in response to the determination.

9. The method of claim 8, wherein the step of adjusting further comprises:

controlling the at least one rotor to operate with the first preset rotation acceleration in response to the determination that the acceleration of the UAV is less than or equal to the ascending acceleration threshold, until it is determined that the current height of the UAV being equal to or greater than the threshold.

10. The method of claim 8, wherein the step of adjusting further comprising:

controlling the at least one rotor to operate with a third preset rotation acceleration in response to the determination that the acceleration of the UAV is greater than the ascending acceleration threshold, until it is determined that the current height of the UAV being equal to or greater than the threshold;

the third preset rotation acceleration is greater than the first preset rotation acceleration.

11. The method of claim 1, wherein the detected take-off status information further comprises a rotation speed of the at least one rotor;

and the method further comprises the steps of;

before the detected current height of the UAV becomes equal to or greater than the threshold, determining whether the detected rotation speed of the at least one rotor being zero lasts for more than a second preset delay time;

stopping the at least one rotor from rotating in response to the determination that the detected rotation speed of the at least one rotor being zero lasts for more than the second preset delay time.

12. The method of claim 1, wherein the detected take-off status information further comprises an electric current of a driving circuit of the UAV, and the method further comprises:

before the detected current height of the UAV becomes equal to or greater than the threshold, determining whether the detected electric current of the driving circuit is equal to or greater than an electric current threshold for more than a third preset delay time; and

controlling the at least one rotor to operate with the first preset rotation acceleration in response to the determination that the electric current is less than the electric current threshold or the electric current is equal to or greater than the electric current but lasts less than the third preset delay time, until it is determined that the current height of the UAV being equal to or greater than the threshold; and

stopping the at least one rotor from rotating in response to the determination that the electric current being greater than or equal to the electric current threshold for more than the third preset delay time.

13. An apparatus for controlling an unmanned vehicle (UAV), the UAV comprises at least one rotor, the apparatus comprising:

a receiver configured to receive a take-off signal;

an initiator configured to initiate at least one rotor of the rotor assembly to operate with a first preset rotation acceleration in response to the take-off signal;

a detector configured to detect a take-off status information of the UAV, the take-off status information at least comprising a vertical velocity of the UAV and a current height of the UAV;

a determining module configured to determine whether the detected vertical velocity of the UAV reaches a descending velocity threshold, and determine whether the detected current height of the UAV is equal to or greater than the threshold; and

a controller configured to adjust the at least one rotor in response to the determination of the detected vertical velocity of the UAV and send a hover signal to the at least one rotor to enable the UAV to hover in the current height in response to the detected current height of the UAV being greater than or equal to a threshold;

wherein the controller is further configured to control, in response to the determination that the vertical velocity of the UAV is less than or equal to the descending velocity threshold, the at least one rotor to operate with the first preset rotation acceleration, until it is determined that the current height of the UAV being equal to or greater than the threshold.

14. A UAV take-off system, comprising:

a UAV comprising at least one rotor;

a take-off platform configured to permit the UAV to take off; and

wherein the UAV is configured to initiate the at least one rotor to operate with a first preset rotation acceleration, detect a vertical velocity of the UAV and a current height and adjust a rotation speed of the at least one rotor in response to a determination of whether the detected vertical velocity of the UAV reaches a descending velocity threshold, such that the UAV is enabled to hover in the current height upon the detected current height of the UAV being greater than or equal to a threshold, and

wherein the UAV is further configured to control, in response to the determination that the vertical velocity of the UAV is less than or equal to the descending velocity threshold, the at least one rotor to operate with the first preset rotation acceleration, until it is determined that the current height of the UAV being equal to or greater than the threshold.