System and method for automated aerial system operation

• US 10,528,049 B2
• Filed: 02/28/2018
• Issued: 01/07/2020
• 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:
  US15/907,532
• Publication Number:
  US 20180188730A1
• Time in Patent Office: 678 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 of controlling an aerial system comprising a housing and a rotor rotationally coupled to the housing about a rotor axis, the method comprising:

operating the rotor in a flight mode, comprising controlling the rotor to rotate about the rotor axis;

while operating the rotor in the flight mode, detecting a yaw change of the aerial system; and

at a processor mounted to the housing of the aerial system, in response to detecting the yaw change, automatically operating the rotor in a standby mode.

2. The method of claim 1, further comprising:

before operating the rotor in the flight mode, operating the rotor in the standby mode; and

while operating the rotor in the standby mode, at the processor, detecting a throw event indicative of the aerial system being thrown;

wherein operating the rotor in the flight mode is performed in response to detecting the throw event.

3. The method of claim 1, wherein:

operating the rotor in the flight mode comprises controlling the rotor such that a central axis of the housing is substantially parallel a gravity vector; and

detecting the yaw change comprises determining that the aerial system has rotated about the central axis by more than a threshold angle.

4. The method of claim 1, wherein detecting the yaw change comprises determining that an aerial system orientation vector differs from an expected orientation vector by more than 35°

.

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

6. The method of claim 5, wherein the sensor comprises a gyroscope and the measurement is sampled by the gyroscope.

7. The method of claim 5, wherein the sensor comprises a camera and the yaw change is detected based on a set of images sampled by the camera, wherein the set of images comprises the measurement.

8. The method of claim 1, wherein:

operating the rotor in the flight mode comprises controlling the rotor to rotate about the rotor axis at a first rotational speed; and

operating the rotor in the standby mode comprises controlling the rotor to reduce rotational speed about the rotor axis to a second rotational speed less than the first rotational speed.

9. The method of claim 8, wherein the second rotational speed is substantially zero.

10. The method of claim 1, wherein:

the rotor defines a swept volume while rotating about the rotor axis; and

the housing comprises;

an upper portion arranged above the swept volume;

a lower portion arranged below the swept volume; and

a sidewall connecting the upper portion to the lower portion, the sidewall arranged outward of the swept volume relative to the rotor axis.

11. The method of claim 1, wherein:

the first rotor defines a first plane normal the rotor axis;

the aerial system further comprises;

a second rotor rotationally coupled to the housing about a second rotor axis, the second rotor defining a second plane normal the second rotor axis;

a third rotor rotationally coupled to the housing about a third rotor axis substantially parallel the rotor axis; and

a fourth rotor rotationally coupled to the housing about a fourth rotor axis substantially parallel the second rotor axis; and

the method further comprises, before operating the rotor in the flight mode, transitioning the housing from a folded configuration to an unfolded configuration, wherein;

in the folded configuration, the first plane is offset from and substantially parallel the second plane; and

in the unfolded configuration, the first and second planes are substantially coplanar.

12. A method of controlling an aerial system comprising a processing module mounted to a housing, the method comprising, at the processing module:

controlling the aerial system to operate in a flight mode;

while controlling the aerial system to operate in the flight mode, detecting a hand of a user in a landing request conformation; and

in response to detecting the hand, controlling the aerial system to land on the hand.

13. The method of claim 12, further comprising, at the processing module:

before controlling the aerial system to operate in the flight mode, controlling the aerial system to operate in a standby mode, wherein the aerial system is supported by a human hand while operating in the standby mode; and

while controlling the aerial system to operate in the standby mode, determining a takeoff trigger;

wherein controlling the aerial system to operate in the flight mode is performed in response to determining the takeoff trigger.

14. The method of claim 12, wherein:

the aerial system further comprises a rotor rotationally coupled to the housing about a rotor axis;

controlling the aerial system to operate in the flight mode comprises controlling the rotor to rotate about the rotor axis; and

the method further comprises, in response to landing on the hand, at the processing module, controlling the rotor to cease rotation about the rotor axis.

15. The method of claim 12, further comprising, at a camera, sampling an image of the hand, wherein the hand is detected based on the image.

16. The method of claim 15, wherein:

the camera is mounted to the housing; and

while the aerial system operates in the flight mode, the camera faces downward with respect to a gravity vector.

17. The method of claim 12, wherein:

detecting the hand in the landing request conformation comprises detecting an open palm of the hand; and

controlling the aerial system to land on the hand comprises controlling the aerial system to land on the open palm.

18. The method of claim 12, wherein:

detecting the hand in the landing request conformation comprises detecting a thumb of the hand and a finger of the hand, wherein the thumb and the finger are arranged along an axis parallel a gravity vector, the hand defining an open volume between the thumb and the finger; and

controlling the aerial system to land on the hand comprises controlling the aerial system to fly into the open volume.

19. The method of claim 18, wherein:

operating in the flight mode comprises, at a set of propulsion mechanisms of the aerial system, generating a first propulsive force substantially equal to a total propulsive force generated by the aerial system; and

the method further comprises, at the processor, after controlling the aerial system to fly into the open volume;

detecting a grab event indicative of the aerial system being grabbed; and

in response to detecting the grab event, controlling the set of propulsion mechanisms to cooperatively generate a second propulsive force less than the first propulsive force.

20. The method of claim 12, wherein:

the aerial system further comprises a rotor rotationally coupled to the housing about a rotor axis, wherein the rotor defines a swept volume while rotating about the rotor axis;

controlling the aerial system to operate in the flight mode comprises controlling the rotor to rotate about the rotor axis; and

the housing comprises;

an upper portion arranged above the swept volume;

a lower portion arranged below the swept volume; and

a sidewall connecting the upper portion to the lower portion, the sidewall arranged outward of the swept volume relative to the rotor axis.

21. A method of controlling an aerial system comprising a housing and a rotor rotationally coupled to the housing about a rotor axis, the method comprising, at a processor mounted to the housing:

operating the rotor in a standby mode, comprising controlling the rotor to rotate about the rotor axis at a first rotational speed greater than zero and less than a threshold rotational speed required for sustained aerial system flight;

while operating the rotor in the standby mode, detecting a throw event indicative of the aerial system being thrown; and

in response to detecting the throw event, operating the rotor in a flight mode, comprising controlling the rotor to rotate about the rotor axis at a second rotational speed greater than the threshold rotational speed.

22. The method of claim 21, further comprising, at the processor:

while operating the rotor in the flight mode, detecting a grab event indicative of the aerial system being grabbed; and

in response to detecting the grab event, automatically operating the rotor in a second standby mode, comprising controlling the rotor to rotate about the rotor axis at a third rotational speed less than the threshold rotational speed.