WO2016161426A1

WO2016161426A1 - Systems and methods for controlling pilotless aircraft

Info

Publication number: WO2016161426A1
Application number: PCT/US2016/025877
Authority: WO
Inventors: Jason Edward SHORT; David J. MERRILL; Eric W. LIAO; Jeevan James Kalanithi; Kellyn LOEHR; Colin A. GUINN
Original assignee: 3D Robotics, Inc.
Priority date: 2015-04-03
Filing date: 2016-04-04
Publication date: 2016-10-06

Abstract

A pilotless aircraft is provided which can include any number of features. In one embodiment, the aircraft includes a flight controller configured to establish first and second endpoints representing first and second absolute positions in space, constrain movement of the pilotless aircraft to a straight or curved path between the first and second endpoints, receive input from a user of the pilotless aircraft to move the pilotless aircraft forwards or backwards along the straight or curved path between the first and second endpoints, and receive input from the user to independently control an orientation of the camera.

Description

SYSTEMS AND METHODS FOR CONTROLLING PILOTLESS AIRCRAFT

CROSS-REFERENCE TO RELATED APPLICATIONS

[0001] This application claims the benefit of U.S. Provisional Patent Application No.

62/142,921 , filed on April 3, 2015, titled "Systems and Methods for Controlling Pilotless Aircraft", the contents of which are incorporated by reference herein.

INCORPORATION BY REFERENCE

[0002] All publications and patent applications mentioned in this specification are herein incorporated by reference to the same extent as if each individual publication or patent application was specifically and individually indicated to be incorporated by reference.

FIELD

[0003] This disclosure is generally related to systems and methods for controlling the flight of a pilotless aircraft or drone.

BACKGROUND

[0004] The amount of features and ease of piloting consumer pilotless aircraft, drones, or UAVs continue to improve as more technology is incorporated. Sophisticated flight controllers automatically handle many of the complicated control parameters that allow a user to pilot the aircraft to their specific needs, whether it be to capture video, fly autonomously, or participate in drone racing.

[0005] Conventional drones are typically manually controlled by an operator who may view aspects of the drone's flight using cameras installed on the drone with images provided through downlink telemetry. Many drones include waypoint navigation in which the drone can automatically fly between two waypoints set by the user. However, these drones typically disable any manual control as the drone navigates the waypoints, which limits the user's ability to capture video and manually control the drone between the waypoints. SUMMARY

[0006] A method of flying a pilotless aircraft is provided, comprising the steps of establishing first and second endpoints representing first and second absolute positions in space in a flight controller of the pilotless aircraft, constraining movement of the pilotless aircraft to a straight or curved path between the first and second endpoints with the flight controller, receiving input from a user of the pilotless aircraft to move the pilotless aircraft forwards or backwards along the straight or curved path between the first and second endpoints, and receiving input from the user to independently control an orientation of a camera of the pilotless aircraft.

[0007] In some embodiments, the establishing step further comprises receiving endpoint inputs from the user on a remote control controls the pilotless aircraft.

[0008] In one embodiment, the endpoint input comprises flying the pilotless aircraft to the first and second absolute positions in space and pressing a button on the remote control to establish the first and second endpoints.

[0009] In another embodiment, the endpoint input comprises pointing the camera at the first and second absolute positions in space and pressing a button on the remote control to establish the first and second endpoints.

[0010] In some embodiments, the receiving input step comprises receiving manual input from the user to move the pilotless aircraft.

[0011] In another embodiment, the manual input comprises pressing forwards or backwards on a joystick of the remote control.

[0012] In some embodiments, the manual input comprises inputting a direction and speed on the remote control.

[0013] A method of flying a pilotless aircraft is also provided, comprising the steps of establishing a point of interest representing a first absolute position in space in a flight controller of the pilotless aircraft, establishing a circular flight path in the flight controller, the circular flight path having a radius that extends from the point of interest, constraining movement of the pilotless aircraft to the circular flight path with the flight controller, and receiving input from a user of the pilotless aircraft to move the pilotless aircraft forwards or backwards along the circular flight path.

[0014] In some embodiments, the method further comprises receiving input from the user to independently control an orientation of a camera of the pilotless aircraft.

[0015] In another embodiment, the method further comprises automatically controlling an orientation of a camera of the pilotless aircraft to remain oriented at the point of interest.

[0016] In another embodiment, the method further comprises receiving an input from the user to adjust the radius of the circular flight path.

[0017] In yet another embodiment, the method further comprises receiving an input from the user to adjust an altitude of the circular flight path.

[0018] A pilotless aircraft is provided, comprising a frame, at least four motors coupled the frame, each motor being connected to a rotor and being configured to control movement of its respective rotor, a plurality of sensors disposed on or in the frame and configured to sense parameters of the pilotless aircraft and its environment, a flight controller disposed on or in the frame and being electrically coupled to the motors, the flight controller being configured to control flight of the pilotless aircraft based at least in part on the parameters sensed by the sensors, a camera disposed on the frame, the flight controller being further configured to establish first and second endpoints representing first and second absolute positions in space, constrain movement of the pilotless aircraft to a straight or curved path between the first and second endpoints, receive input from a user of the pilotless aircraft to move the pilotless aircraft forwards or backwards along the straight or curved path between the first and second endpoints, and receive input from the user to independently control an orientation of the camera.

[0019] A pilotless aircraft is provided is also provided, comprising a frame, at least four motors coupled the frame, each motor being connected to a rotor and being configured to control movement of its respective rotor, a plurality of sensors disposed on or in the frame and configured to sense parameters of the pilotless aircraft and its environment, a flight controller disposed on or in the frame and being electrically coupled to the motors, the flight controller being configured to control flight of the pilotless aircraft based at least in part on the parameters sensed by the sensors, a camera disposed on the frame, the flight controller being further configured to establish a point of interest representing a first absolute position in space, establish a circular flight path having a radius that extends from the point of interest, constrain movement of the pilotless aircraft to the circular flight path, and receive input from a user of the pilotless aircraft to move the pilotless aircraft forwards or backwards along the circular flight path.

BRIEF DESCRIPTION OF THE DRAWINGS

[0020] The novel features of the invention are set forth with particularity in the claims that follow. A better understanding of the features and advantages of the present invention will be obtained by reference to the following detailed description that sets forth illustrative

embodiments, in which the principles of the invention are utilized, and the accompanying drawings of which:

[0021] FIG. 1 shows one embodiment of a pilotless aircraft.

[0022] FIGS. 2A-2D show embodiments of a remote control and/or mobile device configured to control the pilotless aircraft.

[0023] FIG. 3 is a schematic diagram representing the hardware and software systems of the aircraft, remote control, and mobile device. [0024] FIGS. 4A-4M illustrate various flight protocols referred to herein as "cables" which constrain flight of the aircraft to the cable.

DETAILED DESCRIPTION

[0025] FIG. 1 illustrates one embodiment of a pilotless aircraft 100. The pilotless aircraft can also be referred to as a drone, a drone aircraft, a quadcopter, a quadrotor, or a quadrotor helicopter. The illustrative embodiment comprises four rotors 102a, 102b, 102c, and 102d coupled to motors 104a, 104b, 104c, and 104d, respectively, the motors of which are positioned on or within a frame 106 of the pilotless aircraft. The rotors can comprise two pairs of fixed- pitch propellers, the first pair (e.g., 102a and 102b) comprising counter-clockwise (CCW) rotors, and the second pair (e.g., 102c and 102d) comprising clockwise (CW) rotors. As shown, the pilotless aircraft can include a power source 108, such as a battery, and a camera 1 10 configured to take still or video images during operation of the aircraft. The camera can be fixedly mounted to the frame, or the camera can be mounted to an electronically controlled 3-axis gimbal system to enable independent movement and control of the camera. The camera can include a wireless or wired connection to the pilotless aircraft for the transmission of imaging data.

[0026] The pilotless aircraft 100 can further comprise electronics 1 12 disposed within the frame and electronically coupled to the motors and power source. The electronics can include a flight controller configured to control all aspects of the flight and control of the aircraft. The electronics 1 12 can further include one or more sensors to sense parameters of the aircraft, movement of the aircraft, and of the environment, including but not limited to GPS sensors, accelerometers, gyroscopes, barometers, temperature sensors, pressure sensors, airspeed sensors, etc. The sensors can be used by the flight controller to continuously track and store the absolute position of the aircraft in space as well as any data relating to the flight of the aircraft, including continuous position tracking, speed tracking, and elevation tracking. The sensors can be used in combination to increase the accuracy of this data. For example, GPS data can be combined with barometer and/or pressure data to determine the absolute position of the aircraft with a high degree of accuracy.

[0027] Data collected with the one or more sensors can be stored in a non-transitory computer-readable storage medium. The electronics can also include wireless communications features, such as radio, WiFi, Bluetooth, and/or nearfield communication processors and antennas. The communication features can be configured to receive control inputs from a user (via a dedicated remote control or computing device such as a mobile phone, tablet, or personal computer) and can also be configured to transmit data relating to the aircraft and/or flight parameters back to the remote control or computing device including, but not limited to absolute position, orientation, airspeed, elevation, battery level, etc.

[0028] The rotation rate of the rotors can be changed via the motors and electronics to control flight of the pilotless aircraft. For example, applying equal thrust to all four rotors with the electronics and motors can cause the aircraft to adjust its altitude or hover in place. Applying increased thrust to a pair of rotors (e.g., either the pair of CW rotors or the pair of CCW rotors) with the electronics and motors can cause the aircraft to adjust its yaw. Finally, applying increased thrust to a single rotor, and applying decreased thrust to the diametrically opposite rotor, with the electronics and motors, can cause the aircraft to adjust its pitch or roll.

[0029] FIGS. 2A-2B illustrate front and perspective views of a remote control 1 14 configured to control flight of the pilotless aircraft. The remote control 1 14 can include electronics 1 16 disposed on or in the remote control including wireless communication features such as communication processor(s) and antenna(s) configured to transmit control instructions to the pilotless aircraft, and also configured to receive information from the pilotless aircraft relating to the aircraft and/or flight parameters. The electronics 1 16 can further include computer memory adapted to store data relating to the pilotless aircraft, such as data collected with the sensors of the aircraft or any mobile devices connected to the remote control.

[0030] The remote control 1 14 can include a pair of joysticks or levers 1 18a and 1 18b, and a plurality of buttons, levers, or control wheels 120 disposed on the front, sides, or rear of the remote control. The remote control can further include a display 122 adapted to visualize information relating to the pilotless aircraft itself, or relating to flight parameters of the pilotless aircraft. The display 122 can be a touchscreen display, for example. In some embodiments, the buttons can be virtual buttons mapped out onto the touch screen display, allowing the display to take up more space on the remote control. The joysticks, levers, buttons, and/or control wheels of the remote control can be pre-configured to control specific aspects of the pilotless aircraft, can be customized by the user, or can be dynamically changed during flight of the aircraft depending on the flight mode of the aircraft.

[0031] Referring to FIGS. 2A-2B, the left joystick 1 18a can be used to change the elevation of the pilotless aircraft (e.g., up/down) and to rotate the copter left or right. The right joystick 1 18b can be used to control the aircraft to move forward or backwards, or to turn left or right. The control wheel 120 on the top left "shoulder" of the controller can be used to control the camera gimbal, and the control wheel 120 on the top right "shoulder" can be used to toggle between gimbal position presets and also to control an automatic tilt speed of the gimbal. The buttons below the joysticks can be fully customized to perform a specified function, but in one embodiment can control power on/off, automatic takeoff and landing, turning on/off the props or rotors, instructing the aircraft to automatically return "home" and land (e.g., return to the location of the remote control), and toggle through additional options displayed on the display of the remote control.

[0032] As described above, the electronics 1 16 of the remote control can include wireless communication features configured to control the aircraft and receive communications from the aircraft. The wireless communication feature of the remote control can be configured to communicate wirelessly with additional electronic devices 124, such as mobile phones, tablets, or personal computers. The communication between the remote control and the mobile device can be any wireless communications protocol, such as WiFi, Bluetooth, near field

communications, infrared, radio, etc. In the embodiment show, the wireless protocol 126 comprises a WiFi connection between the remote control and the mobile device. In this specific embodiment, the remote control can operate as a WiFi hotspot, and the mobile device can communicate wirelessly with the remote control via the WiFi hotspot. In FIG. 2D, the mobile device is shown mounted onto an optional mobile device mount on the remote control.

[0033] The coupling of a mobile device to the remote control, particularly a smartphone, allows the remote control to integrate information from the mobile device that requires a cellular or internet data connection. For example, the remote control can tap into GPS and map features of the mobile device, and can also access data pulled from the web by the mobile device.

Furthermore, the mobile device can execute software specifically designed for the control and use of the pilotless aircraft (i.e., an "app") to make use of the display of the mobile device during control and flight of the aircraft. For example, the display of the mobile device can be used to play back the real-time video feed from the camera on the pilotless aircraft. In one specific embodiment, the display of the mobile device is used solely for the video feed from the camera, so that the display on the remote control can be used solely for flight control information. The mobile device can also be used to control the aircraft in a manner similar to how the remote control is used to control the aircraft. Furthermore, the computer memory on the mobile device(s) can be used for storage of data relating to the pilotless aircraft or flight of the aircraft. Additional features enabled by the addition of the mobile device will be described below.

[0034] FIG. 3 is a schematic diagram illustrating the various software and hardware architectures implemented in the electronics 1 12 of the pilotless aircraft, the electronics 1 16 of the remote control, and in the one or more mobile device(s) 124 in communication with the electronics of the remote control. The electronics 1 12, electronics 1 16, and mobile device(s) can be in wireless (or wired) communication via streamer software and hardware on the electronics and mobile devices (e.g., WiFi communications hardware and software). [0035] The electronics 1 12 of the pilotless aircraft can execute flight code which is software programed to control the aircraft hardware (e.g., rotors, motors, etc.) to control flight of the pilotless aircraft. The electronics 1 12 can also execute encoding software configured to encode hdmi or raw video from the camera into a video format suitable for wireless transfer and display by the remote control and/or mobile device(s). The encoded video can be communicated to the remote control and ultimately the mobile devices via the streamer software and hardware for real-time display of the video on the mobile device. The electronics 1 12 can also include sensor drivers configured to control the operation of accessories plugged into an accessory bus of the aircraft. For example, the aircraft can include one or more accessory ports (USB, firewire, thunderbolt, hdmi, etc.) and additional sensors or accessories can be plugged into the accessory port and controlled and driven with the sensor driver. Finally, the electronics 1 12 can execute bits of code or software directed to specific flight or camera control features of the aircraft and camera, such as shot manage software that controls the operation of the camera, "orbit" and "cable" flight protocols (to be described in more detail below), and 3^rd party and open source locations in memory of the electronics where 3^rd party or user customized software can be stored and executed.

[0036] The electronics 1 16 of the remote control can execute ground control station (GCS) and flight code software to control flight of the pilotless aircraft, and to track the position and orientation of the pilotless aircraft and the camera. The GCS and/or flight code software can also be used to control the orientation or direction of the camera, as well as the operation of the camera.

[0037] The mobile device(s) (e.g., iOS or Android mobile phones or tablets, or the like) can also include electronics configured to execute App software for each specific operating system, and can also execute flight code to control flight of the pilotless aircraft. The App software can integrate other software and hardware features of the device into the control and tracking of the pilotless aircraft, such as the use of a cellular or internet connection for data upload and download, GPS information, maps, and any other software running on the device.

[0038] Any of the pilotless aircraft, remote control, and mobile device(s) can include computer memory configured to store continuous data relating to the flight of the pilotless aircraft. This can include storing continuous data relating to the absolute position of the aircraft during flight, and information gathered by any of the sensors or hard ware/soft ware on the aircraft, remote control, and/or mobile devices. Furthermore, the video and or still images captured by the camera can be stored. By storing continuous data relating to the absolute position of the aircraft, the electronics of the aircraft, remote control, and mobile device(s) can be configured to "return" or "rewind" specific flight paths with the touch of a button. For example, if a user manually flies the aircraft to a point in space where the user can no longer see the aircraft (e.g., behind a building), then the user can initiate a "rewind" feature by pressing a button or virtual button on the remote control or mobile device. The aircraft can then automatically return towards the user along the same flight path it took to get there (i.e., not in a straight line back to the user) so as to avoid any obstacles on the return flight.

[0039] FIG. 3 also illustrates a simple schematic diagram of the cloud architecture 1 17. All data gathered during flight of the pilotless aircraft can either be stored locally on the aircraft, remote control, or mobile device, or can be uploaded to the cloud or web for remote data storage.

This data can also be shared with other users according to privacy settings determined by the individual user. For example, in one embodiment, data relating to the flight of the aircraft can be wirelessly transmitted from the aircraft to one or more mobile devices via the WiFi hotspot of the remote control. The mobile device(s) can then upload that data to the web via cellular data or an internet connection. The data can be stored on the web for later access by the user, or can be shared publicly or individually by the user.

[0040] Some unique flight control systems and methods will now be described. It should be understood that the systems and devices described herein, including the pilotless aircraft 100, remote control 1 14, and mobile device(s) 124 can be used in implementing these flight protocols. In one embodiment, a flight protocol referred herein as "rails" can be implemented in software executed by the electronics and flight controller of the pilotless aircraft, remote control, and/or mobile device. The "rails" flight protocol allows a user to specify one or more points that represent an absolute position in space, and then the user can control the aircraft manually or automatically to fly along preset or customized flight paths between the one or more points. The pilotless aircraft is constrained to flying along the rail between the one or more points.

[0041] One specific type of "rail" can be referred to herein as a "Cable Cam" and can be a flight protocol that constrains the flight of the aircraft to a straight or curved line stretching between first and second endpoints with optional intermediary points, and is illustrated in FIGS. 4A-4D. Referring to FIG. 4A, a user can start with the pilotless aircraft 100 positioned at a starting point SP, which can be on the ground, or can be located somewhere in space if the aircraft is already in flight. In FIG. 4B, the user can control the pilotless aircraft to fly to a first endpoint, point A, and the user can press a button, icon, or lever on the remote control or mobile device to store the absolute location, orientation and camera position of the first endpoint into memory. For example, the user can press a button 120 on the remote (from FIG. 2A) or alternatively, can press a virtual button on a touchscreen display of the remote control or the mobile device to store the location of the first endpoint. [0042] Next, referring to FIG. 4C, the user can control the aircraft to fly to a second endpoint, point B, and the user can press a button, icon, or lever on the remote control or mobile device to store the absolute location, orientation and camera position of the second endpoint into memory. For example, the user can again press a button on the remote or alternatively, can press a virtual button on a touchscreen display of the remote control or the mobile device to store the location of the second endpoint. For curved paths, additional points in space can be recorded with the button or buy touching a virtual button on screen.

[0043] Once the two endpoints are set and stored in memory, the user has enabled the "Cable Cam" flight protocol. This action causes the flight of the pilotless aircraft to be constrained to the path or "rail" 126 in space between the first and second endpoints, A and B, as shown in FIG. 4D. It should be noted that in this embodiment, there is no requirement that the aircraft be flown in a straight line between points A and B when initially setting up the endpoints. Once the "rail" flight protocol has been activated, the user can control the pilotless aircraft to fly along the rail 126 without the possibility of the aircraft flying in any point in space not represented by the rail. The user can control the flight of the pilotless aircraft along the rail manually, or alternatively, the aircraft can automatically fly along the rail. When the aircraft is manually controlled, the user can control the aircraft to move forward or backwards along the rail by interacting with the remote control or the mobile device.

[0044] In some embodiments, the user can control the aircraft to fly along the cable simply by pressing forward/back or left/right on one of the joysticks of the remote control. In another embodiment, one joystick can control flight along the cable, and the other joystick can independently control the orientation of the gimbal and camera. In one embodiment, the user can press a button, virtual button, or lever and the aircraft can automatically fly back and forth between Point A and B without any interaction or control by the user. The user can optionally determine the flight speed of the aircraft as it automatically flies between the two endpoints. In one specific embodiment, an icon on the display of the remote control or the mobile device can visualize where the aircraft is in space between the two endpoints, or can overlay the position of the aircraft and the endpoints into a topographic map.

[0045] As described above, the user can manually control the orientation of the camera and gimbal while flying the aircraft along the cable. In yet another embodiment, the camera can be automatically controlled by the pilotless aircraft, remote control, and/or mobile device to either maintain the same orientation of the camera on the gimbal during the initial endpoint setup, or to keep the camera always pointed at a specific point of interest (more on this below). If the orientation of the camera was moved during the setup of endpoints A and B, that changing orientation can be continuously tracked and recreated during flight of the aircraft along the cable. [0046] FIG. 4E illustrates the pilotless aircraft after setting the first endpoint, Point A (as described above in FIG. 4B) and shows the field of view of the camera determined by the orientation of the camera on the gimbal. If, for example, the user flies the aircraft from Point A to Point B with the camera in a fixed position, as shown in FIG. 4F, then the orientation of the camera can also be stored into the "Cable Cam" flight protocol. The user can choose to lock the orientation of the camera into this fixed position, and simply control the flight of the aircraft back and forth along the rail while the camera maintains the same orientation. This feature can be useful for tracking the action of a sporting event, such as a basketball, football, soccer, or baseball game, or even for keeping the camera pointed along a surf break to film surfers.

[0047] In another embodiment, shown in FIGS. 4G-4H, the user can control the camera to lock onto a specific target and keep the camera automatically pointed at that target no matter where the pilotless aircraft is positioned on the cable. The camera can be locked onto a location in space (such as a specific location on a basketball court or football field), or alternatively, can be configured to follow a moving target, such as a person. When the location of the camera is locked onto a location, the electronics of the system can determine the absolute location of that point using the absolute position of the aircraft combined with the orientation of the camera and gimbal. In one specific embodiment, the person to be followed can carry a mobile device wirelessly linked to the remote control and/or pilotless aircraft, and the remote control and/or aircraft can use position or GPS information from the mobile device to follow that device (and thus the person) in real time as the person moves.

[0048] In another embodiment, the pilotless aircraft can be configured to automatically point at the specific target without restraining the flight of the aircraft to a predefined cable. For example, the aircraft can be instructed to "follow" a specific target, such as a person, at a specified distance and/or elevation, akin to the aircraft being separated from the specific target with an invisible "leash".

[0049] The cable flight protocol is not limited to flight along a straight line between the endpoints, as in the "rail" example above. For example, the user can create a uniquely shaped cable by setting the first endpoint, Point A, as described above, and then flying a customized flight path to the second endpoint, Point B, as shown in FIG. 41. Since the absolute position of the aircraft is continuously monitored and stored by the electronics of the system, the aircraft can be instructed to be confined to a cable represented by the flight path undertaken during the programming and storage of endpoints, Point A and Point B. As described above, the camera can be fixed into a set orientation during the setup of the cable, or can be configured to automatically point at a single target or position at all times. Once the endpoints are programmed, the user can control the aircraft to fly back and forth along only the previously flown flightpath from Point A to Point B. This can be done automatically by the system (e.g., by pushing the "Play" button), or alternatively, the user can move the aircraft along the cable by pushing the forward/back or left/right controls of the remote control or mobile device. It should also be understood that more than 2 endpoints can be programmed and stored, where each of the endpoints can represent a "safe" position in space for the aircraft to occupy.

[0050] In the embodiment of FIG. 4J, the first endpoint, Point A, can be programmed manually by the user, as described above. However in this embodiment, instead of requiring the user to fly the aircraft to the second endpoint, Point B, to set the second endpoint, the user can instead point the camera at Point B and press a button or virtual button on the remote control or mobile device to set the second endpoint. The electronics can then configure a cable flight path between point A set by the user and Point B determined by the orientation of the camera with respect to the position of the aircraft. This feature, referred to herein as a "dolly" flight protocol, allows a user to quickly setup a cable.

[0051] Another type of cable flight protocol can be referred to herein as an "orbit" flight protocol. In this embodiment, the pilotless aircraft can be configured to fly or orbit around a point of interest or specific target in a circular flight path. The specific target can be

programmed by pointing the camera at the point of interest, or by instructing the pilotless aircraft to follow a specific target or person carrying a mobile device in communication with the aircraft and/or remote control (as described above in FIGS. 4G-4H). Referring to FIG. 4K, the camera of the pilotless aircraft can be oriented to point at the specific target, such as a person on the ground or the base of a statue. Next, the user can instruct the aircraft to enter an "orbit" flight protocol, such as by pushing a button on the remote control or mobile device. And the electronics can create a circular "rail" or "orbit" at the elevation of the aircraft having a radius determined by the location of the target relative to the aircraft. FIG. 4L shows the "orbit" flight path 128 upon which the flight of the aircraft is constrained.

[0052] Once the orbit flight path is programmed, the user can control flight of the aircraft along the orbit flight path by pressing left/right on the remote control or mobile device, or can instruct the aircraft to automatically fly around the orbit path by pressing the "Play" button on the remote control. In some embodiments, the aircraft or camera and gimbal can be controlled automatically to always maintain the camera on the specific target. In other embodiments, the user can maintain full control of the orientation of the camera.

[0053] The user can also adjust the radius pressing forward or back on the remote control or mobile device and elevation of the orbit flight path using throttle on the remote control or mobile device. This can result in causing the aircraft to fly in larger or smaller circles around the specific target, or to cause the aircraft to fly along a helix path 130 around the specific target, as shown in FIG. 4M. As above, the camera can be automatically maintained in the original orientation, or can be configured to automatically track the specific object.

[0054] The orbit flight protocol can be combined with the embodiments above where the aircraft is programmed to automatically follow a specific target or person. For example, a person carrying a mobile device that transmits position information can be the center of a continuously moving orbit as the person moves around in space.

[0055] In some embodiments, the positions of rails can be displayed and overlaid onto a map or represented in a three-dimensional virtual/augmented reality simulation on a mobile device or headset connected to the aircraft and/or remote control. The user can visualize the rails in space with relation to the map, or in 3-dimensional visualization technology such as Google Earth. If the user wishes to change one or more parameters of the cable, the user can drag and drop the endpoints of the cable on the map, or reposition the entire cable by interacting with the visual representation of the cable on the map or by direct manipulation of the rail in a simulated 3D environment.

[0056] Any and all flight information and rail information can be stored and uploaded to the web to be reviewed at a later time or shared with other users. In some embodiments, a social network of shared rails can be implemented fully with user generated and shared rail data. The data can be accessed and downloaded by anyone who desires to use that rail and flight data for their own flights. A person wanting to explore previously flown and generated rails can access those rails on the web, or alternatively, can access those rails on a mobile device using position information to identify nearby rails. This can be particularly advantageous in situations where there are many potential obstacles in a flight path and the user wishes to fly a rail that has been tested and flown before without colliding with any obstacles. For example, a user visiting a landmark such as a bridge can view and explore all previously shared rails in the vicinity of the bridge, and can select any of these shared rails and instruct the aircraft to fly along that shared rail. This feature allows a user to focus on camera composition without having to worry about the flight of the aircraft or crashing the aircraft into the bridge.

[0057] The network of shared rails can include a rating system to ensure that only high quality and safe rails are shared, and can include features to remove rails that would otherwise result in striking an object or obstacle with the aircraft. The network of shared rails can also capture metrics for how many people have flown a particular rail, or if a rail has potentially resulted in the crash of an aircraft.

[0058] Although this invention has been disclosed in the context of certain preferred embodiments and examples, it will be understood by those skilled in the art that the present invention extends beyond the specifically disclosed embodiments to other alternative embodiments and/or uses of the invention and obvious modifications and equivalents thereof.

Various modifications to the above embodiments will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to other embodiments without departing from the spirit or scope of the invention. Thus, it is intended that the scope of the present invention herein disclosed should not be limited by the particular disclosed embodiments described above, but should be determined only by a fair reading of the claims that follow.

[0059] In particular, materials and manufacturing techniques may be employed as within the level of those with skill in the relevant art. Furthermore, reference to a singular item, includes the possibility that there are plural of the same items present. More specifically, as used herein and in the appended claims, the singular forms "a," "and," "said," and "the" include plural referents unless the context clearly dictates otherwise. As used herein, unless explicitly stated otherwise, the term "or" is inclusive of all presented alternatives, and means essentially the same as the commonly used phrase "and/or." Thus, for example the phrase "A or B may be blue" may mean any of the following: A alone is blue, B alone is blue, both A and B are blue, and A, B and C are blue. It is further noted that the claims may be drafted to exclude any optional element. As such, this statement is intended to serve as antecedent basis for use of such exclusive terminology as "solely," "only" and the like in connection with the recitation of claim elements, or use of a "negative" limitation. Unless defined otherwise herein, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs.

Claims

CLAIMS WHAT IS CLAIMED IS:

1. A method of flying a pilotless aircraft, comprising the steps of:

establishing first and second endpoints representing first and second absolute positions in space in a flight controller of the pilotless aircraft;

constraining movement of the pilotless aircraft to a straight or curved path between the first and second endpoints with the flight controller;

receiving input from a user of the pilotless aircraft to move the pilotless aircraft forwards or backwards along the straight or curved path between the first and second endpoints; and

receiving input from the user to independently control an orientation of a camera of the pilotless aircraft.

2. The method of claim 1 , wherein the establishing step further comprises receiving endpoint inputs from the user on a remote control controls the pilotless aircraft.

3. The method of claim 2, wherein the endpoint input comprises flying the pilotless aircraft to the first and second absolute positions in space and pressing a button on the remote control to establish the first and second endpoints.

4. The method of claim 2, wherein the endpoint input comprises pointing the camera at the first and second absolute positions in space and pressing a button on the remote control to establish the first and second endpoints.

5. The method of claim 1 wherein the receiving input step comprises receiving manual input from the user to move the pilotless aircraft.

6. The method of claim 5 wherein the manual input comprises pressing forwards or backwards on a joystick of the remote control.

7. The method of claim 5, wherein the manual input comprises inputting a direction and speed on the remote control.

8. A method of flying a pilotless aircraft, comprising the steps of:

establishing a point of interest representing a first absolute position in space in a flight controller of the pilotless aircraft; establishing a circular flight path in the flight controller, the circular flight path having a radius that extends from the point of interest;

constraining movement of the pilotless aircraft to the circular flight path with the flight controller; and

receiving input from a user of the pilotless aircraft to move the pilotless aircraft forwards or backwards along the circular flight path.

9. The method of claim 8, further comprising receiving input from the user to independently control an orientation of a camera of the pilotless aircraft.

10. The method of claim 8, further comprising automatically controlling an orientation of a camera of the pilotless aircraft to remain oriented at the point of interest.

1 1 . The method of claim 8, further comprising receiving an input from the user to adjust the radius of the circular flight path.

12. The method of claim 8, further comprising receiving an input from the user to adjust an altitude of the circular flight path.

13. A pilotless aircraft, comprising:

a frame;

at least four motors coupled the frame, each motor being connected to a rotor and being configured to control movement of its respective rotor;

a plurality of sensors disposed on or in the frame and configured to sense parameters of the pilotless aircraft and its environment;

a flight controller disposed on or in the frame and being electrically coupled to the motors, the flight controller being configured to control flight of the pilotless aircraft based at least in part on the parameters sensed by the sensors;

a camera disposed on the frame;

the flight controller being further configured to:

establish first and second endpoints representing first and second absolute positions in space, constrain movement of the pilotless aircraft to a straight or curved path between the first and second endpoints, receive input from a user of the pilotless aircraft to move the pilotless aircraft forwards or backwards along the straight or curved path between the first and second endpoints, and receive input from the user to independently control an orientation of the camera.

14. A pilotless aircraft, comprising:

a frame;

a camera disposed on the frame;

the flight controller being further configured to:

establish a point of interest representing a first absolute position in space, establish a circular flight path having a radius that extends from the point of interest, constrain movement of the pilotless aircraft to the circular flight path, and receive input from a user of the pilotless aircraft to move the pilotless aircraft forwards or backwards along the circular flight path.