JP2021036452A - System and method for adjusting uav locus - Google Patents

Abstract

To provide a system, a method, and a device for performing autonomous flight of one or a plurality of unmanned aircrafts and changing the autonomous flight.SOLUTION: In several cases, autonomous flight can be performed through first user input. The autonomous flight can be changed by second user input while maintaining the autonomous flight. First and second input can be inputted in different user interfaces. Various parameters of a UAV including a flight route can be changed while maintaining the autonomous flight so that a certain degree of control of the UAV is maintained during the autonomous flight.SELECTED DRAWING: Figure 3

Description

Aircraft have a wide range of real-world applications, including surveillance, reconnaissance, exploration, logistics, disaster relief, aerial photography, large-scale agricultural automation, live video broadcasting, and more. In some applications, an aircraft carrying an on-board vehicle (eg, a camera) may fly around a target to acquire data or control it to perform a particular task. Advances in sensor and navigation technology have enabled autonomous flight or control of aircraft. The usefulness of aircraft using autonomous flight can be improved.

Currently, aircraft may fly along a preset or autonomously planned orbit during autonomous flight. Examples of autonomous flight may include autonomous return of the aircraft, autonomous navigation of the aircraft along one or more waypoints, and / or autonomous flight to a target point. User intervention during autonomous flight can be restricted or interrupt the autonomous flight of the aircraft. However, in some cases, the ability of the user to quickly intervene or supplement the autonomous flight of the aircraft may be desirable. For example, during an autonomous return flight of an aircraft, user input may be useful in avoiding obstacles such as buildings (eg, if the aircraft does not have an obstacle avoidance sensor). In addition, in some situations, the user may desire the ability to slightly alter the flight of an aircraft while still relying on the autonomous movement of the aircraft to accomplish a given task. For example, the user may want to deviate from the selected target or destination.

Therefore, the ability to change the autonomous flight of an aircraft is needed. Such capabilities may be provided through a flight control system that is intuitive and easy to use and allows humans to modify and / or act on the autonomous flight of an aircraft through interaction with a human-system interface. If desired or advantageous, the burden on the user of manually maneuvering the aircraft can be significantly reduced while still allowing some control or modification by the user.

Therefore, in one aspect, a system is provided that modifies the autonomous flight of an unmanned aerial vehicle (UAV). The system is a first user interface configured to receive a first user input, the first user input providing one or more instructions for autonomous flight of the UAV. One user interface and a second user interface configured to receive a second user input, the second user input providing one or more instructions to alter the autonomous flight of the UAV. A second user interface is provided.

In another aspect, a method of modifying the autonomous flight of an unmanned aerial vehicle (UAV) is provided. The method is to receive a first user input at the first user interface, the first user input providing one or more instructions for autonomous flight of the UAV. Receiving the input and receiving the second user input in the second user interface, the second user input provides one or more instructions to change the autonomous flight of the UAV. Includes receiving a second user input.

In another aspect, a non-transitory computer-readable medium that modifies the flight of an unmanned aerial vehicle (UAV) is provided. The non-temporary computer-readable medium is to receive a first user input in a first user interface, the first user input providing one or more instructions for autonomous flight of the UAV. , Receiving the first user input and receiving the second user input in the second user interface, the second user input being one or more altering the autonomous flight of the UAV. Includes code, logic, or instructions that provide instructions and that receive a second user input.

In another aspect, a system is provided that modifies the autonomous flight of an unmanned aerial vehicle (UAV). The system comprises a flight controller, which (1) generates a first set of signals for autonomous flight of the UAV in response to a first user input received in the first user interface. (2) It is configured to generate a second set of signals that alter the autonomous flight of the UAV in response to a second user input received in the second user interface.

In another aspect, a method of modifying the autonomous flight of an unmanned aerial vehicle (UAV) is provided. The method uses a flight controller to generate a first set of signals for autonomous flight of the UAV in response to a first user input received in the first user interface, and the flight controller. It involves generating a second set of signals that alter the autonomous flight of the UAV in response to a second user input received at the second user interface.

In another aspect, a non-transitory computer-readable medium that modifies the flight of an unmanned aerial vehicle (UAV) is provided. The non-temporary computer-readable medium uses a flight controller to generate a first set of signals for autonomous flight of the UAV in response to a first user input received at the first user interface. And the code, logic that uses the flight controller to generate a second set of signals that alter the autonomous flight of the UAV in response to a second user input received in the second user interface. , Or with instructions.

In another aspect, an unmanned aerial vehicle (UAV) is provided. The UAV is (1) a first set of signals that command the autonomous flight of the UAV, and the first set of signals is based on a first user input received in a first user interface. The generated first set of signals and (2) the second set of signals instructing the change of autonomous flight of the UAV, the second set of signals being received in the second user interface. A flight controller configured to generate a second set of signals generated based on a second set of signals and one or more propulsion units (a) of the first set. It comprises one or more propulsion units configured to perform autonomous flight of the UAV in response to a signal and (b) alter autonomous flight of the UAV in response to a second set of signals.

In another aspect, a system is provided that modifies the flight of an unmanned aerial vehicle (UAV). The system comprises one or more processors, one or more processors individually or collectively performing autonomous flight of the UAV, where autonomous flight includes autonomous flight paths. That is, the autonomous flight path is changed in response to the user input, and the autonomous flight path is configured to change the autonomous flight path while maintaining the autonomous flight. ..

In another aspect, a method of modifying the flight of an unmanned aerial vehicle (UAV) is provided. This method is to perform autonomous flight of UAV, and autonomous flight is to perform autonomous flight including autonomous flight path and to change the autonomous flight path in response to user input. The route includes changing the autonomous flight route, which is changed while maintaining the autonomous flight.

In another aspect, a non-transitory computer-readable medium that modifies the flight of an unmanned aerial vehicle (UAV) is provided. This non-temporary computer-readable medium is to perform autonomous flight of UAV, and autonomous flight includes autonomous flight path, and by performing autonomous flight and changing the autonomous flight path in response to user input. Therefore, the autonomous flight path includes a code, logic, or instruction for changing the autonomous flight path, which is changed while maintaining the autonomous flight.

In another aspect, an unmanned aerial vehicle (UAV) is provided. This UAV is (1) a first set of signals for autonomous flight of the UAV, the autonomous flight includes a first set of signals including an autonomous flight path, and (2) a second set of signals for changing the autonomous flight path. A set of signals, the autonomous flight path is a flight controller configured to generate a second set of signals that is modified while maintaining autonomous flight, and one or more propulsion units. , (A) autonomous flight of the UAV in response to the first set of signals, and (b) one or configured to change the autonomous flight path of the UAV in response to the second set of signals. It is equipped with multiple propulsion units.

It is to be understood that different aspects of the invention can be understood individually, collectively or in combination with each other. Various aspects of the invention described herein may be applicable to any of the specific applications described below or any other type of movable object. Any description of an aircraft herein may apply to and use any moving object, such as any vehicle. In addition, the systems, devices, and methods disclosed herein in the context of air travel (eg, flight) are those of other types of travel, such as ground travel, water travel, underwater travel, or travel in outer space. It can also be applied in situations.

Other objects and features of the present invention will become apparent by examining the specification, claims, and accompanying drawings.

All publications, patents, and patent applications referred to herein are hereby by reference as indicating that each individual publication, patent, or patent application is specifically and individually incorporated by reference. Incorporated in the specification.

The novel features of the present invention are specifically described in the appended claims. A better understanding of the features and advantages of the invention can be obtained by reference to the following detailed description and accompanying drawings that describe exemplary embodiments in which the principles of the invention are utilized.

An example of a system used for navigation according to an embodiment is shown. The user terminal according to the embodiment is shown. A first user interface and a second user interface that cooperate with each other according to the embodiment are shown. A method of modifying the autonomous flight of a UAV according to an embodiment is shown. The autonomous flight path of the UAV changed by the user input according to the embodiment is shown. A side view of an autonomous flight path of a movable object changed by user input according to the embodiment is shown. The user input force that proportionally changes the autonomous flight of a moving object according to the embodiment is shown. The behavior of the UAV when the threshold value according to the embodiment is reached is shown. The behavior of the UAV according to the embodiment after the user input for changing the autonomous flight of a movable object is released is shown. The new autonomous flight path of the UAV modified by the user input according to the embodiment is shown. An unmanned aerial vehicle (UAV) according to an embodiment is shown. FIG. 5 is a schematic block diagram of a system for controlling a movable object according to an embodiment. A UAV flying in a curved orbit in response to the activation of one or more control sticks according to an embodiment is shown. The figure which saw from the top to the bottom of the unmanned aerial vehicle moving by increasing or decreasing the speed along the autonomous flight path according to the embodiment is shown.

The systems, methods, and devices provided herein can be used to give the operator the ability to act on and / or modify the flight of autonomous aircraft. For example, it may provide an intuitive and easy-to-use user input device. User input devices can be used to change the flight of an aircraft during autonomous operation of the aircraft. In some cases, an autonomously operating aircraft may have a given goal. For example, an autonomously operating aircraft may have a predetermined task or destination target for which achievement is designed. Thus, an autonomously operating aircraft may continue to accomplish a given task or continue to advance towards a target while parameters such as flight path and / or flight direction are changed according to user input. In some cases, it may provide a threshold of change allowed by the user to ensure that the aircraft is able to accomplish the task under autonomous control or reach its destination despite user input.

In some cases, different user interfaces may be provided to accept different types of user input. Different user interfaces may include hardware and / or software interfaces. For example, different user interfaces may include physical buttons on the device or interactive buttons displayed on the screen. In some cases, different user interfaces may include two different user interfaces. For example, it may provide a first user interface that can be used to improve the ease of autonomous operation of an aircraft. The first user interface can allow control of the aircraft through interaction with the graphical human system interface and can significantly reduce the burden of manually maneuvering the aircraft. The first user interface can be used in providing the aircraft with autonomous tasks to be accomplished. In some cases, the autonomous task to be accomplished can be specified by a simple command (eg, touching the target on the map). It may provide a second user interface that allows simple and intuitive changes to the autonomous operation of the aircraft (eg, autonomous flight). For example, user input to the second user interface may slightly change the trajectory of the aircraft while the aircraft is autonomously navigating towards the target. In some cases, the user input provided to the second user interface may change the parameters of autonomous flight while the autonomous flight of the aircraft is maintained.

The ability to act on and / or alter the flight of an aircraft during autonomous operation can improve the maneuverability of the aircraft under autonomous control. Adjustments to autonomous flight (eg, for example, that allow the user to act on or modify autonomous flight if desired or advantageous, while significantly reducing the burden on the user of manually maneuvering the aircraft. Change) may be possible. Separate features provided for different user interfaces can simplify control so that both experienced and inexperienced users can take advantage of the benefits provided by the inventions provided herein. In addition, the separate features provided to different user interfaces change the autonomous flight of the aircraft in an emergency or unexpected situation, taking quick action without confusion or error (eg in the second user interface). Can be guaranteed to be able to.

The ability to change autonomous flight can be particularly useful when there are obstacles the aircraft faces that are not detected by the user (eg, through errors or if the aircraft does not have obstacle sensors). In such cases, after the change, minor changes may be made to the UAV flight without interfering with the autonomous operation of the aircraft so that the given task can continue to be accomplished. In some cases, the ability to change autonomous flight allows the user to desire some deviation from a given flight path while maintaining autonomous flight towards the target destination (eg, the user is interested in something). It can be especially useful when (seeing things). As used herein, flight path may refer to the path taken by an aircraft during flight. In some cases, the flight path can refer to the trajectory of the aircraft or the direction of flight of the aircraft (eg, in two-dimensional or three-dimensional coordinates). In some cases, the flight path can refer to a pre-configured flight path (eg, orbit) that the aircraft is set to follow. In some cases, the flight path can refer to the instantaneous flight direction of the aircraft.

User input may act and / or alter the flight path of the aircraft by adding a directional component to the flight path and / or adding a velocity or acceleration component to the aircraft. In some cases, the ability to modify autonomous flight allows the user to fly the UAV in a particular flight pattern or an operation that is not easily implemented (eg, flying the UAV in an ascending or descending spiral). ) Can be particularly useful if you wish to do so. Note that the ability to alter autonomous flight can be incorporated into any type of aircraft and any vehicle capable of crossing air, water, land, and / or space.

It is to be understood that different aspects of the invention can be understood individually, collectively or in combination with each other. Various aspects of the invention described herein may be applied to any other type of remotely controlled vehicle or moving object in any of the specific applications described below.

FIG. 1 shows an example of a system used for navigation according to an embodiment. The navigation system may include a movable object 100 and a user terminal 106 capable of communicating with the movable object. The movable object may be configured to carry the payload 104. User terminals may be used to control the movement characteristics of one or more of the moving objects and / or loads. For example, a user terminal can be used to control a movable object so that it can be navigated to a target area. A user terminal may be used to give a movable object command or command transmitted to a movable object (eg, a moving object flight controller) that performs autonomous flight of the movable object, as further described herein. In some cases, the user terminal may be used to manually control the moving object and / or change the parameters of the moving object while the moving object is operating autonomously.

The movable object 100 can be any object capable of traversing the environment. Movable objects may be capable of traversing air, water, land, and / or outer space. The environment may include immovable objects (stationary objects) and movable objects. Examples of stationary objects include terrain, plants, landmarks, buildings, monolithic structures, or any fixed structure. Examples of movable objects include people, vehicles, animals, projectiles and the like.

In some cases, the environment can be an inertia frame of reference. Space-time can be described uniformly, isotropically, and time-independently using an inertial reference system. The inertial reference system can be established relative to a moving object and can move according to the moving object. Measurements in an inertial reference system can be transformed into measurements in another frame of reference (eg, global reference frame) by transformation (eg, Galilean transformation in Newtonian physics).

The movable object 100 can be a vehicle. The vehicle can be a self-propelled vehicle. The vehicle may traverse the environment with one or more propulsion units 107. The vehicle can be an aviation vehicle, a land-based vehicle, a water-based vehicle, or a space-based vehicle. The vehicle can be an unmanned vehicle. The vehicle may be able to traverse the environment without a human occupant. Alternatively, the vehicle may carry a human occupant. In some embodiments, the moving object can be an unmanned aerial vehicle (UAV).

Any description of the UAV or any other type of moving object herein may apply to any other type of moving object or various categories of moving objects in general, and vice versa. .. For example, any description of the UAV herein may apply to any unmanned land boundary, water-based, or space-based vehicle. Further examples of moving objects are provided in more detail elsewhere herein.

As mentioned above, the movable object may be capable of traversing in the environment. Movable objects may be able to fly in three dimensions. Movable objects can be spatially translated along one, two, or three axes. One, two, or three axes can be orthogonal to each other. The axes may be along the pitch axis, yaw axis, and / or roll axis. Movable objects can also be rotatable around one, two, or three axes. One, two, or three axes can be orthogonal to each other. The axes can be pitch axes, yaw axes, and / or roll axes. Movable objects can be movable along a maximum of 6 degrees of freedom. The movable object may include one or more propulsion units that may assist the movable object in movement. For example, the movable object can be a UAV with one, two, or three or more propulsion units. The propulsion unit may be configured to generate lift for the UAV. The propulsion unit may include rotor blades. The movable object can be a multi-rotor UAV.

Movable objects can have any physical configuration. For example, a movable object can have a centrosome with one or an arm or bifurcation extending from the centrosome. The arm can extend laterally or radially from the centrosome. The arm may be movable relative to the centrosome, or may be stationary relative to the centrosome. The arm may support one or more propulsion units. For example, each arm may support one, two, or three or more propulsion units.

The movable object may have a housing. The housing may be formed from one piece, two pieces, or a plurality of pieces. The housing may include a cavity in which one or more components are located. A component is a motion controller (eg, flight controller), one or more processors, one or more memory storage units, one or more sensors (eg, one or more inertial sensors or, as used herein. Any other type of sensor described elsewhere), one or more navigation units (eg, Global Positioning System (GPS) units), one or communication unit, or any other type of configuration. It can be an electrical component such as an element. The housing may have a single cavity or multiple cavities. In some cases, a motion controller (such as a flight controller) may communicate with one or more propulsion units and / or control the operation of one or more propulsion units. A motion controller (ie, a flight controller) may use one or more electronic speed control (ESC) modules to communicate with one or more propulsion units and / or control their operation. The motion controller (ie, flight controller) can communicate with the ESC module to control the operation of the propulsion unit.

The movable object may support the onboard loading 104. The on-board object may have a fixed value relative to the movable object, or may be movable relative to the movable object. The payload can be spatially translated relative to the moving object. For example, the load can move along one, two, or three axes relative to a moving object. The load can also rotate relative to a moving object. For example, the payload may rotate around one, two, or three axes relative to a moving object. The axes can be orthogonal to each other. The axes can be pitch axes, yaw axes, and / or roll axes. Alternatively, the payload may be fixed or integrated within the movable object.

The payload may be movable relative to a movable object using the support mechanism 102. The support mechanism may include one or more gimbal stages that may allow the support mechanism to move relative to the moving object. For example, the support mechanism is a first gimbal stage that can allow the support mechanism to rotate around a first axis relative to a movable object, the support mechanism rotates around a second axis relative to a movable object. It may include a second gimbal stage that may allow and / or a third gimbal stage that may allow the support mechanism to rotate around a third axis relative to a moving object. Any description and / or feature of the support mechanism described elsewhere herein may apply.

The on-board equipment may include a device capable of sensing the environment around the moving object, a device capable of radiating a signal to the environment, and / or a device capable of interacting with the environment.

One or more sensors may be provided as an on-board device and may be environmentally sensitive. One or more sensors may include an imaging device. The imaging device can be a physical imaging device. The imaging device can be configured to detect electromagnetic radiation (eg, visible light, infrared light, and / or ultraviolet light) and generate image data based on the detected electromagnetic radiation. The imaging device may include a charge-coupled device (CCD) sensor or a complementary metal oxide semiconductor (CMOS) sensor that produces an electrical signal in response to the wavelength of light. The generated electrical signal can be processed to generate image data. The image data generated by the imaging device can include one or more images, which can be a still image (eg, a photograph), a dynamic image (eg, a video), or a suitable combination thereof. The image data may be pleochroic (eg RGB, CMYK, HSV) or monochromatic (eg grayscale, black and white, sepia). The imaging device may include a lens configured to direct light at the image sensor.

The imaging device can be a camera. The camera can be a movie camera or a video camera that captures dynamic image data (eg, video). The camera can be a still camera that captures a still image (eg, a photo). The camera can capture both dynamic image data and static images. The camera can switch between capturing dynamic image data and capturing still images. Although the particular embodiments provided herein are described in the context of a camera, the disclosure is applicable to any suitable imaging device and any description herein relating to the camera. It is to be understood that it is applicable to any suitable imaging device and that any description herein relating to the camera is also applicable to other types of imaging devices. A camera can be used to generate a 2D image of a 3D scene (eg, an environment, one or more objects, etc.). The image generated by the camera can represent the projection of a 3D scene onto a 2D image plane. Therefore, each point in the 2D image corresponds to the 3D spatial coordinates in the scene. The camera may include optical elements (eg, lenses, mirrors, filters, etc.). The camera can capture color images, grayscale images, infrared images, and the like. The camera can be a thermal imaging device if it is configured to capture an infrared image.

In some embodiments, the payload may include an imaging device or an imaging device having a plurality of lenses and / or imaging sensors. The on-board device may be able to capture multiple images at about the same time. Multiple images can assist in the creation of 3D scenes, 3D virtual environments, 3D maps, or 3D models. For example, right and left images can be taken and used for stereoscopic mapping. A depth map can be calculated from the calibrated binocular image. 3D scene / virtual by shooting any number of images (for example, 2 or more, 3 or more, 4 or more, 5 or more, 6 or more, 7 or more, 8 or more, 9 or more) at the same time. Can assist in the creation of environment / models and / or depth mappings. The images may be oriented in substantially the same direction or in slightly different directions. In some cases, data from other sensors (eg, ultrasound data, lidar data, data from any other sensor described elsewhere in this specification, or data from an external device) Can assist in the creation of 2, 3D or 3D images or maps.

The imaging device may capture an image or series of images at a particular image resolution. In some embodiments, the image resolution can be defined by the number of pixels in the image. In some embodiments, the image resolution is about 352 x 420 pixels or more, about 480 x 320 pixels or more, about 720 x 480 pixels or more, about 1280 x 720 pixels or more, about 1440 x 1080 pixels or more, about 1920 x 1080. It can be greater than or equal to pixels, greater than or equal to about 2048 × 1080 pixels, greater than or equal to about 3840 × 2160 pixels, greater than or equal to about 4096 × 2160 pixels, greater than or equal to about 7680 × 4320 pixels, or greater than or equal to about 15360 × 8640 pixels. In some embodiments, the camera can be a 4K camera or a camera with higher resolution.

The imaging device can capture a series of images at a particular capture rate. In some embodiments, the series of images is about 24p, about 25p, about 30p, about 48p, about 50p, about 60p, about 72p, about 90p, about 100p, about 120p, about 300p, about 50i, or about. It can be captured at a standard video frame rate such as 60i. In some embodiments, the series of images has a speed of 0.0001 seconds or less, 0.0002 seconds or less, 0.0005 seconds or less, 0.001 seconds or less, 0.002 seconds or less, 0.005 seconds or less, 0.01 seconds or less, 0.02 seconds or less, 0.05 seconds or less, 0.1 seconds or less, 0.2 seconds or less, 0.5 seconds or less, 1 second or less, 2 seconds or less, 5 seconds or less, or 10 Approximately one image can be captured every second or less. In some embodiments, the capture rate may vary depending on user input and / or external conditions (eg, rain, snow, wind, unclear surface texture of the environment).

The imaging device may have adjustable parameters. Different images can be captured by the imaging device under the same external conditions (eg, location, lighting) but under different parameters. Adjustable parameters may include exposure (eg, exposure time, shutter speed, aperture, film speed), gain, gamma, region of interest, binning / subsampling, pixel clock, offset, trigger ring, ISO and the like. Exposure-related parameters can control the amount of light that reaches the image sensor in the imaging device. For example, the shutter speed can control the amount of time light reaches the image sensor, and the aperture can control the amount of light that reaches the image sensor in a given amount of time. The gain-related parameters can control the amplification of the signal from the optical sensor. ISO can control the sensitivity level of the camera to the available light.

In some alternative embodiments, the imaging device can go beyond the physical imaging device. For example, the imaging device may include any technique capable of capturing and / or generating an image or video frame. In some embodiments, the imaging device may refer to an algorithm capable of processing an image obtained from another physical device.

The on-board material may include one or more types of sensors. Some examples of sensor types include location sensors (eg, Global Positioning System (GPS) sensors, mobile device transmitters that enable location triangulation), motion sensors, vision sensors (eg, cameras, etc.). Imaging devices capable of detecting visible, infrared, or ultraviolet light), proximity or distance sensors (eg, ultrasonic sensors, riders, flight time or depth cameras), inertial sensors (eg, accelerometers, gyroscopes, and / Or gravity detection sensors, which can form inertial measurement units (IMUs)), altitude sensors, attitude sensors (eg, compass), pressure sensors (eg, barometer), temperature sensors, humidity sensors, vibration sensors, audio Sensors (eg, microphones) and / or field sensors (eg, magnetic meters, electromagnetic sensors, radio sensors) can be mentioned.

The detection data provided by the sensor can be used to control the spatial arrangement, velocity, and / or orientation of the moving object (eg, using suitable processing units and / or control modules, as described below). Alternatively, sensors can be used to provide data about the surrounding environment of moving objects such as weather conditions, proximity to potential obstacles, location of geographical features, location of man-made structures, and so on.

The on-board equipment may include one or more devices capable of radiating signals into the environment. For example, the payload may include emitters along the electromagnetic spectrum (eg, visible light emitters, ultraviolet light emitters, infrared emitters). The on-board material may include a laser or any other type of electromagnetic emitter. The on-board material may radiate one or more vibrations, such as an ultrasonic signal. The on-board material can emit audible sound (eg, from a speaker). The on-board material may radiate radio signals such as radio signals or other types of signals.

The on-board material can interact with the environment. For example, the load may include a robot arm. The payload may include delivery items such as liquid components, gaseous components, and / or solid components. For example, the load may include pesticides, water, fertilizers, anti-fire materials, food, packaging, or any other item.

Any example of the payload herein can be applied to a device that can be carried by a moving object or that can be part of a moving object. For example, one or more sensors 108 can be part of a moving object. One or more sensors may be provided in addition to the payload. This may apply to any type of loading, such as the loading described herein.

The movable object may be able to communicate with the user terminal 106. The user terminal can communicate with the movable object itself, the load on the movable object, and / or the support mechanism for the movable object, and the support mechanism is used to support the load. The optional description of communication with a movable object herein refers to communication with a load of the movable object, communication with a support mechanism of the movable object, and / or one or more individual components of the movable object ( For example, it can be applied to communication with a communication unit, a navigation unit, a propulsion unit, a power supply, a processor, a memory storage unit, and / or an actuator).

Communication between the movable object and the user terminal may be via wireless communication 116. For example, the communication system 110 may be provided for a movable object. The corresponding communication unit 114 may be provided to the user terminal, and the corresponding communication unit 114 may be used to form a communication link (eg, a wireless communication link) between communication systems. It may provide direct communication between the movable object and the user terminal. Direct communication can be done without the need for any intermediate device or network. Indirect communication may be provided between the movable object and the user terminal. Indirect communication can be performed using one or more intermediate devices or networks. For example, indirect communication may utilize a telecommunications network. Indirect communication may be performed using one or more routers, communication towers, satellites, or any other intermediate device or network. Examples of types of communication include, but are not limited to, the Internet, Local Area Network (LAN), Wide Area Network (WAN), Bluetooth®, Near Field Communication (NFC) Technology, General Packet Radio Service (GPRS), GS M. (Registered Trademarks), Enhanced Data GSM Environment (EDGE), 3G, 4G, or networks based on mobile data protocols such as Long Term Evolution (LTE) Protocol, Infrared (IR) Communication Technology, and / or Wi-Fi. It can be wireless, wired, or a combination thereof.

The user terminal can be any type of external device. The user terminal may point individually or collectively to devices configured to receive input from the user. The user terminal may configure one or more user interfaces configured to receive user input. Examples of user terminals are not limited to smartphones / cellphones, tablets, personal information terminals (PDAs), laptop computers, desktop computers, media content players, video gaming stations / systems, virtual reality systems, augmented reality systems, and wearables. Devices (eg watches, glasses, gloves, headgear (hats, helmets, virtual reality headsets, augmented reality headsets, head-mounted devices (HMDs), headbands, etc.), pendants, armbands, footbands, shoes, vests) , Gesture recognition devices, microphones, any electronic device capable of providing or rendering image data, a remote controller with a control stick, or any other type of device. The user terminal can be a handheld object. The user terminal can be portable. The user terminal can be carried by a human user. In some cases, the user terminal may be located remotely from a human user and the user may control the user terminal using wireless and / or wired communication. Various examples and / or features of the user terminal are provided in more detail elsewhere herein.

The user terminal may include one or more processors capable of executing a non-transitory computer-readable medium capable of providing instructions for one or more operations. The user terminal may include one or more memory storage devices including a non-transitory computer-readable medium containing code, logic, or instructions that perform one or more operations. The user terminal may include a software application that allows the user terminal to communicate with the moving object and receive imaging data from the moving object. The user terminal may include a communication unit 114, which may allow communication with a moving object. In some cases, the communication unit may include a single communication module or multiple communication modules. In some cases, the user terminal may be able to interact with the moving object using a single communication link or multiple different types of communication links. A user terminal can be used to control the movement of moving objects. In some cases, the user terminal may be configured to perform autonomous movements (eg, autonomous flight) of the mobile device, for example, in response to user input. In some cases, the user terminal may be configured to perform and / or modify the autonomous operation of the mobile device, as described further below. In some cases, the user terminal is optionally used to optionally use any component of a moving object (eg, on-board motion, support mechanism motion, one or more sensors, communications, navigation, landing stands, etc. It may control the operation of one or more components, power control, or any other function).

The user terminal may include one or more user interfaces, and one or more user interfaces may be provided to one or more devices. For example, a user terminal may include one, two, three, four, five, six, seven, eight, nine, ten, or eleven or more user interfaces. The user interface can refer to an interface on which input from a user (eg, a UAV operator) is received. The input can be of any type. For example, the user may provide input by simply touching a portion of the user interface (eg, a capacitive touch screen). For example, the user may activate a mechanism (eg, keyboard, mouse, button, joystick, etc.) in the user interface to provide user input. In some cases, the user may provide an audible signal (eg, voice command) to the user interface, which is received by the user interface. In some cases, the user interface may be configured to detect, track, or track user movements (eg, eye movements, hand gestures, etc.) to receive user input. In some cases, the user interface may be configured to receive different degrees of user input. For example, a user may exert different amounts of force on a user interface mechanism or activate a user interface mechanism to a different degree, with different amounts or different degrees being one connected to the user interface (or one connected to the user interface). Or it can be appropriately interpreted by a plurality of processors). For example, the user may provide input over different duration amounts, which may be appropriately interpreted by the user interface (or one or more processors connected to the user interface). Alternatively or additionally, the user input may be configured to receive the user input and interpret the user input as a binary value input. For example, a user touching the user interface can interpret it as a command effect flight of a moving object towards the target. Each user interface may be provided on a separate device. Alternatively, two, three, four, five, or six or more user interfaces may be provided for one device.

In some cases, different user interfaces may be configured to control different functions of the moving object and / or control different components of the moving object. For example, a first user terminal can be used to perform autonomous movements of a moving object, while a second user terminal can be used to change (perform) autonomous movements. In some cases, different devices may be configured to control different functions of the moving object and / or control different components of the moving object. Different user interfaces and / or devices may or may not communicate with each other. For example, different devices may communicate with each other via a wireless or wired communication link. Alternatively, each of the different devices may communicate with the UAV separately, rather than communicating with each other.

FIG. 2 shows a user terminal 200 according to an embodiment. The user terminal may include one or more user interfaces. The user interface may be configured to receive input from the user (eg, a UAV operator). The user can be an operator of a moving object. Each user interface may be provided for one device. Alternatively, different user interfaces may be provided to different devices, and the user terminal may include more than one device. The user terminal may be configured to receive user input and generate and / or provide instructions (eg, signals) transmitted to movable objects and / or payloads. In some cases, the user terminal may receive one input that generates an instruction to autonomously fly a moving object. For example, the target can be specified by the user terminal, and a command for the movable object to move autonomously toward the target can be generated and transmitted to the movable object (for example, a flight controller of the movable object). In some cases, the user terminal may receive user input that acts on or modifies the autonomous movement of the moving object. For example, a user terminal may be used to manually control the movement of the moving object and / or change the flight of the moving object (eg, autonomous flight).

In some cases, the user terminal may include a first user interface 202 and a second user interface 204. The first user interface and the second user interface can have different features and can be used to implement different functions of the moving object. For example, the first user interface may be configured to receive user input that performs autonomous movements (eg, autonomous flight) of a moving object. In some cases, the first user interface may be configured to receive user input instructing a moving object to accomplish a particular task autonomously or move autonomously towards a target. .. One input or a discrete number of inputs may be sufficient to instruct a moving object to operate autonomously (eg, autonomous flight). Continuous monitoring or supervision of movable objects by the user may not be required when using the first user interface.

The first user interface 202 may include a display 203. The display can be a screen. The display may or may not be a touch screen. The display can be a light emitting diode (LED) screen, an OLED screen, a liquid crystal display (LCD) screen, a plasma screen, or any other type of screen. The display can be configured to show an image. The image on the display may show the view collected using the payload of the moving object. For example, the image collected by the imaging device may be displayed on the display. In some examples, the image collected by the imaging device can be considered as first person view (FPV). In some cases, a single imaging device can be provided and a single FPV can be provided. Alternatively, it may provide multiple imaging devices with different fields of view. The view may be switched between multiple FPVs, or multiple FPVs may be displayed at the same time. Multiple FPVs may correspond (or be generated by different imaging devices) to different imaging devices that may have different fields of view.

In another example, the image on the display may represent a map that can be generated using information from the payload of the moving object. Maps can optionally be generated using multiple imaging devices (eg, right camera, left camera, or more cameras) that can use stereoscopic mapping techniques. In some cases, maps can be generated based on location information about moving objects relative to the environment, imaging devices relative to the environment, and / or movable objects relative to the imaging device. The position information may include attitude information, space / location information, angular velocity, linear velocity, angular acceleration, and / or linear acceleration. Maps can optionally be generated using one or more additional sensors, as described in more detail elsewhere herein. The map can be a two-dimensional map or a three-dimensional map. In some cases, a 2D map may show a top-to-bottom map. In some cases, the 2D map can be a topographic map showing various natural and man-made features. In some cases, the 2D map can be a line-of-sight map (eg, showing altitude). In some cases, the view can be switched (eg, between topographic and perspective maps). In some cases, the view may switch between a 2D map diagram and a 3D map diagram, or display a 2D map diagram and a 3D map diagram at the same time. The view may be switched between one or more FPVs and one or more map views, or one or more FPVs and one or more map views may be displayed simultaneously.

In some embodiments, the image may be provided in a 3D virtual environment displayed in a first user interface (eg, a virtual reality system or an augmented reality system). The 3D virtual environment can optionally correspond to a 3D map. The virtual environment may include multiple points or objects that can be manipulated by the user. The user can manipulate points or objects through a variety of different actions within the virtual environment. Examples of such actions include selection of one or more points or objects, drag and drop, translation, rotation, spin, push, pull, zoom in, zoom out, and the like. Any type of movement of a point or object in three-dimensional virtual space can be intended.

The first user interface may include a graphical user interface (GUI). The GUI may represent an image that may allow the user to control the movement of the moving object. The GUI may show an image that allows the user to command a moving object to operate autonomously or to accomplish a given task. For example, the user selects a target to track, selects an area to navigate to (eg, a predetermined area or target point), and selects one or more waypoints in the process of navigating a moving object. However, it may be possible to return the movable object to the user (for example, the user terminal). In some cases, the user may be able to instruct a moving object to accomplish a task by simply touching or tapping a point (eg, a portion) on the first user interface. In some cases, the first user interface may include a capacitive touch screen. A first user interface may enable tap and go functionality for moving objects. By simply tapping the first user interface (eg, the desired position on the map displayed in the first user interface), the movable object will move autonomously towards the tapped object and / or area. Can be ordered to do. For example, in the case of an image on a display showing a view collected using a moving object payload, the user can tap the object of interest to instruct the moving object to autonomously track or track the object. Can be done. For example, in the case of an image on a display showing a map (eg, a 2D map or a 3D map), the user can tap a position on the map to autonomously navigate towards the tapped position. Can be ordered to.

In some cases, the target may be selected by the user in the first user interface. The target can be selected within the image (eg, on the display). The user can also select parts of the image (eg, points, areas, and / or objects) to define targets and / or orientations. The user may select a target by directly touching the screen (eg, touch screen). The user can touch a part of the screen. The user can touch a part of the screen by touching a point on the screen. The user can use a user interaction device (eg, mouse, joystick, keyboard, trackball, touchpad, button, verbal command, gesture recognition, posture sensor, thermal sensor, touch capacitive sensor, or any other device). Can be used to select a target by selecting a portion of the image. The touch screen may be configured to detect the position of the user's touch, the length of the touch, the pressure of the touch, and / or the movement of the touch, whereby each mode of touch described above is specific to the user. Can indicate an input command.

Movable objects can be configured to migrate towards the target, navigate around the target, and / or visually track the target. The target can be the target destination. In some cases, the target destination can be a position selected on an image (eg, an FPV image) captured by an imaging device mounted on a moving object. For example, one or more positions may be selected by the user on an image captured by the imaging device (eg, an FPV image), for example by touching a point on the image. Such taps on some of the images may command the moving object to fly to that position using a flight path. In some cases, the target destination can be the location selected on the map. For example, positions 206, 208, and 210 may include targets selected by the user on the map. Targets can be selected, for example, by touching points on the map, substantially as described above. Some such taps on the map may instruct a moving object to fly (eg, autonomously) to a target using a flight path. Such a tap as part of a user interface that commands a moving object to fly autonomously towards a target (eg, a position or object) is referred to herein as a tap to go function. obtain. In some cases, the target destination can be a pre-determined or pre-configured destination that is selected, for example, from a predetermined list as a stand-alone feature, etc., without the use of images or maps. For example, the target destination can be the location of the user terminal, the location of the user, a designated waypoint, or a target point (eg, a home designated by the user).

In some cases, the target can be the target object. The target object can be a stationary target or a moving target. In some cases, the user may specify whether the target is a stationary target or a moving target. Alternatively, the user may provide any other type of indicator of whether the target is a stationary target or a moving target. Alternatively, no instructions are provided and, optionally, automatically using one or more processors without requiring user input as to whether the target is a static target or a mobile target. I can judge. The target object can be classified as a stationary target or a moving target, depending on the state of movement. In some cases, the target object can be moving or stationary at any given time point. If the target object is in motion, the target object can be classified as a moving object. Conversely, if the same target object is stationary, the target object can be classified as a stationary target.

The stationary target can remain substantially stationary in the environment. Examples of stationary targets are natural landscape features (eg trees, plants, mountains, hills, rivers, waterways, streams, valleys, rocks, rocks, etc.) or man-made features (eg structures, buildings, roads, bridges, pillars, etc.) , Fences, non-moving vehicles, signs, lights, etc.), but are not limited to these. Static targets can include large or small targets. The user can select a static target. Static targets can be recognized. Optionally, the stationary target can be shown on the map. The moving object can move to and / or navigate around the stationary target and / or track the stationary object. In some cases, the stationary target may correspond to a selected part of the structure or object. For example, a stationary target may correspond to a particular part of a skyscraper (eg, the top floor).

The moving target can be mobile within the environment. The moving target may be constantly moving or may be moving at a certain time. The moving target may move in a fairly constant direction or may change direction. Moving targets can move in the air, above ground, underground, above or underwater, and / or in outer space. The moving target is carried by a biological moving target (eg, human, animal) or a non-living moving target (eg, moving vehicle, moving machine, wind-blown or water-carried object, biological target It can be an exposed object). The moving target may include one moving object or a group of moving objects. For example, a moving target may include a single person or a group of moving people. The moving target can be a large target or a small target. The user can select a move target. The moving target can be recognized. Optionally, the moving target can be shown on the map. The moving object can move to the moving target, navigate around the moving target, and / or track the moving object. The flight path can be planned as a flight path for navigating around a moving object. The path can be changed or updated as the moving object moves along the path. Alternatively, the moving object can migrate to and / or navigate around the stationary object and / or visually track the moving object without the need for a planned path.

Moving targets are air (eg, fixed-wing aircraft, rotorcraft, or aircraft without fixed-wing or rotorcraft), underwater (eg, ships or submarines), ground (eg, cars, trucks, buses, vans, etc.) Motor vehicles such as motorcycles; movable structures or frames such as sticks and fishing rods; or trains), underground (eg, subway), in outer space (eg, spacecraft, satellites, or spacecraft), or any of these environments. It can be any object configured to move within any suitable environment, such as a combination of.

The moving target may be freely movable in the environment with respect to 6 degrees of freedom (eg, 3 degrees of freedom for translation and 3 degrees of freedom for rotation). Alternatively, the movement of the movement target can be constrained with respect to one or more degrees of freedom, such as by a predetermined route, track, or orientation. The movement can be actuated by any suitable actuating mechanism such as an engine or motor. The operating mechanism of the mobile target can be powered by any suitable energy source such as electrical energy, magnetic energy, solar energy, wind energy, gravity energy, chemical energy, nuclear energy, or any suitable combination thereof. The moving target can be self-propelled via a propulsion system such as described below. The propulsion system can optionally operate on energy sources such as electrical energy, magnetic energy, solar energy, wind energy, gravity energy, chemical energy, nuclear energy, or any suitable combination thereof.

In some cases, the moving target can be a vehicle, such as a remotely controlled vehicle. Suitable vehicles may include seaplanes, aircraft, spacecraft, or ground planes. For example, an aircraft may be a fixed-wing aircraft (eg, aircraft, glider), a rotorcraft (eg, helicopter, rotorcraft), an aircraft with both fixed-wing and rotorcraft, or an aircraft without none (eg,). It can be a small aircraft, a hot air balloon). The vehicle can be self-propelled, such as self-propelled in the air, on the water or underwater, in outer space, or above or below ground. Self-propelled vehicles may utilize propulsion systems, such as one or more engines, motors, wheels, axles, magnets, rotors, propellers, blades, nozzles, or any suitable combination thereof. it can. In some cases, propulsion systems are used to take off from the surface of moving objects, land on the surface, maintain current position and / or orientation (eg, hovering), reorient, and / or reposition. Can be done.

By selecting a target as described above, autonomous flight of a movable object can be performed. For example, selecting a target can generate, for example, an instruction to be sent to the flight controller of a moving object via a communication system. The flight controller may receive commands and further generate signals for autonomous flight of the moving object. Autonomous flight can be autonomous flight towards a target. As described herein, the target can be a target destination (eg, location) and / or a target object. In some cases, multiple targets may be selected and the moving object may fly along multiple targets. A movable object under autonomous operation (eg, via an input received in a first user interface) may include a predetermined flight speed at which the movable object moves. The given flight speed can be the default speed. In some cases, the given flight speed may be user configurable. In some cases, the predetermined flight speeds are about 2 m / s or less, about 4 m / s or less, about 6 m / s or less, about 8 m / s or less, about 10 m / s or less, about 12 m / s or less, about 15 m / s. It can be s or less, about 20 m / s or less, or about 50 m / s or less.

Objects under autonomous operation (eg, via inputs received at the first user interface) may include orbits or flight paths. Autonomous flight may include an autonomous flight path of a moving object. In some cases, the flight path 205 for autonomous flight may be displayed on the GUI. Alternatively or additionally, the GUI may display multiple points 206, 208, 210 indicating the target of the destination in which the moving object is autonomously flying. The target may indicate a target object and / or a target area to which the movable object is autonomously flying. In some cases, the flight path may include a preset direction, a preset trajectory, an autonomously planned trajectory, and / or a user-configured trajectory. In some cases, the flight path can be preset (eg, take the shortest route at a particular altitude). In some cases, the flight path may be user-selectable (eg, from several different preconfigured flight paths). In some cases, the user may generate a flight path for a moving object, for example, by delineating on the screen using a user interaction device or a user's accessory organs, as substantially described above. In some cases, flight paths can be generated autonomously or semi-autonomously. In some cases, flight paths can be generated for the target by considering the position, orientation, attitude, size, shape, and / or geometry of the target. In some cases, the flight path is a moving object parameter (eg, size, weight, speed, etc.), legal parameters (eg, laws and regulations), or environmental parameters (eg, wind conditions, visibility, obstacles, etc.). It can be generated autonomously or semi-autonomously in consideration of other parameters such as. In some cases, the user may change any part of the flight path by adjusting (eg, moving) different spatial points of the path on the screen (eg, on the first user interface). Alternatively, the user may select a region on the screen from a pre-existing set of regions, or draw the boundaries of the region, the diameter of the region, or any other part of the screen. It may be specified by a method.

The movable object may move along the flight path until the withdrawal command is received or if the withdrawal situation is realized. For example, a movable object may autonomously move along a travel path if a portion of the path is changed or a new target is entered until a new path is entered. The movable object can move along the flight path until a different flight path is selected. In some cases, the user may perform manual control over the movement of the moving object at any time while the moving object is in motion.

The user terminal may optionally include a second user interface 204. In some cases, the second user interface may differ from the first user interface. In some cases, the second user interface may be of a different type than the first user interface and / or may be configured to receive user input in different modes. In some cases, the second user interface may include one or more mechanisms 212, 214 for which user input is received. One or more mechanisms may be operable. One or more mechanisms may include any type of hardware mechanism such as control sticks, physical buttons, or scroll wheels. In some cases, one or more mechanisms may include a software mechanism, eg, an interactive button on a touch screen. Although control sticks are primarily described herein, it should be understood that the use of other mechanisms (eg, buttons, etc.) may be equally applicable.

The control sticks are also called joysticks (or joysticks). In some cases, one or more control sticks are configured to act on the rotation of the UAV around the roll axis. A roll stick and / or a joystick configured to act on the rotation of the UAV around the yaw axis may be included. In some cases, one or more control sticks may include a pitch stick. It may be configured to act on the speed change of the UAV. In some cases, one or more control sticks may include a throttle stick. The throttle stick acts on the height (eg, altitude) change of the UAV. In some cases, the second user interface can be used to control the movement of the moving object. The second user interface can be used to directly control the movement of the moving object. Alternatively or additionally, a second user interface may be used to modify the movement (eg, flight) of a moving object under autonomous control. In some cases, a second user interface may be used. UAV autonomous flight is possible.

The control stick may be indicated by a specific name (eg, pitch stick, yaw stick, etc.), but it should be understood that the name of the control stick is arbitrary. For example, a user terminal (eg, a second user interface) can also operate under different modes. For example, a user terminal may operate under different modes with a given command from the user, eg, the activation of a switch. Under different modes, the control stick (eg, control stick 212 or 214) may be configured to act differently on the operation of the UAV. In some cases, in one mode of operation, the actuating mechanism may be configured to perform autonomous flight (eg, flight along a predetermined direction or flight along a previous direction of travel), while another mode of operation. Then, the actuating mechanism may be configured to act on the flight of the UAV under autonomous flight.

In some cases, in the first mode, the control stick 212 may be configured to act on the forward and backward movement of the UAV, while in the second mode, the control stick 212 is moving forward. It can be configured to affect the speed of the UAV. In a third mode of operation, the control stick 212 may be configured to act on the height of the UAV and / or the rotation of the UAV around one or more axes. The user terminal may include one, two, three, four, five, or six or more modes of operation. In addition, a given control stick (eg, control stick 212 or 214) may include more than one function, or may act on a UAV flight (eg, autonomous flight) with more than one parameter. Good. For example, the control stick 212 that moves back and forth can act on changing the height of the UAV, while the control stick 212 that moves left and right can act on the rotation of the UAV around the roll axis.

In some cases, a second user interface may be utilized to provide real-time control of the moving object. In some cases, the first user interface and the second user interface can work together. FIG. 3 shows a first user interface 302 and a second user interface 304 that cooperate with each other according to the embodiment. The first user interface can be as described above. For example, the first user interface may include a display configured to display one or more images. For example, the display may be configured to display an image of map 306. The map can be a two-dimensional or three-dimensional object of the environment surrounding the moving object. Alternatively or additionally, the display may be configured to display a first-person view image 308 acquired by an onset connected to a movable object. For example, the first-person view image of FIG. 3 shows an obstacle 310 to which a moving object is heading.

The second user interface may include one or more control sticks 314, 316. The control stick can be used, for example, to act on the parameters of a moving object in real time. In some cases, the control stick may act and / or alter the autonomous movement of the moving object (eg, autonomous flight). For example, the first user input may be received at the first user interface. The first user input may perform autonomous flight of a moving object. For example, a user can tap a target on map 306 to generate an instruction to be sent to the flight controller of a moving object that makes an autonomous flight towards the target. A movable object that is operating autonomously may include a flight path 312. While autonomously navigating towards the target, the first user interface may display a first-person view image 308 of the image captured by the payload connected to the moving object. The input received in the second user interface may subsequently act on or alter the autonomous movement of the moving object. In some cases, the input received at the second user interface may interrupt the autonomous flight of the moving object. Interruption of autonomous flight through the second user interface is efficient and easy, for example, in an emergency or unexpected situation where interaction with the first user interface (eg GUI) is not desirable. Method can be provided. In some cases, the input received in the second user interface may alter the autonomous flight of the moving object without interrupting the autonomous operation. For example, the flight path of a movable object may change due to the input received at the second user input, while the movable object may change, for example, while the second user input is being received and / or the second. After receiving the user input of, it may continue to navigate towards the specified target. For example, a movable object so that it continues to accomplish a task (eg, tracking a target, navigating to a desired position, etc.) despite user input to a second user interface. Can maintain autonomous movement or flight. In an exemplary embodiment, the second user input may change the flight path or trajectory of the moving object. For example, the input to the second user interface may change the autonomous flight path by adding a directional component to the autonomous flight path of the movable object, or by adding a velocity or acceleration component to the movable object.

This feature can be advantageous for providing user input in unforeseen circumstances without interfering with the autonomous flight of moving objects. In some cases, the second user interface can provide an intuitive and easy-to-use control scheme that modifies the autonomous flight without interfering with the overall autonomous flight of the moving object, thus providing a user interface (eg, a second user interface). The distinction between the first and second user interfaces) can prove an advantage. For example, this may be desirable in emergencies or conditions where quick user input is required, but subsequent autonomous flight continuation is desirable, unexplained or undetected by moving objects. There can be a seamless transition between the autonomous flight of a moving object and a change in autonomous flight by a second user input (eg, in real time). In addition, there can be a seamless transition between when the moving object considers the second user input and when the moving object returns to autonomous flight (eg, after the second user input).

For example, a moving object operating under autonomous control may encounter an obstacle 310. Movable objects may fail to detect obstacles (eg, through an error, due to the absence of obstacle sensors, etc.) and / or implement autonomous obstacle avoidance measures. In such a case, the user can observe that there is an obstacle in the flight path of the moving object during autonomous operation. By manipulating the control sticks on the second user interface, the user may be able to easily avoid obstacles. After avoiding the obstacle, the user can release the control stick and the moving object can continue autonomous movement or complete the task. For example, a moving object may not be able to quickly avoid obstacles by attempting to provide input to a first user interface. A second user interface may provide a convenient interface that allows the user to exert quick and intuitive control. After avoiding obstacles, the moving object may continue to move autonomously or complete tasks (eg, tracking the target, navigating towards the destination). In an exemplary embodiment, the second user input may change the flight path or trajectory of the moving object. For example, the input in the second user interface may add a directional component to the autonomous flight path of the movable object, or may change the autonomous flight path by adding a velocity or acceleration component to the movable object.

For example, a moving object operating under autonomous control transmits a first-person view image to a first user interface. In some cases, the user may notice an object 318 of interest in the first person view image. By manipulating the control sticks on the second user interface, the user can move towards the object of interest (eg, slightly change the trajectory of the moving object) without interfering with autonomous movements. Can be. After satisfaction, the user may release the control stick and the moving object may continue to operate autonomously or complete the task. The movable object can continue its autonomous movement without any further input, and there can be a seamless transition between the autonomous movement and the user-instructed movement. In an exemplary embodiment, the second user input may change the flight path or trajectory of the moving object. For example, the input in the second user interface may change the autonomous flight path by adding a directional component to the autonomous flight path of the movable object, or by adding a velocity or acceleration component to the movable object.

FIG. 4 shows a method of modifying the autonomous flight of a UAV according to an embodiment. In step 401, the UAV may fly autonomously. For example, one or more commands may be provided to perform autonomous flight of the UAV. In some cases, one or more instructions may be provided by the user (eg, in the first user interface described herein above). For example, the user may provide input on a handheld device or mobile device such as a mobile phone, tablet, or PDA. The handheld device or mobile device may include a touch screen and may be configured to display an image as described herein. In some cases, the image may include an image received from a camera connected to the UAV (eg, a first-person view image) and / or an image of a map showing the location of the UAV (eg, a 2D or 3D map). By touching a handheld device or mobile device, the user may provide one or more instructions for autonomous flight of the UAV.

One or more instructions may be transmitted to the UAV's flight controller. In response to one or more instructions transmitted, the flight controller may use, for example, one or more processors to generate a first set of signals for autonomous flight of the UAV. For example, the flight controller may generate a first set of signals instructing one or more propulsion units of the UAV to operate to perform autonomous flight of the UAV.

The autonomous flight can be any flight of the UAV that does not require continuous input (eg, real-time input) from the user. In some cases, autonomous flight may have a given task or goal. Examples of predetermined tasks or targets include, but are not limited to, tracking or tracking a target object, flying to a target area or desired position, and returning to a user's position or user terminal. In some cases, autonomous flight may have a predetermined target on which the UAV is moving. The target can be a target object or a target destination. For example, autonomous flight can be autonomous flight towards a predetermined position indicated by the user. In some cases, the autonomous flight can be a flight to a predetermined position, an autonomous return of the UAV, autonomous navigation along one or more waypoints, an autonomous flight to a target point.

In some cases, autonomous flight may include an autonomous flight trajectory or an autonomous flight path. In some cases, autonomous flight may include autonomous flight directions. The orbit can be a flight orbit in two-dimensional or three-dimensional coordinates. In some cases, autonomous flight may have a preset trajectory. For example, a preset trajectory may take the shortest flight path, for example, in flying towards a target (eg, a target destination or a target obstacle) or in accomplishing a task. In some cases, the autonomous flight path may have an autonomously planned trajectory. For example, a UAV flight controller may consider various parameters to calculate orbit or plan autonomously. Parameters may include, but are not limited to, environmental conditions, regulations and laws, known obstacles, known events, and objectives. Based on various parameters, the flight controller may set an autonomously planned trajectory that is best suited for autonomous flight. In some cases, autonomous flight may have a user-configured trajectory. For example, prior to autonomous flight, the UAV operator may manually configure the trajectory or flight path that the UAV in autonomous operation should take. In some cases, the trajectory or flight path of the UAV during autonomous flight may be displayed on the user terminal and / or on a handheld or mobile device receiving user input for autonomous flight of the UAV.

In step 403, autonomous flight may be modified in response to user input. For example, during the operation of autonomous flight, the user may provide input at the user terminal. In some cases, user input may be provided via a button or control stick, as described herein above. The input may provide one or more instructions to change the autonomous flight of the UAV. One or more instructions may be transmitted to the UAV's flight controller, which may generate a second set of signals that alter the UAV's autonomous flight. For example, the flight controller may generate a second set of signals that further commands one or more propulsion units to operate to alter the autonomous flight of the UAV. In some cases, a change in autonomous flight may suspend or stop the autonomous flight of the UAV, for example, until further input. For example, a UAV in which autonomous flight is interrupted can be manually controlled by the user. In some cases, a UAV with interrupted autonomous flight may hover at the position provided with user input until further instructions are given. Alternatively, the UAV with interrupted autonomous flight may return to the user or user terminal or proceed to landing.

In some cases, the autonomous flight of the UAV can be modified without interfering with the autonomous flight. For example, the UAV may proceed with the execution of a task (eg, tracking a target object or moving towards a target destination) while autonomous flight is modified by user input. In some cases, the UAV may proceed with the flight while the flight is modified by user input. In some cases, changes in autonomous flight may affect the rotation of the UAV around one or more axes of the UAV (eg, roll axis, yaw axis, pitch axis, etc.). In some cases, a change in autonomous flight may change the autonomous flight path of the UAV while maintaining autonomous flight. As mentioned above, the ability of a UAV to change flight path (eg, act on orbit) while maintaining autonomous flight does not interfere with autonomous flight and is not explained in unexpected situations (eg, not explained by the flight controller) It can be advantageous because it provides the ability to make small adjustments to deal with (user notices). Therefore, seamless transitions between UAV autonomous flight and user coordination (eg, in real time) may be possible.

In some cases, method 400 may be performed using one or more processors. For example, it may provide a system that modifies the autonomous flight of an unmanned aerial vehicle. The system may include one or more processors, one or more processors individually or collectively performing autonomous flight of the UAV, where autonomous flight performs autonomous flight, including autonomous flight paths. That is, the autonomous flight path is changed in response to the user input, and the autonomous flight path is configured to be changed or changed while maintaining the autonomous flight.

In some cases, method 400 may be performed using a non-transitory computer-readable medium containing code, logic, or instructions. For example, a non-temporary computer-readable medium is to perform autonomous flight of a UAV, and autonomous flight is to perform autonomous flight including autonomous flight path and to change the autonomous flight path in response to user input. And the autonomous flight path may include code, logic, or instructions that change, change, and perform while maintaining autonomous flight.

In some cases, unmanned aerial vehicles may be used to perform method 400. For example, a UAV is (1) a first set of signals for UAV autonomous flight, which modifies the first set of signals, including an autonomous flight path, and (2) an autonomous flight path. A second set of signals, the autonomous flight path is modified while maintaining autonomous flight, with a flight controller configured to generate a second set of signals, and (a) a first set. Can be equipped with one or more propulsion units configured to make the UAV autonomously fly in response to the signal of (b) and change the autonomous flight path of the UAV in response to a second set of signals. ..

FIG. 5 shows the autonomous flight of the UAV modified by user input according to the embodiment. In some cases, the UAV may be operating autonomously. For example, the UAV 504 may be flying autonomously towards the target 506 according to, for example, a command from the user. Autonomous flight may include autonomous flight path 508. In some cases, the user may provide an input to modify the autonomous flight of the UAV (eg, at the user terminal). In some cases, the UAV's autonomous flight path can be changed by user input. For example, the user may provide input in a remote controller 502 with one or more control sticks 510, 512. The control stick may be configured to act on the rotation of the UAV around one or more axes. For example, one or more control sticks may be a roll stick configured to act on the rotation of the UAV around the roll axis and / or a yaw stick configured to act on the rotation of the UAV around the yaw axis. May include. In some cases, one or more control sticks may include pitch sticks. The pitch stick may be configured to act on the speed change of the UAV. In some cases, one or more control sticks may include a throttle stick. The throttle stick may be configured to act on changes in the height (eg, altitude) of the UAV.

By providing input, the user may activate at least one of one or more sticks. The user input received at the user terminal may provide one or more instructions to change the autonomous flight of the UAV. One or more commands may be sent to the UAV's flight limiter, which acts on the speed change of the UAV, for example by acting on the rotation of the UAV around one or more axes. By doing so, or by acting on the height change of the UAV, it is possible to generate a set of signals that change the autonomous flight of the UAV. For example, the flight limiter further commands one or more propulsion units to act to alter the autonomous flight of the UAV, for example by acting on the rotation of the UAV around one or more axes. Can generate a set of signals. In some cases, for example, while maintaining the autonomous flight of the UAV, the actuation of the roll stick can affect the rotation of the UAV around the roll axis, while the actuation of the yaw stick is of the UAV around the yaw axis. Can act on rotation. In some cases, the action of the throttle stick can affect the height of the UAV, while the action of the pitch stick can affect the speed of the UAV.

In some cases, user input (eg, actuation of the control stick) may add a directional component to the UAV's autonomous flight path 508. For example, user input may change the desired target 506 by a specific distance 514 so that the UAV is moving towards the new target 516. In some cases, the UAV may move towards a new target without rotation around the yaw axis. For example, the UAV may move towards a new target in conjunction with the rotation of the UAV around the roll axis. The directional component added may or may not be orthogonal to the autonomous flight path 508 of the UAV. In some cases, the directional component added may be along the reference plane. The reference plane can be any reference plane as used herein. The reference plane can be a relative reference plane that can depend on other factors. For example, the reference plane can be adjusted according to the state of the UAV, such as the position and / or orientation of the UAV. For example, the reference plane can be a cross section of the UAV that can be adjusted with the orientation of the UAV. In some cases, the reference plane can be the cross section of the UAV at the hovering position. In some cases, the reference plane can be a cross section of the UAV in an upright position. In some cases, the reference plane may be relative to external factors or the environment. The reference plane may be relative to a designated or predetermined reference plane such as a cross section or a horizontal plane of the UAV, or may be a designated or predetermined reference plane. In some cases, the directional component added may be orthogonal to the autonomous flight path of the UAV and along the reference plane. The directional component added can be a horizontal component that alters the autonomous flight path of the UAV in the horizontal direction. In some cases, the directional component added may correspond to the degree of user input, eg, the duration of user input or the force of user input (eg, the degree of activation of one or more joysticks). For example, if user input is maintained, the directional component added can gradually increase. For example, for a joystick with a longer actuation than a joystick with a shorter actuation, a larger directional component may be added. Correspondence may or may not be linear. In some cases, the added component may change the flight path of the UAV according to any mathematical function, such as a linear function, an exponential function, or the like.

In some cases, the user input may add a velocity component 518 to the UAV in changing the autonomous flight path 520 of the UAV. The velocity component added may or may not be orthogonal to the autonomous flight path of the UAV. In some cases, the added velocity component may be along the reference plane. For example, the added velocity component may be along the cross section and / or horizontal plane of the UAV. In some cases, the added velocity component may be orthogonal to the UAV's autonomous flight path and along the reference plane. The velocity component added can be a horizontal component that alters the autonomous flight path of the UAV in the horizontal direction. In some cases, the velocity component may be added in conjunction with the rotation of the UAV around the roll axis. In some cases, the velocity component may be added without affecting the rotation of the UAV around the yaw axis. In some cases, the added velocity component may continue to be applied as long as the user input is maintained, as shown by the plurality of velocity components applied over time in FIG. In some cases, the added velocity component may correspond to the degree of user input, eg, the duration of user input or the force of user input (eg, the degree of activation of one or more joysticks). For example, if user input is maintained, the added velocity component can be gradually increased. For example, a longer-acting joystick than a shorter-acting joystick may add a larger velocity component. Correspondence may or may not be linear. In some cases, the added component may change the flight path of the UAV according to any mathematical function, such as a linear function, an exponential function, or the like.

In some cases, the user input may add an acceleration component 522 to the UAV in changing the autonomous flight path 524 of the UAV. The added acceleration component may or may not be orthogonal to the autonomous flight path of the UAV. In some cases, the added acceleration component may be along the reference plane. For example, the added acceleration component may be along the cross section and / or horizontal plane of the UAV. In some cases, the added acceleration component may be orthogonal to the autonomous flight path of the UAV and along the reference plane. The added acceleration component can be a horizontal component that alters the autonomous flight path of the UAV in the horizontal direction. In some cases, the acceleration component may be added in conjunction with the rotation of the UAV around the roll axis. In some cases, the acceleration component may be added without acting on the rotation of the UAV around the yaw axis. In some cases, the added acceleration component may continue to be applied while user input is maintained. In some cases, the added acceleration component may correspond to the degree of user input, eg, the duration of user input or the force of user input (eg, the degree of activation of one or more joysticks). For example, if user input is maintained, the added acceleration component can gradually increase. For example, a longer-acting joystick than a shorter-acting joystick may add a larger acceleration component. Correspondence may or may not be linear. In some cases, the added acceleration component may change the flight path of the UAV according to any mathematical function, such as a linear function, an exponential function, or the like.

In some cases, the actuation of the roll stick may add a directional component, a velocity component, and / or an acceleration component, as described herein above. For example, the control stick 510 can be an example of a roll stick. Alternatively, the control stick 512 may be an example of a roll stick. The operation of the roll stick may add a horizontal velocity component to the UAV. In some cases, the added velocity component may be due to the rotation of the UAV around the roll axis. In some cases, the added velocity component may correspond to the degree of actuation of the roll stick. For example, the roll stick may include a stationary state in which no force is exerted on the roll stick and two fully actuated states in opposite directions. For example, the roll stick may be configured to move left and right. In some cases, the position of the roll stick can be described as being between -1 (fully actuated to the left) and 1 (fully actuated to the right). For example, a roll stick moved half way to the left can contain a position of -0.5, while a roll stick moved half way to the right can contain a position of 0.333. .. In some cases, the velocity component added to the UAV as a result of roll stick operation (eg, horizontal velocity component) can be described by an equation: (1) added velocity component = (roll stick position) x velocity. coefficient. In some cases, the speed factor can be a predetermined speed value, eg, a factory-configured or user-determined value. For example, the predetermined speed values are about 2 m / s or less, about 4 m / s or less, about 6 m / s or less, about 8 m / s or less, about 10 m / s or less, about 12 m / s or less, about 15 m / s or less, It can be about 20 m / s or less, or about 50 m / s or less. In some cases, the velocity factor may depend on the forward velocity of the UAV. For example, forward velocity can refer to the velocity component of the UAV along the autonomous flight path. In FIG. 5, the forward velocity component may refer to the velocity component of the UAV along the direction parallel to the autonomous flight path 508. In some cases, the forward velocity component can refer to the velocity component of the UAV along the roll axis of the UAV. In such a case, the velocity component added to the UAV as a result of the roll stick operation can be described by the equation: (2) added velocity component = (roll stick position) x (forward velocity component) x coefficient. In some cases, the coefficients are about 0.1 or less, about 0.2 or less, about 0.4 or less, about 0.6 or less, about 0.8 or less, about 1 or less, about 2 or less, or about 4 or less. possible. In some cases, the coefficient can be a value equal to about 0.5.

In some cases, the user input may change the flight path of the UAV so that the UAV flies in a curved trajectory towards one or more control sticks. FIG. 13 shows a UAV flying in a curved orbit in response to the activation of one or more control sticks according to an embodiment. In some cases, user input may act on the rotation of the UAV around the yaw axis of the UAV so that the UAV flies in a curved orbit. For example, the control stick 1312 can be an example of a yaw stick. Alternatively, the control stick 1313 can be an example of a yaw stick. In some cases, the speed of the UAV in flight along a preset curved trajectory (eg, tracks 1306, 1308, 1310, etc.) may depend on or be proportional to user input to the yaw stick. Alternatively, the radius of the curve or the degree of rotation of the UAV around the yaw axis may be inversely dependent or inversely proportional to user input to the yaw stick. In some cases, the position of the yaw stick can be described as being substantially between -1 (fully actuated to the left) and 1 (fully actuated to the right), as described for roll sticks. If the user moves the yaw stick fully to the left, the UAV can fly along orbit 1308 with a small radius of curvature, while if the user moves the yaw stick a small amount to the left, the UAV has a large curvature It can fly along a radius of orbit 1306. Similarly, if the user fully activates the yaw stick to the right, the UAV may fly along orbit 1310 with a small radius of curvature.

As provided in FIGS. 5 and 13, the flight path of the UAV during autonomous operation can be intuitively changed. For example, a left actuation of one or more sticks 510, 512 may cause the UAV to move to the left, eg, while maintaining the UAV's autonomous flight so that the UAV maintains its movement towards the target. The flight path of the UAV can be changed as described above. For example, operating one or more control sticks to the right (eg, via input from the user) may change the flight path of the UAV so that it moves to the right.

In some cases, the additional components referred to above (eg, direction, velocity, acceleration, etc.) may include vertical components. FIG. 6 shows a side view of an autonomous flight path of a movable object that is changed by user input according to the embodiment. In some cases, the UAV 604 may be flying autonomously towards the target 606, for example, according to a command from the user. Autonomous flight may include autonomous flight path 608. In some cases, the user may provide input (eg, at the user terminal) to change the autonomous flight of the UAV. For example, the user may provide input on a remote controller 602 that includes one or more control sticks 610, 612. In some cases, the control stick may be configured to act on the height of the UAV without acting on the rotation of the UAV around one or more axes of the UAV. Alternatively, the control stick may be configured to act on the height of the UAV via rotation of the UAV around one or more axes.

Substantially as described above, the directional component can be added to the autonomous flight path of the UAV. In some cases, the velocity component 614 (eg, the vertical velocity component) may be added to the UAV in altering the autonomous flight path of the UAV, as shown in embodiment 620. In some cases, the acceleration component 616 (eg, the vertical acceleration component) may be added to the UAV in altering the autonomous flight path of the UAV, as shown in embodiment 630. In some cases, actuation on one or more control sticks (eg, away from the user) is such that the UAV moves vertically upwards, as shown in embodiments 620 and 630. The flight path of the can be changed. Alternatively, actuating under one or more control sticks may alter the flight path of the UAV so that it moves vertically upwards. In some cases, actuating under one or more control sticks (eg, towards the user) may change the flight path of the UAV so that it moves vertically down. Alternatively, actuation on one or more control sticks may change the flight path of the UAV so that the UAV moves vertically down.

In some cases, the control stick configured to act on the height of the UAV can be a throttle stick. For example, the control stick 610 can be a throttle stick. Alternatively, the control stick 612 can be an example of a throttle stick. The operation of the throttle stick may add a vertical velocity component to the UAV. In some cases, the added speed component may correspond to the degree of throttle stick actuation. For example, the throttle stick may include a stationary state in which no force is exerted on the throttle stick and two fully actuated states in opposite directions. For example, the throttle stick may be configured to be movable both (1) upwards and (2) downwards as indicated by direction 609. In some cases, the position of the throttle stick can be described as being between -1 (fully actuated down) and 1 (fully actuated up). For example, a throttle stick that has been moved halfway down can contain a position of -0.5, while a roll stick that has been moved up one-third can contain a position of 0.333. .. In some cases, the velocity component added to the UAV as a result of throttle stick activation (eg, vertical velocity component) can be described by an equation: (1) added velocity component = (throttle stick position) x velocity. coefficient. A negative velocity can indicate that the UAV is moving down, while a positive velocity component can indicate that the UAV is moving up. In some cases, the speed factor can be a predetermined speed value, eg, a factory-configured or user-determined value. For example, the predetermined speed values are about 2 m / s or less, about 4 m / s or less, about 6 m / s or less, about 8 m / s or less, about 10 m / s or less, about 12 m / s or less, about 15 m / s or less, It can be about 20 m / s or less, or about 50 m / s or less. In some cases, the given velocity value can be equal to about 3 m / s. In some cases, the velocity factor may depend on the forward velocity of the UAV. For example, forward velocity can refer to the velocity component of the UAV along the autonomous flight path. In FIG. 6, the forward velocity component may refer to the velocity component of the UAV along the direction parallel to the autonomous flight path 608. In some cases, the forward velocity component can refer to the velocity component of the UAV along the roll axis of the UAV. In such a case, the velocity component added to the UAV as a result of the operation of the throttle stick can be described by the equation: (2) added velocity component = (roll stick position) x (forward velocity component) x coefficient. A negative velocity can indicate that the UAV is moving down, while a positive velocity component can indicate that the UAV is moving up. In some cases, the coefficients are about 0.1 or less, about 0.2 or less, about 0.4 or less, about 0.6 or less, about 0.8 or less, about 1 or less, about 2 or less, or about 4 or less. possible. In some cases, the coefficient can be a value equal to about 0.5.

In some cases, components (eg, velocity components, acceleration components, etc.) may be added without acting on the UAV's flight path. FIG. 14 shows a top-down view of an unmanned aerial vehicle moving at an increased or decreased speed along an autonomous flight path according to an embodiment. In some cases, user input may change the speed or acceleration of the UAV during autonomous flight without acting on the orbit or flight path. In some cases, user input affecting the speed of the UAV may be received via one or more control sticks.

In some cases, the control stick configured to act on the speed of the UAV without acting on the flight path of the UAV can be a pitch stick. For example, the control stick 1402 can be an example of a pitch stick. Alternatively, the control stick 1403 can be an example of a pitch stick. The operation of the pitch stick can act or alter, for example, the speed of the UAV along the roll axis of the UAV. In some cases, the speed of the UAV can increase or decrease depending on the degree of operation of the pitch stick. For example, the pitch stick may include a stationary state in which no force is exerted on the pitch stick and two fully actuated states in opposite directions. For example, the pitch stick may be configured to be movable downwards and upwards as indicated by direction 1404. In some cases, the position of the pitch stick can be described as being between -1 (fully actuated down) and 1 (fully actuated up). For example, a pitch stick that has been moved halfway down can contain a position of -0.5, while a roll stick that has been moved up one-third can contain a position of 0.333. .. In some cases, the velocity component of the UAV as a result of the operation of the pitch stick (eg, along an autonomous flight path or roll direction) can be described by an equation as shown in embodiment 1406: (1) velocity component. = (Pitch stick position) x velocity coefficient + (basic flight speed). In some cases, the speed factor can be a predetermined speed value, eg, a factory-configured or user-determined value. For example, the predetermined speed values are about 2 m / s or less, about 4 m / s or less, about 6 m / s or less, about 8 m / s or less, about 10 m / s or less, about 12 m / s or less, about 15 m / s or less, It can be about 20 m / s or less, or about 50 m / s or less. In some cases, the base flight speed can be a predetermined base flight speed, eg, a factory-configured or user-determined value. For example, the predetermined basic flight speed is about 2 m / s or less, about 4 m / s or less, about 6 m / s or less, about 8 m / s or less, about 10 m / s or less, about 12 m / s or less, about 12 m / s or less. It can be 15 m / s or less, about 20 m / s or less, or about 50 m / s or less. In some cases, the velocity component of the UAV as a result of the operation of the pitch stick (eg, along the autonomous flight path or roll direction) can be described by the equation as shown in embodiment 1408: (2) velocity component. = (Pitch stick position + 1) x (basic flight speed) x coefficient. In some cases, the coefficients are about 0.1 or less, about 0.2 or less, about 0.4 or less, about 0.6 or less, about 0.8 or less, about 1 or less, about 2 or less, or about 4 or less. possible. In some cases, the coefficient can be a value equal to about 1.

In some embodiments, different control sticks can change the flight path of the moving object differently. For example, the actuation of the roll stick can affect the rotation of the UAV around the roll axis, which can add a horizontal velocity component to the UAV to alter the autonomous flight path of the UAV, while actuating the yaw stick. Can act on the rotation of the UAV around the yaw axis, which can add an acceleration (eg, centripetal acceleration) component to the UAV to alter the autonomous flight path of the UAV. For example, the actuation of the throttle stick can change the autonomous flight path of the UAV by adding a vertical velocity component to the UAV, while the actuation of the pitch stick can affect the velocity of the UAV around the roll axis.

In some cases, the degree of user input may correspond to the amount by which the autonomous flight of the UAV is modified. The degree of user input may correspond to the duration of user input. For example, the rotation of the UAV around one or more of the axes of the UAV may be increased in response to continuous input from the user (eg, continuous operation of one or more control sticks). For example, the added directional component, velocity component, and / or acceleration component may continue to increase depending on the amount of time the one or more control sticks have been activated. In some cases, the degree of user input may correspond to the power of user input. FIG. 7 shows that, according to the embodiment, the force input by the user proportionally changes the autonomous flight of the movable object. In some cases, the degree of user input may correspond to the amount of force exerted by the user in providing the user input. In some cases, the degree of user input may correspond to how much the input device (eg, one or more control sticks) has been activated. During the first time period 701, the degree of user input may be the first level 703. Therefore, the autonomous flight path 704 of the UAV 706 can be modified by a first degree, as indicated by the modified flight path 705. During the second time period 707, the degree of user input may be the second level 709. For example, the user may exert a greater force on the control stick, or may further activate the control stick. Therefore, the autonomous flight path of the UAV can be modified by a second degree, as indicated by the second modified flight path 711. In some cases, the correspondence can be linear. For example, if the user exerts twice the amount of force, or operates the control stick twice as far away, the velocity component added to the UAV can be doubled compared to before, and the UAV's flight path. Can be changed by a double amount. Alternatively, the correspondence does not have to be linear. In some cases, the relationship between the operation of one or more control sticks and the behavior of the UAV can be as described herein with respect to, for example, roll sticks, pitch sticks, and yaw sticks.

In some cases, the autonomous flight of the UAV can be modified in consideration of various other factors (eg, in addition to user input). In some cases, various other factors may include environmental factors. Environmental factors can be identified based on one or more sensors mounted on the UAV. For example, the UAV's autonomous flight path takes into account data from proximity sensors or obstacle sensors and allows the desired change by user input (eg, by exposing the UAV to the risk of colliding with a detected obstacle). It may be modified to ensure that the UAV or others are not at risk. For example, the autonomous flight path of the UAV is data from other sensors to ensure that the desired change by user input does not upset the balance of the UAV so that the UAV becomes unstable or out of control. Can be changed in consideration of. Therefore, the user input is mounted on the UAV before a signal is generated and a command is transmitted to one or more propulsion mechanisms to change the autonomous flight path, eg, to ensure stability and safety. It can be processed and interpreted by the flight controller.

In some cases, various factors may refer to the above and may include thresholds. The threshold can be a threshold time and / or a threshold distance. The threshold time and / or the threshold distance can be predetermined. In some cases, the threshold time and / or threshold distance may be configured by the user before and / or during operation of the UAV. FIG. 8 shows the behavior of the UAV when the threshold is reached, according to the embodiment. In some cases, the threshold can be the threshold distance. For example, if the UAV flight path deviates from the original autonomous flight path beyond the threshold distance as a result of user input, further changes to the autonomous flight path can be prevented despite the user input. In some cases, the threshold can be the threshold time. For example, if the UAV flight path deviates from the original autonomous flight path beyond the threshold time as a result of user input, further deviation can be prevented despite the user input.

For example, the UAV812 can fly autonomously. Autonomous flight may include an autonomous flight path 814 towards target 816. While the UAV is flying autonomously towards the target, the user (eg, the operator of the UAV) may modify the autonomous flight, for example by activating one or more control sticks. The UAV can follow the modified flight path 818 as a result of user input. In some cases, when the UAV reaches a threshold distance of 819 away from the original autonomous flight path, the user input no longer commands the UAV to deviate from the autonomous flight path 814. For example, the UAV can only maintain a threshold distance of 819 from the autonomous flight path 814, as shown in embodiment 810, even when user input continues. For example, when the UAV reaches a threshold distance as a result of user input, the UAV may begin moving towards the target 826, as shown in embodiment 820. In some cases, when the UAV reaches a threshold distance as a result of user input, the UAV may begin moving towards the original autonomous flight path 824 before moving towards the target. In some cases, when the UAV reaches a threshold distance as a result of user input, autonomous flight of the UAV may be interrupted as shown in embodiment 830. The UAV may then hover at position 832, or may land at or near a position where the distance threshold has been reached. In some cases, the user may be required to manually control the UAV after the UAV has reached a threshold distance away from the autonomous flight path.

In some cases, an alert may be sent to the user when the threshold distance is reached. The alert can be a visual alert, an audible alert, and / or a tactile alert. In some cases, alerts can be sent to the user terminal. The alert may notify the user that the user is at a threshold distance. In some cases, the alert may notify the user that continuation of user input and / or deviation from the original autonomous flight path leads to the end of autonomous flight. In some cases, alerts may be sent when the threshold distance is reached, but the autonomous flight of the UAV may continue to be modified by user input. In some cases, alerts may be sent when the threshold distance is reached, and further changes in flight path may be blocked as described above in embodiments 810, 820, or 830. In some cases, the behavior of the UAV may depend on more than one threshold. For example, the behavior of the UAV after the release of user input may depend on both the threshold time and the threshold distance. For example, the behavior of the UAV during user input can act on a first threshold distance (or time) and a second threshold distance (or time). In some cases, the UAV may alert the user when deviating from the autonomous flight path by a first threshold distance, further when a second threshold distance greater than the first threshold distance is reached. It can prevent deviation.

Although the threshold distance has been discussed primarily herein, it should be understood that the above considerations may apply equally to the threshold time. For example, if the UAV deviates from the autonomous flight path for a duration longer than the threshold time, the UAV can be forced back into the original autonomous flight path and then allowed to deviate again. In some cases, if the UAV's flight path deviates from the autonomous flight path for a duration longer than the threshold time, an alert may be sent to the user, as described above.

The change of the autonomous flight path can be maintained only for a period of time during which the user input is maintained. Alternatively, the change in autonomous flight path can be maintained after user input. FIG. 9 shows the behavior of the UAV after the user input for changing the autonomous flight of a moving object according to the embodiment is released. In each of the configurations 910, 920, 930, 940, and 950, user input for changing the autonomous flight path can be received over a time period of T1. User input may be released after that time period. After release, the movable object can move autonomously and fly towards the target (eg, the target object and / or the target destination) as shown by embodiments 910 and 920. In some cases, the UAV may calculate the shortest flight path between the UAV and the target (eg, autonomously) and generate a new autonomous flight path 912 to be taken in moving towards the target. In some cases, the UAV may return to its original autonomous flight path 922 and continue autonomous flight towards the target. Alternatively, after release, the UAV may continue to fly on modified flight path 932. For example, after the yaw stick is activated and subsequently released, the UAV may fly along the new roll direction. In some cases, after release, the UAV may remain at position 942 where the user input was released until further input. For example, the UAV may hover at the position where the user input was released, or land at or near the position where the user input was released. In some cases, after release, the UAV may take a new autonomous flight path 952. The new autonomous flight path can be parallel to the original autonomous flight path. Alternatively, the new autonomous flight path can be at any angle with respect to the original autonomous flight path.

In some cases, the behavior of the UAV after the release of user input (eg, changing the autonomous flight path) may depend on the threshold. The threshold can be a threshold time and / or a threshold distance. For example, if the user input is provided for a duration longer than the threshold time, the UAV may continue the modified autonomous flight path after the release of the user input, as shown in configuration 930. However, if the user input is provided for a duration less than the threshold time, the UAV may act autonomously towards the target, as shown in configuration 910 or 920. In some cases, if the user input is provided for a duration less than the threshold time, the UAV may remain in the released position until further instructions are given, as shown in configuration 940. .. The threshold distance and / or the threshold time can be determined in advance. In some cases, the threshold distance and / or threshold time may be user-configured before and / or during the operation of the UAV.

Although the threshold time was mainly considered, it should be understood that the above considerations can be equally applicable with respect to the threshold distance. For example, if a user input is provided such that the UAV exceeds the threshold distance and deviates from the original autonomous flight path, then after the release of the user input, the UAV continues the modified autonomous flight path, as shown in configuration 930. Can be. However, if a user input is provided such that the UAV is less than a threshold distance and deviates from the original autonomous flight path, can the UAV act autonomously towards the target as shown in configuration 910 or 920? Alternatively, as shown in configuration 940, the user input may remain in the released position.

Any combination of the various configurations provided herein may be possible. For example, if the user input is provided for a duration less than the threshold time, the UAV may continue the modified autonomous flight path, as shown in configuration 930, while the user input lasts longer than the threshold time. If maintained, the UAV may act autonomously towards the original target, as shown in configuration 910 or 920. In addition, the behavior of the UAV can depend on more than one threshold. For example, the behavior of the UAV after the release of user input may depend on both the threshold time and the threshold distance. For example, the behavior of the UAV after the release of the user input is that the user input is maintained for a duration longer than the first threshold time (or distance) or longer than the second threshold time (or distance). It can depend on whether it is maintained over time.

When the UAV begins to follow the new autonomous flight path, subsequent user input during autonomous flight may change the new autonomous flight path. Alternatively, subsequent user input during autonomous flight may modify the UAV with respect to the original autonomous flight path. FIG. 10 shows a new autonomous flight path of the UAV modified by user input according to the embodiment. Substantially, the UAV1002 can be autonomously flown as described herein. The UAV's autonomous flight may include the original autonomous flight path 1004. During the time period T1, the user input may change the autonomous flight path of the UAV. After the release of user input, the UAV may continue to fly autonomously. In some cases, the UAV may continue autonomous flight using the new autonomous flight path 1006. During the time period T2, a new user input may change the new autonomous flight path of the UAV. In some cases, the change 1008 may be a change with respect to the new autonomous flight path, as shown in embodiment 1010. For example, a directional component can be added to a new autonomous flight path. The directional component can be orthogonal to the new autonomous flight path. In some cases, directional components may be added along a reference plane or horizontal plane, such as the cross section of the UAV. As an alternative or addition, a velocity component may be added to the UAV as it modifies the new autonomous flight path of the UAV. The velocity component can be orthogonal to the new autonomous flight path of the UAV. In some cases, the velocity component may be added along a reference plane or horizontal plane, such as the cross section of the UAV. As an alternative or addition, an acceleration component may be added to the UAV in changing the new autonomous flight path of the UAV. The acceleration component can be orthogonal to the new autonomous flight path of the UAV. In some cases, the acceleration component may be added along a reference plane or horizontal plane, such as the cross section of the UAV.

In some cases, change 1022 may be a change with respect to the original autonomous flight path 1024, as shown in embodiment 1020. For example, a directional component can be added to the original autonomous flight path. The directional component can be orthogonal to the original autonomous flight path. In some cases, directional components may be added along a reference plane or horizontal plane, such as the cross section of the UAV. As an alternative or addition, a velocity component may be added to the UAV as it modifies the new autonomous flight path of the UAV. The velocity component can be orthogonal to the original autonomous flight path of the UAV. In some cases, the velocity component may be added along a reference plane or horizontal plane, such as the cross section of the UAV. As an alternative or addition, an acceleration component may be added to the UAV in changing the new autonomous flight path of the UAV. The acceleration component can be orthogonal to the original autonomous flight path of the UAV. In some cases, the acceleration component may be added along a reference plane or horizontal plane, such as the cross section of the UAV.

In some cases, one or more control sticks described throughout may be used in conjunction with the action of the UAV. For example, one or more control sticks may be used simultaneously or sequentially. In some cases, one or more control sticks may be used together to coordinate the autonomous flight of the UAV. In some cases, yaw sticks can be used with roll sticks, pitch sticks, and / or throttle sticks. In some cases, roll sticks can be used with pitch sticks, throttle sticks, and / or yaw sticks. In some cases, pitch sticks can be used with throttle sticks, yaw sticks, and / or roll sticks. In some cases, throttle sticks can be used with yaw sticks, roll sticks, and / or pitch sticks. In some cases, the user may operate two input means (eg, two control sticks) to affect or alter the behavior of the UAV during autonomous flight. In some cases, the user may operate three, four, five, six, seven, eight, nine, ten, or eleven or more input means to behave during the autonomous flight of the UAV. Can act or change. Input means may include, but are not limited to, control sticks, buttons, accelerometers, voice input devices, etc., as described elsewhere in substance. While the UAV's autonomous flight is taking place, the combination of user inputs provided on the user terminal (eg, on the control stick) can further modify the UAV's autonomous flight in new ways.

For example, while the UAV is in autonomous flight and in flight in a particular direction (eg, under tap-to-go operation), the user of the UAV has a control stick (eg, yaw stick) that acts on the rotation of the UAV around the yaw axis. ) And a control stick (eg, a throttle stick) that acts on the height of the UAV can be operated. In such cases, the UAV can rise or fall in a circular shape. The UAV can spiral up or down if the user's input is maintained on each control stick. For example, while the UAV is in autonomous flight (eg, tap-to-go operation), the user of the UAV has a control stick (eg, yaw stick) that acts on the rotation of the UAV around the yaw axis and controls that act on the speed of the UAV. A stick (eg, a pitch stick) can be operated. In such cases, the UAV's turn can be precisely controlled. For example, the yaw stick may be fully actuated (eg, to the left) while under autonomous flight, while the pitch stick may be fully actuated downward to reduce the speed of the UAV. The radius of curvature can be further reduced than if the yaw stick were activated.

The system provided herein allows the user to quickly traverse the UAV while maintaining total autonomy control (eg, by a flight controller) that allows the UAV to achieve its objectives or continue to fly towards the target. May be changeable. Between autonomous flight and autonomous flight changes so that the burden of manually maneuvering the aircraft to the user can be significantly reduced while still allowing some control by the user at the desired or advantageous time. Seamless transitions are possible. Alternatively or additionally, different user interfaces may allow the user to respond quickly and intuitively to an emergency or unexpected situation (eg, by interrupting or changing autonomous flight).

The systems, devices, and methods described herein can be applied to a wide variety of moving objects. As mentioned earlier, any description of an aviation vehicle herein may apply to any moving object and may be used for any moving object. Movable objects of the invention are in the air (eg, fixed-wing aircraft, rotorcraft, or aircraft without fixed-wing or rotorcraft), underwater (eg, ships or submarines), and on the ground (eg, cars, trucks, buses). , Vans, motor vehicles such as motorcycles, movable structures or frames such as sticks, fishing rods, or trains), underground (eg, subway), space (eg, spacecraft, satellites, or space probes), or these It can be configured to move within any suitable environment, such as any combination of environments. The movable object can be a vehicle, such as a vehicle described elsewhere herein. In some embodiments, the movable object can be mounted on a living body such as a human or an animal. Suitable animals can include birds, avines, cats, horses, cows, ovis aries, pigs, delphines, rodents, or insects.

The movable object may be freely movable in the environment with respect to 6 degrees of freedom (eg, 3 degrees of freedom for translation and 3 degrees of freedom for rotation). Alternatively, the movement of a movable object can be constrained with respect to one or more degrees of freedom, such as by a predetermined path, path, or orientation. The movement can be actuated by any suitable actuating mechanism such as an engine or motor. The working mechanism of a moving object can be powered by any suitable energy source such as electrical energy, magnetic energy, solar energy, wind energy, gravity energy, chemical energy, nuclear energy, or any suitable combination thereof. .. Movable objects can be self-propelled through a propulsion system, as described elsewhere herein. The propulsion system can optionally be driven by an energy source such as electrical energy, magnetic energy, solar energy, wind power energy, gravity energy, chemical energy, nuclear energy, or any suitable combination thereof. Alternatively, the movable object can be carried by the living body.

In some examples, the moving object can be an aircraft. Suitable vehicles may include surface vehicles, aviation vehicles, space vehicles, or ground vehicles. For example, an aircraft may be a fixed-wing aircraft (eg, an airplane, a glider), a rotary-wing aircraft (eg, a helicopter, a rotorcraft), an aircraft with both fixed and rotary wings, or an aircraft without none (eg, It can be an aircraft, a hot air balloon). The vehicle can be self-propelled, such as self-propelled in the air, on the water, underwater, in outer space, above ground, or underground. Self-propelled vehicles utilize propulsion systems such as propulsion systems that include one or more engines, motors, wheels, axles, magnets, rotors, propellers, wings, nozzles, or any suitable combination thereof. Can be done. In some cases, propulsion systems are used to take off moving objects from the surface, land on the surface, maintain their current position and / or orientation (eg, hover), reorient, and / Or the position can be changed.

The movable object can be controlled remotely by the user, or can be controlled locally by the passenger in or on the movable object. In some embodiments, the movable object is an unmanned movable object such as a UAV. An unmanned movable object such as a UAV does not have to have a passenger mounted on the movable object. Movable objects can be controlled by humans, by autonomous control systems (eg, computer control systems), or by any suitable combination thereof. The movable object can be an autonomous or semi-autonomous robot such as a robot having artificial intelligence.

Movable objects can have any suitable size and / or dimensions. In some embodiments, it may be of a size and / or size such that it has a human occupant in or on the vehicle. Alternatively, the movable object may be smaller in size and / or size capable of having a human occupant in or on the vehicle. Movable objects can be of a size and / or size suitable for being lifted or carried by humans. Alternatively, the movable object may be larger than the size and / or size suitable for being lifted or carried by a human. In some cases, the movable object has a maximum dimension of about 2 cm, about 5 cm, about 10 cm, about 50 cm, about 1 m, about 2 m, about 5 m, or about 10 m or less (eg, length, width, height, diameter, etc. Diagonal) can have. The maximum dimensions can be about 2 cm, about 5 cm, about 10 cm, about 50 cm, about 1 m, about 2 m, about 5 m, or about 10 m or more. For example, the distance between the shafts of the opposing rotors of a movable object can be about 2 cm, about 5 cm, about 10 cm, about 50 cm, about 1 m, about 2 m, about 5 m, or about 10 m or less. Alternatively, the distance between the shafts of the opposing rotors can be about 2 cm, about 5 cm, about 10 cm, about 50 cm, about 1 m, about 2 m, about 5 m, or about 10 m or more.

In some embodiments, the movable object may have a volume of less than 100 cm x 100 cm x 100 cm, less than 50 cm x 50 cm x 30 cm, or less than 5 cm x 5 cm x 3 cm. The total volume of movable objects is about 1 cm ³ or less, about 2 cm ³ or less, about 5 cm ³ or less, about 10 cm ³ or less, about 20 cm ³ or less, about 30 cm ³ or less, about 40 cm ³ or less, about 50 cm ³ or less, about 60 cm ³ or less, about 70cm ³ or less, about 80cm ³ or less, about 90cm ³ or less, about 100cm ³ or less, about 150cm ³ or less, about 200cm ³ or less, about 300cm ³ or less, about 500cm ³ or less, about 750cm ³ or less, about 1000cm ³ or less, about 5000 cm ³ or less, about 10,000 cm ³ or less, about 100,000 ³ below, it may be about 1 m ³ or less, or about 10 m ³ or less. On the contrary, the total volume of movable objects is about 1 cm ³ or more, about 2 cm ³ or more, about 5 cm ³ or more, about 10 cm ³ or more, about 20 cm ³ or more, about 30 cm ³ or more, about 40 cm ³ or more, about 50 cm ³ or more, about 60cm ³ or more, about 70cm ³ or more, about 80 cm ³ or more, about 90cm ³ or more, about 100 cm ³ or more, about 150 cm ³ or more, about 200 cm ³ or more, about 300 cm ³ or more, about 500 cm ³ or more, about 750 cm ³ or more, about 1000 cm ³ or more, about 5000 cm ³ or more, about 10,000 cm ³ or more, about 100,000 ³ or more, about 1 m ³ or more, or about 10 m ³ or more.

In some embodiments, the movable object is about 32,000Cm ² or less, about 20,000 cm ² or less, about 10,000 cm ² or less, about 1,000 cm ² or less, about 500 cm ² or less, about 100 cm ² or less, about It can have an installation area of 50 cm ² or less, about 10 cm ² or less, or about 5 cm ² or less (which can be referred to as the lateral cross-sectional area included by the movable object). Conversely, footprint, of about 32,000Cm ² or more, about 20,000 cm ² or more, about 10,000 cm ² or more, about 1,000 cm ² or more, about 500 cm ² or more, about 100 cm ² or more, about 50 cm ² or more, It can be about 10 cm ² or more, or about 5 cm ² or more.

In some cases, the movable object can weigh less than 1000 kg. The weight of the movable object is about 1000 kg or less, about 750 kg or less, about 500 kg or less, about 200 kg or less, about 150 kg or less, about 100 kg or less, about 80 kg or less, about 70 kg or less, about 60 kg or less, about 50 kg or less, about 45 kg or less, About 40 kg or less, about 35 kg or less, about 30 kg or less, about 25 kg or less, about 20 kg or less, about 15 kg or less, about 12 kg or less, about 10 kg or less, about 9 kg or less, about 8 kg or less, about 7 kg or less, about 6 kg or less, about 5 kg Hereinafter, it may be about 4 kg or less, about 3 kg or less, about 2 kg or less, about 1 kg or less, about 0.5 kg or less, about 0.1 kg or less, about 0.05 kg or less, or about 0.01 kg or less. On the contrary, the weight is about 1000 kg or more, about 750 kg or more, about 500 kg or more, about 200 kg or more, about 150 kg or more, about 100 kg or more, about 80 kg or more, about 70 kg or more, about 60 kg or more, about 50 kg or more, about 45 kg or more. About 40 kg or more, about 35 kg or more, about 30 kg or more, about 25 kg or more, about 20 kg or more, about 15 kg or more, about 12 kg or more, about 10 kg or more, about 9 kg or more, about 8 kg or more, about 7 kg or more, about 6 kg or more, about 5 kg As mentioned above, it may be about 4 kg or more, about 3 kg or more, about 2 kg or more, about 1 kg or more, about 0.5 kg or more, about 0.1 kg or more, about 0.05 kg or more, or about 0.01 kg or more.

In some embodiments, the movable object may be smaller relative to the load carried by the movable object. The load may include a load and / or a support mechanism, as described in more detail below. In some examples, the ratio of the weight of the moving object to the weight of the load may be greater than, less than, or equal to about 1: 1. In some cases, the ratio of the weight of the moving object to the weight of the load may be greater than, less than, or equal to about 1: 1. Optionally, the ratio of the weight of the support mechanism to the weight of the load may be greater than, less than, or equal to about 1: 1. If desired, the ratio of the weight of the moving object to the weight of the load is 1: 2 or less, 1: 3 or less, 1: 4 or less, 1: 5 or less, 1:10 or less, or less. obtain. On the contrary, the ratio of the weight of the movable object to the weight of the load shall be 2: 1 or more, 3: 1 or more, 4: 1 or more, 5: 1 or more, 10: 1 or more, or a larger ratio. You can also.

In some embodiments, the moving object may have low energy consumption. For example, the movable object may use values less than about 5 W / h, less than about 4 W / h, less than about 3 W / h, less than about 2 W / h, less than about 1 W / h, or less. In some cases, the moving object support mechanism may have low energy consumption. For example, the support mechanism may use values less than about 5 W / h, less than about 4 W / h, less than about 3 W / h, less than about 2 W / h, less than about 1 W / h, or less. Optionally, the payload of the movable object is less than about 5 W / h, less than about 4 W / h, less than about 3 W / h, less than about 2 W / h, less than about 1 W / h, or less. Can have low energy consumption.

FIG. 11 shows an unmanned aerial vehicle (UAV) 1100 according to an embodiment. The UAV may be an example of a moving object to which a method and device for discharging a battery assembly can be applied, as described herein. The UAV1100 can include a propulsion system with four rotors 1102, 1104, 1106, and 1108. Any number of rotors may be provided (eg, one, two, three, four, five, six, or seven or more). Rotorcraft, rotorcraft assemblies, or other propulsion systems for unmanned aerial vehicles may allow unmanned aerial vehicles to hover / maintain position, reorient, and / or reposition. The distance between the shafts of the opposing rotors can be any suitable length 1110. For example, the length 1110 can be 2 m or less or 5 m or less. In some embodiments, the length 1110 can be in the range of 40 cm to 1 m, 10 cm to 2 m, or 5 cm to 5 m. Any description of the UAV herein may apply to moving objects such as different types of moving objects and vice versa. UAVs may use assisted takeoff systems or methods as described herein.

FIG. 12 is a schematic block diagram of a system 1200 for controlling a movable object according to an embodiment. The system 1200 can be used in combination with any suitable embodiment of the systems, devices, and methods disclosed herein. The system 1200 can include a sensing module 1202, a processing unit 1204, a non-temporary computer readable medium 1206, a control module 1208, and a communication module 1210.

Sensing module 1202 can utilize different types of sensors that collect information related to moving objects in different ways. Different types of sensors may sense signals of different types or signals from different sources. For example, the sensor can include an inertial sensor, a GPS sensor, a proximity sensor (eg, a rider), or a vision / image sensor (eg, a camera). The sensing module 1202 can be operably connected to a processing unit 1204 having a plurality of processors. In some embodiments, the sensing module can be operably connected to a transmitting module 1212 (eg, a Wi-Fi image transmitting module) configured to transmit the sensing data directly to a suitable external device or system. .. For example, the transmission module 1212 can be used to transmit the image captured by the camera of the sensing module 1202 to the remote terminal.

The processing unit 1204 can have one or more processors such as a programmable processor (eg, central processing unit (CPU)). The processing unit 1204 can be operably connected to a non-transitory computer-readable medium 1206. The non-transient computer-readable medium 1206 can store logic, code, and / or program instructions that can be executed by processing unit 1204 to perform one or more steps. Non-temporary computer-readable media can include one or more memory units (eg, removable media such as SD cards or random access memory (RAM) or external storage). In some embodiments, the data from the sensing module 1202 is transmitted directly to and stored in the memory unit of the non-transitory computer-readable medium 1206. The memory unit of the non-transient computer-readable medium 1206 is executable by processing unit 1204 and stores logic, code, and / or program instructions that execute any suitable embodiment according to the methods described herein. be able to. For example, the processing unit 1204 can be configured to cause one or more processors of the processing unit 1204 to execute an instruction to analyze the sensing data generated by the sensing module. The memory unit can store the sensing data from the sensing module processed by the processing unit 1204. In some embodiments, the memory unit of the non-transitory computer-readable medium 1206 can be used to store the processing results generated by the processing unit 1204.

In some embodiments, the processing unit 1204 can be operably connected to a control module 1208 configured to control the state of a moving object. For example, control module 1208 can be configured to control the propulsion mechanism of a movable object so as to adjust the spatial arrangement, velocity, and / or acceleration of the movable object with respect to six degrees of freedom. Alternatively, or in combination, control module 1208 can control one or more of the states of the support mechanism, payload, or sensing module.

The processing unit 1204 is operably connected to a communication module 1210 configured to transmit and / or receive data from one or more external devices (eg, a terminal, display device, or other remote controller). Can be done. Any suitable communication means such as wired communication or wireless communication may be used. For example, the communication module 1210 may be one or more of a local area network (LAN), wide area network (WAN), infrared, wireless, Wi-Fi, point-to-point (P2P) network, telecommunications network, cloud communication, and the like. Can be used. Optionally, a relay station such as a radio tower, satellite, or mobile station can be used. The wireless communication may be proximity-dependent or proximity-independent. In some embodiments, LOF (line-of-sight) may or may not be required for communication. The communication module 1210 transmits and / or receives one or more of the sensing data from the sensing module 1202, the processing result generated by the processing unit 1204, the predetermined control data, the user command from the terminal or the remote controller, and the like. can do.

The components of the system 1200 can be arranged in any suitable configuration. For example, one or more of the components of the system 1200 may be located on a moving object, support mechanism, on-board device, terminal, sensing system, or additional external device that communicates with one or more of the above. it can. Further, FIG. 12 shows one processing unit 1204 and one non-transient computer-readable medium 1206, which is not intended to be limiting and the system 1200 includes a plurality of processing units and / or non-transitory computer-readable media. Those skilled in the art understand that they can. In some embodiments, one or more of the plurality of processing units and / or non-transitory computer-readable media are in different locations, such as movable objects, support mechanisms, payloads, terminals, sensing modules, among the above. Any suitable embodiment of the processing and / or memory function performed by the system 1200 can be placed on an additional external device that communicates with one or more, or a suitable combination thereof, at the location described above. It can be done with one or more of them.

As used herein, A and / or B includes one or more of A or B and combinations thereof such as A and B. Terms such as "first," "second," and "third" may be used herein to describe various elements, components, areas, and / or sections. It is understood that the elements, components, areas, and / or sections of are not limited by these terms. These terms are used solely to distinguish one element, component, area, or section from another element, component, area, or section. Therefore, the first element, component, area, or section described later can be referred to as a second element, component, area, or section without departing from the teachings of the present invention.

The terms used herein are solely for the purpose of specifically describing embodiments and are not intended to limit the invention. As used herein, the singular forms "a," "an," and "the" are intended to include the plural forms as well, unless the context clearly indicates otherwise. To. When the terms "equipped" and / or "equipped" or "contains" and / or "contains" are used herein, the features, areas, perfections, steps, actions, elements mentioned. , And / or specifying components, but not excluding the existence or addition of one or more other features, areas, perfections, steps, actions, elements, components, and / or groups thereof. Understood.

In addition, relative terms such as "bottom" or "bottom" and "top" or "top" are used herein to describe the relationship of one element to another, as shown in the figures. Can be used. It is understood that the relative terminology is intended to include the various orientations of the element in addition to the orientations shown in the figure. For example, if one element in the figure is inverted, the element described as being on the "bottom" side of the other element is directed to the "up" side of the other element. Thus, the exemplary term "down" can include both "down" and "up" orientations, depending on the particular orientation of the figure. Similarly, if one element in the figure is inverted, the element described as being "below" or "directly below" the other element is directed "above" the other element. Thus, the exemplary term "down" or "directly below" can include both up and down orientations.

Although preferred embodiments of the present invention have been shown and described herein, it will be apparent to those skilled in the art that such embodiments are provided merely by way of example. Many modifications, changes, and substitutions will be recalled to those skilled in the art without departing from the present invention. It should be understood that various alternatives to the embodiments of the invention described herein are available in carrying out the invention. Many different combinations of embodiments described herein are possible and such combinations are considered part of this disclosure. In addition, all features discussed in connection with any one embodiment herein can be readily adapted for use in other embodiments herein. It is intended that the following claims define the scope of the invention, thereby including the scope of these claims and the methods and structures within their equivalents.

Claims (578)

A system that modifies the autonomous flight of unmanned aerial vehicles (UAVs)
A first user interface configured to receive a first user input, the first user input providing one or more instructions for autonomous flight of the UAV. User interface and
A second user interface configured to receive a second user input, wherein the second user input provides one or more instructions to modify the autonomous flight of the UAV. A system with two user interfaces. The system according to claim 1, wherein the autonomous flight is a flight toward a target. The system according to claim 2, wherein the target is a target object or a target destination. The system according to claim 1, wherein the autonomous flight is a flight to a predetermined position. The system according to claim 1, wherein the autonomous flight is an autonomous return of the UAV. The system of claim 1, wherein the autonomous flight is autonomous navigation along one or more waypoints. The system according to claim 1, wherein the autonomous flight is an autonomous flight to a target point. The system according to claim 1, wherein the autonomous flight is a flight along a preset trajectory or a preset direction. The system according to claim 1, wherein the autonomous flight is a flight along an autonomously planned orbit. The system according to claim 1, wherein the autonomous flight is a flight along a user-configured orbit. The system according to claim 1, wherein the autonomous flight is a flight to a position tapped on the map of the first user interface. The system of claim 1, wherein the autonomous flight tracks a target object. The system of claim 1, wherein the first user interface is located in a first device and the second user interface is located in a second device. 13. The system of claim 13, wherein the first device or the second device is a handheld device or mobile device. 14. The system of claim 14, wherein the handheld device or mobile device comprises a mobile phone, tablet, or PDA. 13. The system of claim 13, wherein the second device is a remote controller. 13. The system of claim 13, wherein the first device and the second device are operably connected to each other. The system according to claim 17, wherein the first device and the second device are connected via a wireless connection. The system according to claim 17, wherein the first device and the second device are connected via a wired connection. The system according to claim 1, wherein the first user interface and the second user interface are arranged in one device. The system according to claim 1, wherein the first user interface includes a touch screen. 21. The system of claim 21, wherein the first user input is received via a user tap on the touch screen. The system according to claim 1, wherein the first user interface displays the position of the UAV on a two-dimensional map. The system of claim 1, wherein the first user interface is configured to display an image received from a camera connected to the UAV. The system of claim 1, wherein the second user interface comprises one or more operable mechanisms. 25. The system of claim 25, wherein the one or more mechanisms include one or more control sticks. 26. The system of claim 26, wherein the one or more control sticks include roll sticks configured to act on the rotation of the UAV around a roll axis. 26. The system of claim 26, wherein the operation of the one or more control sticks is configured to add a directional component orthogonal to the autonomous flight path of the UAV, the added directional component being along a horizontal plane. 28. The system of claim 28, wherein the degree of operation corresponds to the magnitude of the directional component. 26. The system of claim 26, wherein the operation of the one or more control sticks is configured to add a velocity component orthogonal to the autonomous flight path of the UAV, the added velocity component being along a horizontal plane. 30. The system of claim 30, wherein the degree of operation corresponds to the magnitude of the velocity component. 26. The system of claim 26, wherein the operation of the one or more control sticks is configured to add an acceleration component to the autonomous flight path of the UAV. The system according to claim 32, wherein the degree of operation corresponds to the magnitude of the acceleration component. 26. The system of claim 26, wherein the one or more control sticks include a yaw stick configured to act on the rotation of the UAV around the yaw axis. 26. The system of claim 26, wherein the actuation of the one or more control sticks is configured to add centripetal acceleration to the UAV. 35. The system of claim 35, wherein the degree of actuation corresponds inversely to the size of the radius of the orbital arc of the UAV. 26. The system of claim 26, wherein the one or more control sticks are used to stop the autonomous flight. The system according to claim 1, wherein the first user interface displays an autonomous flight path of the UAV. 38. The system of claim 38, wherein the first user interface displays the modified flight path of the UAV. The system of claim 1, wherein the second user input modifies the autonomous flight of the UAV over the duration of the second user input. The system according to claim 1, wherein the second user input changes the altitude of the UAV. The system according to claim 1, wherein the second user input changes the trajectory of the UAV. The system according to claim 1, wherein the second user input changes the speed of the UAV. The system according to claim 1, wherein the second user input changes the acceleration of the UAV. The system according to claim 1, wherein the autonomous flight of the UAV is modified in response to the second user input in consideration of further environmental factors. The system of claim 45, wherein the environmental factor is identified based on one or more sensors mounted on the UAV. 46. The system of claim 46, wherein the one or more sensors includes a camera. The system of claim 1, wherein the autonomous flight of the UAV is modified by a flight controller that takes into account the second user input. After receiving and releasing the second user input, the UAV flies along the flight path it was flying before receiving the one or more commands that modify the autonomous flight of the UAV. The system according to claim 1, wherein the system is configured as follows. After receiving and releasing the second user input, the UAV has a new flight path that is different from the flight path it was flying before receiving the one or more commands that modify the autonomous flight of the UAV. The system of claim 1, wherein the system is configured to fly along a path. A way to change the autonomous flight of an unmanned aerial vehicle (UAV)
The first user input is to be received in the first user interface, the first user input providing one or more instructions for autonomous flight of the UAV. To receive and
The second user input is to receive the second user input in the second user interface, the second user input providing one or more instructions to modify the autonomous flight of the UAV. Methods, including receiving input. 51. The method of claim 51, wherein the autonomous flight is a flight towards a target. 52. The method of claim 52, wherein the target is a target object or a target destination. 51. The method of claim 51, wherein the autonomous flight is a flight to a predetermined position. 51. The method of claim 51, wherein the autonomous flight is an autonomous return of the UAV. 51. The method of claim 51, wherein the autonomous flight is autonomous navigation along one or more waypoints. The method according to claim 51, wherein the autonomous flight is an autonomous flight to a target point. 51. The method of claim 51, wherein the autonomous flight is a flight along a preset trajectory or a preset direction. 51. The method of claim 51, wherein the autonomous flight is an autonomously planned flight along an orbit. The method according to claim 51, wherein the autonomous flight is a flight along a user-configured orbit. 51. The method of claim 51, wherein the autonomous flight is a flight to a position tapped on the map of the first user interface. 51. The method of claim 51, wherein the autonomous flight tracks a target object. 51. The method of claim 51, wherein the first user interface is located in a first device and the second user interface is located in a second device. 63. The method of claim 63, wherein the first device or the second device is a handheld device or a mobile device. 64. The method of claim 64, wherein the handheld device or mobile device comprises a mobile phone, tablet, or PDA. The method of claim 63, wherein the second device is a remote controller. 63. The method of claim 63, wherein the first device and the second device are operably connected to each other. 67. The method of claim 67, wherein the first device and the second device are connected via a wireless connection. 67. The method of claim 67, wherein the first device and the second device are connected via a wired connection. 51. The method of claim 51, wherein the first user interface and the second user interface are located in one device. 51. The method of claim 51, wherein the first user interface comprises a touch screen. The method of claim 71, wherein the first user input is received via the user tap on the touch screen. 51. The method of claim 51, wherein the first user interface is configured to indicate the location of the UAV on a two-dimensional map. 51. The method of claim 51, wherein the first user interface is configured to display an image received from a camera connected to the UAV. 51. The method of claim 51, wherein the second user interface comprises one or more operable mechanisms. The method of claim 75, wherein the one or more mechanisms comprises one or more control sticks. 76. The method of claim 76, wherein the one or more control sticks include a roll stick configured to act on the rotation of the UAV around the roll axis. The method of claim 76, wherein the operation of the one or more control sticks is configured to add a directional component orthogonal to the autonomous flight path of the UAV, the added directional component being along a horizontal plane. The method of claim 78, wherein the degree of operation corresponds to the magnitude of the directional component. The method of claim 76, wherein the operation of the one or more control sticks is configured to add a velocity component orthogonal to the autonomous flight path of the UAV, the added velocity component being along a horizontal plane. The method of claim 80, wherein the degree of operation corresponds to the magnitude of the velocity component. 76. The method of claim 76, wherein the operation of the one or more control sticks is configured to add an acceleration component to the autonomous flight path of the UAV. The method of claim 82, wherein the degree of operation corresponds to the magnitude of the acceleration component. 76. The method of claim 76, wherein the one or more control sticks include a yaw stick configured to act on the rotation of the UAV around the yaw axis. 76. The method of claim 76, wherein the actuation of the one or more control sticks is configured to add an centripetal acceleration to the UAV. 85. The method of claim 85, wherein the degree of actuation corresponds inversely to the size of the radius of the orbital arc of the UAV. The method of claim 76, wherein the one or more control sticks are used to stop the autonomous flight. 51. The method of claim 51, further comprising displaying the autonomous flight path of the UAV on the first user interface. 88. The method of claim 88, further comprising displaying the modified flight path of the UAV on the first user interface. 51. The method of claim 51, wherein the second user input modifies the autonomous flight of the UAV over the duration of the second user input. 51. The method of claim 51, wherein the second user input changes the altitude of the UAV. 51. The method of claim 51, wherein the second user input changes the trajectory of the UAV. 51. The method of claim 51, wherein the second user input changes the speed of the UAV. 51. The method of claim 51, wherein the second user input changes the acceleration of the UAV. 51. The method of claim 51, wherein the autonomous flight of the UAV is modified in response to the second user input with further consideration of environmental factors. The method of claim 95, wherein the environmental factor is identified based on one or more sensors mounted on the UAV. The method of claim 96, wherein the one or more sensors comprises a camera. 51. The method of claim 51, wherein the autonomous flight of the UAV is modified by a flight controller that takes into account the second user input. After the one or more commands change the autonomous flight of the UAV, the UAV was flying before receiving the one or more commands to change the autonomous flight of the UAV. 51. The method of claim 51, which is configured to fly along. After the one or more commands change the autonomous flight of the UAV, the UAV was flying before receiving the one or more commands to change the autonomous flight of the UAV. 51. The method of claim 51, which is configured to fly along a new flight path different from that of. A non-temporary computer-readable medium that modifies the autonomous flight of unmanned aerial vehicles (UAVs).
The first user input is to be received in the first user interface, the first user input providing one or more instructions for autonomous flight of the UAV. To receive and
The second user input is to receive the second user input on the second user interface, the second user input providing one or more instructions to modify the autonomous flight of the UAV. A non-transitory computer-readable medium containing code, logic, or instructions that receive and do input. The non-transitory computer-readable medium of claim 101, wherein the autonomous flight is a flight towards a target. The non-transitory computer-readable medium according to claim 102, wherein the target is a target object or a target destination. The non-transitory computer-readable medium according to claim 101, wherein the autonomous flight is a flight to a predetermined position. The non-transitory computer-readable medium according to claim 101, wherein the autonomous flight is an autonomous return of the UAV. The non-transitory computer-readable medium of claim 101, wherein the autonomous flight is autonomous navigation along one or more waypoints. The non-transitory computer-readable medium according to claim 101, wherein the autonomous flight is an autonomous flight to a target point. The non-transitory computer-readable medium according to claim 101, wherein the autonomous flight is a flight along a preset trajectory or a preset direction. The non-transitory computer-readable medium according to claim 101, wherein the autonomous flight is an autonomously planned flight along an orbit. The non-transitory computer-readable medium according to claim 101, wherein the autonomous flight is a flight along a user-configured orbit. The non-transitory computer-readable medium according to claim 101, wherein the autonomous flight is a flight to a position tapped on the map of the first user interface. The non-transitory computer-readable medium of claim 101, wherein the autonomous flight tracks a target object. The non-transitory computer-readable medium of claim 101, wherein the first user interface is located on a first device and the second user interface is located on a second device. The non-transitory computer-readable medium according to claim 113, wherein the first device or the second device is a handheld device or a mobile device. The non-transitory computer-readable medium of claim 114, wherein the handheld device or mobile device comprises a mobile phone, tablet, or PDA. The non-transitory computer-readable medium of claim 113, wherein the second device is a remote controller. The non-transitory computer-readable medium according to claim 113, wherein the first device and the second device are operably connected to each other. The non-transitory computer-readable medium according to claim 117, wherein the first device and the second device are connected via a wireless connection. The non-transitory computer-readable medium according to claim 117, wherein the first device and the second device are connected via a wired connection. The non-transitory computer-readable medium according to claim 101, wherein the first user interface and the second user interface are arranged in one device. The non-transitory computer-readable medium of claim 101, wherein the first user interface includes a touch screen. The non-transitory computer-readable medium of claim 121, wherein the first user input is received via a user tap on the touch screen. The non-transitory computer-readable medium of claim 101, wherein the first user interface is configured to indicate the location of the UAV on a two-dimensional map. The non-transitory computer-readable medium of claim 101, wherein the first user interface is configured to display an image received from a camera connected to the UAV. The non-transitory computer-readable medium of claim 101, wherein the second user interface comprises one or more operable mechanisms. The non-transitory computer-readable medium of claim 125, wherein the one or more mechanisms comprises one or more control sticks. The non-transitory computer-readable medium of claim 126, wherein the one or more control sticks include a roll stick configured to act on the rotation of the UAV around the roll axis. The non-temporary according to claim 126, wherein the operation of the one or more control sticks is configured to add a directional component orthogonal to the autonomous flight path of the UAV, the added directional component being along a horizontal plane. Computer-readable medium. The non-transitory computer-readable medium according to claim 128, wherein the degree of operation corresponds to the magnitude of the directional component. The non-temporary operation of the one or more control sticks according to claim 126, wherein the operation of the one or more control sticks is configured to add a velocity component orthogonal to the autonomous flight path of the UAV, the added velocity component being along a horizontal plane. Computer-readable medium. The non-transitory computer-readable medium according to claim 130, wherein the degree of operation corresponds to the magnitude of the velocity component. The non-transitory computer-readable medium of claim 126, wherein the operation of the one or more control sticks is configured to add an acceleration component to the autonomous flight path of the UAV. The non-transitory computer-readable medium according to claim 132, wherein the degree of operation corresponds to the magnitude of the acceleration component. The non-transitory computer-readable medium of claim 126, wherein the one or more control sticks include a yaw stick configured to act on the rotation of the UAV around the yaw axis. The non-transitory computer-readable medium of claim 126, wherein the actuation of the one or more control sticks is configured to add centripetal acceleration to the UAV. The non-transitory computer-readable medium of claim 135, wherein the degree of activation corresponds inversely to the size of the radius of the orbital arc of the UAV. The non-transitory computer-readable medium of claim 126, wherein the one or more control sticks are used to stop the autonomous flight. The non-transitory computer-readable medium according to claim 101, wherein the first user interface is configured to display the autonomous flight path of the UAV or the modified flight path of the UAV. The non-transitory computer-readable medium of claim 101, wherein the second user input modifies the autonomous flight of the UAV over the duration of the second user input. The non-transitory computer-readable medium of claim 101, wherein the second user input modifies the altitude of the UAV. The non-transitory computer-readable medium of claim 101, wherein the second user input modifies the trajectory of the UAV. The non-transitory computer-readable medium of claim 101, wherein the second user input modifies the speed of the UAV. The non-transitory computer-readable medium of claim 101, wherein the second user input modifies the acceleration of the UAV. The non-transitory computer-readable medium according to claim 101, wherein the autonomous flight of the UAV is modified in response to the second user input with further consideration of environmental factors. The non-transitory computer-readable medium of claim 144, wherein the environmental factor is identified based on one or more sensors mounted on the UAV. The non-transitory computer-readable medium of claim 145, wherein the one or more sensors comprises a camera. The non-transitory computer-readable medium of claim 101, wherein the autonomous flight of the UAV is modified by a flight controller that takes into account the second user input. After receiving and releasing the second user input, the UAV flies along the flight path it was flying before receiving the one or more commands that modify the autonomous flight of the UAV. The non-transitory computer-readable medium of claim 101. After receiving and releasing the second user input, the UAV is a new flight different from the flight path it was flying before receiving the one or more commands that modify the autonomous flight of the UAV. The non-transitory computer-readable medium of claim 101, configured to fly along a path. A system that modifies the autonomous flight of unmanned aerial vehicles (UAVs)
(1) In response to the first user input received in the first user interface, a first set of signals for autonomous flight of the UAV is generated, and (2) received in the second user interface. A system comprising a flight controller configured to generate a second set of commands that alter said autonomous flight of the UAV in response to a second user input. The system of claim 150, wherein the autonomous flight is a flight towards a target. The system of claim 151, wherein the target is a target object or a target destination. The system according to claim 150, wherein the autonomous flight is a flight to a predetermined position. The system of claim 150, wherein the autonomous flight is an autonomous return of the UAV. The system of claim 150, wherein the autonomous flight is autonomous navigation along one or more waypoints. The system according to claim 150, wherein the autonomous flight is an autonomous flight to a target point. The system according to claim 150, wherein the autonomous flight is a flight along a preset trajectory or a preset direction. The system according to claim 150, wherein the autonomous flight is a flight along an autonomously planned orbit. The system according to claim 150, wherein the autonomous flight is a flight along a user-configured orbit. The system of claim 150, wherein the autonomous flight is a flight to a position tapped on the map of the first user interface. The system of claim 150, wherein the autonomous flight tracks a target object. The system of claim 150, wherein the flight controller is mounted on the UAV and the first user interface and the second user interface are located offboard the UAV. The system of claim 150, wherein the flight controller modifies the autonomous flight of the UAV over a duration of the second user input. The system of claim 150, wherein the flight controller modifies the autonomous flight of the UAV in proportion to the degree of the second user input. The system of claim 150, wherein the flight controller processes and interprets the second user input to modify the autonomous flight of the UAV. The system of claim 150, wherein the flight controller prevents further alteration of the autonomous flight beyond a threshold. The system of claim 150, wherein the flight controller further modifies the autonomous flight of the UAV in response to the second user input, taking into account environmental factors. 167. The system of claim 167, wherein the environmental factor is identified based on one or more sensors mounted on the UAV. 168. The system of claim 168, wherein the one or more sensors includes a camera. The system of claim 150, wherein the first user interface is located in a first device and the second user interface is located in a second device. The system according to claim 170, wherein the first device or the second device is a handheld device or a mobile device. 171. The system of claim 171, wherein the handheld device or mobile device comprises a mobile phone, tablet, or PDA. The system of claim 170, wherein the second device is a remote controller. The system according to claim 170, wherein the first device and the second device are operably connected to each other. 174. The system of claim 174, wherein the first device and the second device are connected via a wireless connection. 174. The system of claim 174, wherein the first device and the second device are connected via a wired connection. The system according to claim 150, wherein the first user interface and the second user interface are arranged in one device. The system of claim 150, wherein the first user interface includes a touch screen. 178. The system of claim 178, wherein the first user input is received via a user tap on the touch screen. The system of claim 150, wherein the first user interface is configured to indicate the location of the UAV on a two-dimensional map. The system of claim 150, wherein the first user interface is configured to display an image received from a camera connected to the UAV. The system of claim 150, wherein the second user interface comprises one or more operable mechanisms. 182. The system of claim 182, wherein the one or more mechanisms include one or more control sticks. 183. The system of claim 183, wherein the one or more control sticks include roll sticks configured to act on the rotation of the UAV around the roll axis. 183. The system of claim 183, wherein the operation of the one or more control sticks is configured to add a directional component orthogonal to the autonomous flight path of the UAV, the added directional component being along a horizontal plane. The system of claim 185, wherein the degree of operation corresponds to the magnitude of the directional component. 183. The system of claim 183, wherein the operation of the one or more control sticks is configured to add a velocity component orthogonal to the autonomous flight path of the UAV, the added velocity component being along a horizontal plane. The system of claim 187, wherein the degree of operation corresponds to the magnitude of the velocity component. 183. The system of claim 183, wherein the operation of the one or more control sticks is configured to add an acceleration component to the autonomous flight path of the UAV. The system according to claim 189, wherein the degree of operation corresponds to the magnitude of the acceleration component. 183. The system of claim 183, wherein the one or more control sticks include a yaw stick configured to act on the rotation of the UAV around the yaw axis. 183. The system of claim 183, wherein the actuation of the one or more control sticks is configured to add centripetal acceleration to the UAV. 192. The system of claim 192, wherein the degree of actuation corresponds inversely to the size of the radius of the orbital arc of the UAV. 183. The system of claim 183, wherein the one or more control sticks are used to stop the autonomous flight. The system according to claim 150, wherein the first user interface is configured to display the autonomous flight path of the UAV. The system according to claim 195, wherein the first user interface is configured to display the modified flight path of the UAV on the first user interface. The system of claim 150, wherein the second user input changes the altitude of the UAV. The system according to claim 150, wherein the second user input changes the trajectory of the UAV. The system of claim 150, wherein the second user input changes the speed of the UAV. The system of claim 150, wherein the second user input modifies the acceleration of the UAV. The flight controller is to generate a third set of signals that commands the UAV to fly along the flight path that the UAV was flying along before generating the second set of signals. The system according to claim 150, further comprising. The flight controller commands the UAV to fly along a new flight path that is different from the flight path that the UAV was flying along before generating the second set of signals. 150. The system of claim 150, further configured to generate the signal of. A way to change the autonomous flight of an unmanned aerial vehicle (UAV)
In response to the first user input received in the first user interface, the flight controller is used to generate a first set of signals for autonomous flight of the UAV.
A method comprising using the flight controller to generate a second set of signals altering the autonomous flight of the UAV in response to a second user input received in the second user interface. .. The method of claim 203, wherein the autonomous flight is a flight towards a target. The method of claim 204, wherein the target is a target object or a target destination. The method of claim 203, wherein the autonomous flight is a flight to a predetermined position. The method of claim 203, wherein the autonomous flight is an autonomous return of the UAV. The method of claim 203, wherein the autonomous flight is autonomous navigation along one or more waypoints. The method according to claim 203, wherein the autonomous flight is an autonomous flight to a target point. The method of claim 203, wherein the autonomous flight is a flight along a preset trajectory or a preset direction. The method of claim 203, wherein the autonomous flight is a flight along an autonomously planned orbit. The method according to claim 203, wherein the autonomous flight is a flight along a user-configured orbit. The method of claim 203, wherein the autonomous flight is a flight to a position tapped on the map of the first user interface. The method of claim 203, wherein the autonomous flight tracks a target object. The method of claim 203, wherein the flight controller is mounted on the UAV and the first user interface and the second user interface are located offboard the UAV. The method of claim 203, wherein the flight controller modifies the autonomous flight of the UAV over the duration of the second user input. The method of claim 203, wherein the flight controller modifies the autonomous flight of the UAV in proportion to the degree of the second user input. The method of claim 203, wherein the flight controller processes and interprets the second user input to modify the autonomous flight of the UAV. The method of claim 203, wherein the flight controller prevents further modification of the autonomous flight beyond a threshold. The method of claim 203, wherein the flight controller further modifies the autonomous flight of the UAV in response to the second user input, taking into account environmental factors. The method of claim 220, wherein the environmental factor is identified based on one or more sensors mounted on the UAV. 221. The method of claim 221 wherein the one or more sensors comprises a camera. The method of claim 203, wherein the first user interface is located in a first device and the second user interface is located in a second device. 223. The method of claim 223, wherein the first device or the second device is a handheld device or a mobile device. 224. The method of claim 224, wherein the handheld device or mobile device comprises a mobile phone, tablet, or PDA. 223. The method of claim 223, wherein the second device is a remote controller. 223. The method of claim 223, wherein the first device and the second device are operably connected to each other. 227. The method of claim 227, wherein the first device and the second device are connected via a wireless connection. 227. The method of claim 227, wherein the first device and the second device are connected via a wired connection. The method of claim 203, wherein the first user interface and the second user interface are located in one device. The method of claim 203, wherein the first user interface comprises a touch screen. 231. The method of claim 231, wherein the first user input is received via the user tap on the touch screen. The method of claim 203, wherein the first user interface is configured to indicate the location of the UAV on a two-dimensional map. The method of claim 203, wherein the first user interface is configured to display an image received from a camera connected to the UAV. The method of claim 203, wherein the second user interface comprises one or more operable mechanisms. 235. The method of claim 235, wherein the one or more mechanisms comprises one or more control sticks. 236. The method of claim 236, wherein the one or more control sticks include a roll stick configured to act on the rotation of the UAV around the roll axis. 236. The method of claim 236, wherein the operation of the one or more control sticks is configured to add a directional component orthogonal to the autonomous flight path of the UAV, the added directional component being along a horizontal plane. 238. The method of claim 238, wherein the degree of operation corresponds to the magnitude of the directional component. 236. The method of claim 236, wherein the operation of the one or more control sticks is configured to add a velocity component orthogonal to the autonomous flight path of the UAV, the added velocity component being along a horizontal plane. The method of claim 240, wherein the degree of operation corresponds to the magnitude of the velocity component. 236. The method of claim 236, wherein the operation of the one or more control sticks is configured to add an acceleration component to the autonomous flight path of the UAV. 242. The method of claim 242, wherein the degree of operation corresponds to the magnitude of the acceleration component. 236. The method of claim 236, wherein the one or more control sticks include a yaw stick configured to act on the rotation of the UAV around the yaw axis. 236. The method of claim 236, wherein the actuation of the one or more control sticks is configured to add an centripetal acceleration to the UAV. 245. The method of claim 245, wherein the degree of actuation corresponds inversely to the size of the radius of the orbital arc of the UAV. 236. The method of claim 236, wherein the one or more control sticks are used to stop the autonomous flight. The method of claim 203, further comprising displaying the autonomous flight path of the UAV on the first user interface. 248. The method of claim 248, further comprising displaying the modified flight path of the UAV on the first user interface. The method of claim 203, wherein the second user input changes the altitude of the UAV. The method of claim 203, wherein the second user input changes the trajectory of the UAV. The method of claim 203, wherein the second user input changes the speed of the UAV. The method of claim 203, wherein the second user input changes the acceleration of the UAV. A claim that further comprises generating a third set of signals that commands the UAV to fly along the flight path that the UAV was flying along before generating the second set of signals. Item 203. Prior to generating the second set of signals, it generates a third set of signals that commands the UAV to fly along a new flight path that is different from the flight path the UAV was flying along. The method of claim 203, further comprising: A non-temporary computer-readable medium that modifies the autonomous flight of unmanned aerial vehicles (UAVs).
In response to the first user input received in the first user interface, the flight controller is used to generate a first set of signals for autonomous flight of the UAV.
A code that uses the flight controller to generate a second set of signals that alter the autonomous flight of the UAV in response to a second user input received on the second user interface. A non-transitory computer-readable medium containing logic or instructions. The non-transitory computer-readable medium of claim 256, wherein the autonomous flight is a flight towards a target. The non-transitory computer-readable medium according to claim 257, wherein the target is a target object or a target destination. The non-transitory computer-readable medium of claim 256, wherein the autonomous flight is a flight to a predetermined position. The non-transitory computer-readable medium of claim 256, wherein the autonomous flight is an autonomous return of the UAV. The non-transitory computer-readable medium of claim 256, wherein the autonomous flight is autonomous navigation along one or more waypoints. The non-transitory computer-readable medium according to claim 256, wherein the autonomous flight is an autonomous flight to a target point. The non-transitory computer-readable medium according to claim 256, wherein the autonomous flight is a flight along a preset trajectory or a preset direction. The non-transitory computer-readable medium of claim 256, wherein the autonomous flight is an autonomously planned flight along an orbit. The non-transitory computer-readable medium according to claim 256, wherein the autonomous flight is a flight along a user-configured orbit. The non-transitory computer-readable medium of claim 256, wherein the autonomous flight is a flight to a position tapped on the map of the first user interface. The non-transitory computer-readable medium of claim 256, wherein the autonomous flight tracks a target object. 25. The non-transitory computer readable according to claim 256, wherein the flight controller is mounted on the UAV and the first user interface and the second user interface are mounted offboard the UAV. Medium. The non-transitory computer-readable medium of claim 256, wherein the flight controller modifies the autonomous flight of the UAV over a duration of the second user input. The non-transitory computer-readable medium of claim 256, wherein the flight controller modifies the autonomous flight of the UAV in proportion to the degree of the second user input. The non-transitory computer-readable medium of claim 256, wherein the flight controller processes and interprets the second user input to modify the autonomous flight of the UAV. The non-transitory computer-readable medium of claim 256, wherein the flight controller prevents further alteration of the autonomous flight beyond a threshold. The non-transitory computer-readable medium of claim 256, wherein the flight controller further modifies the autonomous flight of the UAV in response to environmental factors in response to the second user input. The non-transitory computer-readable medium of claim 273, wherein the environmental factor is identified based on one or more sensors mounted on the UAV. The non-transitory computer-readable medium of claim 274, wherein the one or more sensors comprises a camera. The non-transitory computer-readable medium of claim 256, wherein the first user interface is located on a first device and the second user interface is located on a second device. The non-transitory computer-readable medium according to claim 276, wherein the first device or the second device is a handheld device or a mobile device. The non-transitory computer-readable medium of claim 277, wherein the handheld device or mobile device comprises a mobile phone, tablet, or PDA. The non-transitory computer-readable medium of claim 276, wherein the second device is a remote controller. The non-transitory computer-readable medium according to claim 276, wherein the first device and the second device are operably connected to each other. The non-transitory computer-readable medium according to claim 280, wherein the first device and the second device are connected via a wireless connection. The non-transitory computer-readable medium according to claim 280, wherein the first device and the second device are connected via a wired connection. The non-transitory computer-readable medium according to claim 256, wherein the first user interface and the second user interface are arranged in one device. The non-transitory computer-readable medium of claim 256, wherein the first user interface includes a touch screen. The non-transitory computer-readable medium of claim 284, wherein the first user input is received via the user tap on the touch screen. The non-transitory computer-readable medium of claim 256, wherein the first user interface is configured to indicate the location of the UAV on a two-dimensional map. The non-transitory computer-readable medium of claim 256, wherein the first user interface is configured to display an image received from a camera connected to the UAV. The non-transitory computer-readable medium of claim 256, wherein the second user interface comprises one or more operable mechanisms. The non-transitory computer-readable medium of claim 288, wherein the one or more mechanisms comprises one or more control sticks. 289. The non-transitory computer-readable medium of claim 289, wherein the one or more control sticks include roll sticks configured to act on the rotation of the UAV around a roll axis. The non-temporary according to claim 289, wherein the operation of the one or more control sticks is configured to add a directional component orthogonal to the autonomous flight path of the UAV, the added directional component being along a horizontal plane. Computer-readable medium. The non-transitory computer-readable medium according to claim 291. The degree of operation corresponds to the magnitude of the directional component. The non-temporary according to claim 289, wherein the operation of the one or more control sticks is configured to add a velocity component orthogonal to the autonomous flight path of the UAV, the added velocity component being along a horizontal plane. Computer-readable medium. The non-transitory computer-readable medium according to claim 293, wherein the degree of operation corresponds to the magnitude of the velocity component. The non-transitory computer-readable medium of claim 289, wherein the operation of the one or more control sticks is configured to add an acceleration component to the autonomous flight path of the UAV. The non-transitory computer-readable medium according to claim 295, wherein the degree of operation corresponds to the magnitude of the acceleration component. 289. The non-transitory computer-readable medium of claim 289, wherein the one or more control sticks include a yaw stick configured to act on the rotation of the UAV around the yaw axis. The non-transitory computer-readable medium of claim 289, wherein the actuation of the one or more control sticks is configured to add centripetal acceleration to the UAV. The non-transitory computer-readable medium of claim 298, wherein the degree of activation corresponds inversely to the size of the radius of the orbital arc of the UAV. The non-transitory computer-readable medium of claim 289, wherein the one or more control sticks are used to stop the autonomous flight. The non-transitory computer-readable medium according to claim 256, wherein the first user interface is configured to display the autonomous flight path of the UAV. The non-transitory computer-readable medium according to claim 301, wherein the first user interface is configured to display the modified flight path of the UAV. The non-transitory computer-readable medium of claim 256, wherein the second user input modifies the altitude of the UAV. The non-transitory computer-readable medium of claim 256, wherein the second user input modifies the trajectory of the UAV. The non-transitory computer-readable medium of claim 256, wherein the second user input modifies the speed of the UAV. The non-transitory computer-readable medium of claim 256, wherein the second user input modifies the acceleration of the UAV. The flight controller further generates a third set of signals that commands the UAV to fly along the flight path that the UAV was flying along before generating the second set of signals. The non-transitory computer-readable medium of claim 256, configured as such. The flight controller commands the UAV to fly along a new flight path that is different from the flight path that the UAV was flying along before generating the second set of signals. The non-transitory computer-readable medium of claim 256, which is configured to further generate the signal of. Unmanned aerial vehicle (UAV)
A first set of signals that commands the autonomous flight of the UAV, the first set of signals being generated based on a first user input received in a first user interface. And (2) a second set of signals instructing the change of the autonomous flight of the UAV, the second set of signals being received in a second user interface. A flight controller configured to generate a second set of signals, generated based on the user input of
(A) The autonomous flight of the UAV is performed in response to the first set of signals, and (b) the autonomous flight of the UAV is modified in response to the second set of signals. A UAV with one or more propulsion units configured. The UAV of claim 309, wherein the autonomous flight is a flight towards a target. The UAV of claim 310, wherein the target is a target object or a target destination. The UAV of claim 309, wherein the autonomous flight is a flight to a predetermined position. The UAV of claim 309, wherein the autonomous flight is an autonomous return of the UAV. 309. The UAV of claim 309, wherein the autonomous flight is autonomous navigation along one or more waypoints. The UAV according to claim 309, wherein the autonomous flight is an autonomous flight to a target point. The UAV of claim 309, wherein the autonomous flight is a flight along a preset trajectory or a preset direction. The UAV of claim 309, wherein the autonomous flight is a flight along an autonomously planned orbit. The UAV according to claim 309, wherein the autonomous flight is a flight along a user-configured orbit. The UAV of claim 309, wherein the autonomous flight is a flight to a position tapped on the map of the first user interface. The UAV of claim 309, wherein the autonomous flight tracks a target object. 309. The UAV of claim 309, wherein the flight controller is mounted on the UAV and the first user interface and the second user interface are located offboard the UAV. 309. The UAV of claim 309, wherein the flight controller modifies the autonomous flight of the UAV over the duration of the second user input. 309. The UAV of claim 309, wherein the flight controller modifies the autonomous flight of the UAV in proportion to the degree of the second user input. 309. The UAV of claim 309, wherein the flight controller processes and interprets the second user input to modify the autonomous flight of the UAV. 309. The UAV of claim 309, wherein the flight controller prevents further alterations of the autonomous flight beyond a threshold. 30. The UAV of claim 309, wherein the flight controller further modifies the autonomous flight of the UAV in response to the second user input, taking into account environmental factors. The UAV of claim 326, wherein the environmental factor is identified based on one or more sensors mounted on the UAV. 327. The UAV of claim 327, wherein the one or more sensors includes a camera. 309. The UAV of claim 309, wherein the first user interface is located on a first device and the second user interface is located on a second device. 329. The UAV of claim 329, wherein the first device or the second device is a handheld device or mobile device. The UAV of claim 330, wherein the handheld device or mobile device comprises a mobile phone, tablet, or PDA. The UAV of claim 329, wherein the second device is a remote controller. 329. The UAV of claim 329, wherein the first device and the second device are operably connected to each other. 333. The UAV of claim 333, wherein the first device and the second device are connected via a wireless connection. 333. The UAV of claim 333, wherein the first device and the second device are connected via a wired connection. 309. The UAV of claim 309, wherein the first user interface and the second user interface are located in one device. 309. The UAV of claim 309, wherein the first user interface includes a touch screen. 337. The UAV of claim 337, wherein the first user input is received via the user tap on the touch screen. 309. The UAV of claim 309, wherein the first user interface is configured to indicate the location of the UAV on a two-dimensional map. 309. The UAV of claim 309, wherein the first user interface is configured to display an image received from a camera connected to the UAV. The UAV of claim 340, wherein the second user interface comprises one or more operable mechanisms. 341. The UAV of claim 341, wherein the one or more mechanisms include one or more control sticks. 342. The UAV of claim 342, wherein the one or more control sticks include a roll stick configured to act on the rotation of the UAV around a roll axis. 342. The UAV of claim 342, wherein the operation of the one or more control sticks is configured to add a directional component orthogonal to the autonomous flight path of the UAV, the added directional component being along a horizontal plane. The UAV of claim 344, wherein the degree of operation corresponds to the magnitude of the directional component. 342. The UAV of claim 342, wherein the operation of the one or more control sticks is configured to add a velocity component orthogonal to the autonomous flight path of the UAV, the added velocity component being along a horizontal plane. The UAV of claim 346, wherein the degree of operation corresponds to the magnitude of the velocity component. 342. The UAV of claim 342, wherein the operation of the one or more control sticks is configured to add an acceleration component to the autonomous flight path of the UAV. The UAV according to claim 348, wherein the degree of operation corresponds to the magnitude of the acceleration component. 342. The UAV of claim 342, wherein the one or more control sticks include a yaw stick configured to act on the rotation of the UAV around the yaw axis. 342. The UAV of claim 342, wherein the actuation of the one or more control sticks is configured to add an centripetal acceleration to the UAV. 351. The UAV of claim 351 whose degree of actuation corresponds inversely to the size of the radius of the orbital arc of the UAV. 342. The UAV of claim 342, wherein the one or more control sticks are used to stop the autonomous flight. The UAV according to claim 309, wherein the first user interface is configured to display the autonomous flight path of the UAV on the first user interface. The UAV according to claim 354, wherein the first user interface is configured to display the modified flight path of the UAV on the first user interface. The UAV of claim 309, wherein the second user input changes the altitude of the UAV. The UAV of claim 309, wherein the second user input modifies the trajectory of the UAV. The UAV of claim 309, wherein the second user input changes the speed of the UAV. The UAV of claim 309, wherein the second user input modifies the acceleration of the UAV. The flight controller is to generate a third set of signals that commands the UAV to fly along the flight path that the UAV was flying along before generating the second set of signals. 309. The UAV of claim 309, further comprising. The flight controller commands the UAV to fly along a new flight path that is different from the flight path that the UAV was flying along before generating the second set of signals. 309. The UAV of claim 309, further configured to generate the signal of. A system that controls the flight of unmanned aerial vehicles (UAVs)
Equipped with one or more processors
The one or more processors, individually or collectively,
The autonomous flight of the UAV, the autonomous flight including the autonomous flight path, and the autonomous flight.
A system configured to change the autonomous flight path in response to user input, the autonomous flight path being changed or changed while maintaining autonomous flight. 362. The system of claim 362, wherein the user input is configured to add a directional component to the autonomous flight path of the UAV. 363. The system of claim 363, wherein the directional component is orthogonal to the autonomous flight path and the additional directional component is along a horizontal plane. 362. The system of claim 362, wherein the user input is configured to add a velocity component to the autonomous flight path of the UAV. The system of claim 365, wherein the velocity component is orthogonal to the autonomous flight path and the added velocity component is along a horizontal plane. 362. The system of claim 362, wherein the user input is configured to add an acceleration component to the autonomous flight path of the UAV. The system of claim 367, wherein the acceleration component is orthogonal to the autonomous flight path and the additional acceleration component is along a horizontal plane. The system according to claim 362, wherein the degree of user input corresponds to the degree of change in the autonomous flight path. 369. The system of claim 369, wherein the degree of user input corresponds to the duration of user input or the force of user input. 362. The system of claim 362, wherein the change in autonomous flight path is maintained only for a duration during which the user input is maintained. 371. The system of claim 371, wherein the user-input release is configured to return the UAV to its original flight path. 371. The system of claim 371, wherein the user-input release is configured to return the UAV to a flight path parallel to the original flight path. 362. The system according to claim 362, wherein the change of the autonomous flight path is maintained after one user input. 374. The system of claim 374, wherein the modification of the autonomous flight path includes a new autonomous flight path. The system according to claim 375, wherein the new autonomous flight path has a trajectory different from that of the autonomous flight path. 362. The system of claim 362, wherein the user input does not change the autonomous flight path beyond a predetermined threshold. The system according to claim 377, wherein the predetermined threshold value is a predetermined distance of the UAV from the autonomous flight path. The system of claim 377, wherein the predetermined threshold is a predetermined time. 362. The system of claim 362, wherein the user input is processed and interpreted by the flight controller to alter the autonomous flight path of the UAV. 362. The system according to claim 362, wherein the autonomous flight of the UAV and the change of the autonomous flight path are performed by a flight controller mounted on the UAV. 362. The system of claim 362, wherein the UAV's autonomous flight is performed via a handheld device or mobile device. 382. The system of claim 382, wherein the handheld device or mobile device comprises a mobile phone, tablet, or PDA. 382. The system of claim 382, wherein the handheld device or mobile device comprises a touch screen. 382. The system of claim 382, wherein the handheld device or mobile device is configured to indicate the location of the UAV on a two-dimensional map. 382. The system of claim 382, wherein the handheld device or mobile device is configured to display an image received from a camera connected to the UAV. 382. The system of claim 382, wherein the handheld device or mobile device is configured to display the autonomous flight path of the UAV. 382. The system of claim 382, wherein the handheld device or mobile device is configured to display the modified flight path of the UAV. 362. The system of claim 362, wherein the user input is received by a remote controller. 389. The system of claim 389, wherein the remote controller comprises one or more operable mechanisms. 390. The system of claim 390, wherein the one or more mechanisms include one or more control sticks. 391. The system of claim 391, wherein the one or more control sticks include a roll stick configured to act on the rotation of the UAV around the roll axis. 391. The system of claim 391, wherein the operation of the one or more control sticks is configured to add a directional component orthogonal to the autonomous flight path of the UAV, the added directional component being along a horizontal plane. The system of claim 393, wherein the degree of operation corresponds to the magnitude of the directional component. 391. The system of claim 391, wherein the operation of the one or more control sticks is configured to add a velocity component orthogonal to the autonomous flight path of the UAV, the added velocity component being along a horizontal plane. The system of claim 395, wherein the degree of operation corresponds to the magnitude of the velocity component. 391. The system of claim 391, wherein the operation of the one or more control sticks is configured to add an acceleration component to the autonomous flight path of the UAV. The system according to claim 397, wherein the degree of operation corresponds to the magnitude of the acceleration component. 391. The system of claim 391, wherein the one or more control sticks comprises a yaw stick configured to act on the rotation of the UAV around the yaw axis. 391. The system of claim 391, wherein the operation of the one or more control sticks is configured to add an centripetal acceleration to the UAV. The system of claim 400, wherein the degree of actuation corresponds inversely to the size of the radius of the orbital arc of the UAV. 362. The system of claim 362, wherein the user input changes the altitude of the UAV. 362. The system of claim 362, wherein the autonomous flight path of the UAV modifies the autonomous flight of the UAV in response to the user input, further considering environmental factors. The system of claim 403, wherein the environmental factor is identified based on one or more sensors mounted on the UAV. 404. The system of claim 404, wherein the one or more sensors includes a camera. 362. The system of claim 362, wherein the autonomous flight path of the UAV is modified by a flight controller that takes into account the user input. 362. The system of claim 362, wherein the autonomous flight is a flight to a predetermined position. 362. The system of claim 362, wherein the autonomous flight is an autonomous return of the UAV. 362. The system of claim 362, wherein the autonomous flight is autonomous navigation along one or more waypoints. The system according to claim 362, wherein the autonomous flight is an autonomous flight to a target point. 362. The system of claim 362, wherein the autonomous flight is a flight along a preset trajectory or a preset direction. 362. The system of claim 362, wherein the autonomous flight is a flight along an autonomously planned orbit. The system according to claim 362, wherein the autonomous flight is a flight along a user-configured orbit. 362. The system of claim 362, wherein the autonomous flight is a flight to a position tapped on the map of the first user interface. 362. The system of claim 362, wherein the UAV is configured to fly along the autonomous flight path after changing the autonomous flight path in response to the user input. 362. The system of claim 362, wherein after changing the autonomous flight path in response to the user input, the UAV is configured to fly along a new autonomous flight path different from the autonomous flight path. A way to control the flight of an unmanned aerial vehicle (UAV)
The autonomous flight of the UAV, the autonomous flight including the autonomous flight path, and the autonomous flight.
A method of changing the autonomous flight path in response to user input, comprising changing or changing the autonomous flight path while maintaining autonomous flight. 417. The method of claim 417, wherein the user input is configured to add a directional component to the autonomous flight path of the UAV. 418. The method of claim 418, wherein the directional component is orthogonal to the autonomous flight path and the additional directional component is along a horizontal plane. 417. The method of claim 417, wherein the user input is configured to add a velocity component to the autonomous flight path of the UAV. The method of claim 420, wherein the velocity component is orthogonal to the autonomous flight path and the added velocity component is along a horizontal plane. 417. The method of claim 417, wherein the user input is configured to add an acceleration component to the autonomous flight path of the UAV. 422. The method of claim 422, wherein the acceleration component is orthogonal to the autonomous flight path and the additional acceleration component is along a horizontal plane. The method according to claim 417, wherein the degree of user input corresponds to the degree of change in the autonomous flight path. 424. The method of claim 424, wherein the degree of user input corresponds to the duration of user input or the force of user input. 417. The method of claim 417, wherein the change in autonomous flight path is maintained only for a duration during which the user input is maintained. 426. The method of claim 426, wherein the user-input release is configured to return the UAV to its original flight path. 426. The method of claim 426, wherein the user-input release is configured to return the UAV to a flight path parallel to the original flight path. The method according to claim 417, wherein the change of the autonomous flight path is maintained after one user input. The method of claim 429, wherein the modification of the autonomous flight path includes a new autonomous flight path. 430. The method of claim 430, wherein the new autonomous flight path has a different trajectory than the autonomous flight path. 417. The method of claim 417, wherein the user input does not change the autonomous flight path beyond a predetermined threshold. 432. The method of claim 432, wherein the predetermined threshold is a predetermined distance of the UAV from the autonomous flight path. 432. The method of claim 432, wherein the predetermined threshold is a predetermined time. 417. The method of claim 417, wherein the user input is processed and interpreted by the flight controller to alter the autonomous flight path of the UAV. The method according to claim 417, wherein the autonomous flight of the UAV and the change of the autonomous flight path are performed by a flight controller mounted on the UAV. 417. The method of claim 417, wherein the autonomous flight of the UAV is performed via a handheld device or mobile device. 437. The method of claim 437, wherein the handheld device or mobile device comprises a mobile phone, tablet, or PDA. 437. The method of claim 437, wherein the handheld device or mobile device comprises a touch screen. 437. The method of claim 437, wherein the handheld device or mobile device is configured to indicate the location of the UAV on a two-dimensional map. 437. The method of claim 437, wherein the handheld device or mobile device is configured to display an image received from a camera connected to the UAV. 437. The method of claim 437, further comprising displaying the autonomous flight path of the UAV on the handheld device or mobile device. 437. The method of claim 437, further comprising displaying the modified flight path of the UAV on the handheld device or mobile device. 417. The method of claim 417, wherein the user input is received by the remote controller. 444. The method of claim 444, wherein the remote controller comprises one or more operable mechanisms. 445. The method of claim 445, wherein the one or more mechanisms comprises one or more control sticks. 446. The method of claim 446, wherein the one or more control sticks include a roll stick configured to act on the rotation of the UAV around the roll axis. 446. The method of claim 446, wherein the operation of the one or more control sticks is configured to add a directional component orthogonal to the autonomous flight path of the UAV, the added directional component being along a horizontal plane. The method of claim 448, wherein the degree of operation corresponds to the magnitude of the directional component. 446. The method of claim 446, wherein the operation of the one or more control sticks is configured to add a velocity component orthogonal to the autonomous flight path of the UAV, the added velocity component being along a horizontal plane. The method of claim 450, wherein the degree of operation corresponds to the magnitude of the velocity component. 446. The method of claim 446, wherein the operation of the one or more control sticks is configured to add an acceleration component to the autonomous flight path of the UAV. 452. The method of claim 452, wherein the degree of operation corresponds to the magnitude of the acceleration component. 446. The method of claim 446, wherein the one or more control sticks include a yaw stick configured to act on the rotation of the UAV around the yaw axis. 446. The method of claim 446, wherein the operation of the one or more control sticks is configured to add an centripetal acceleration to the UAV. The method of claim 455, wherein the degree of actuation corresponds inversely to the size of the radius of the orbital arc of the UAV. 417. The method of claim 417, wherein the user input changes the altitude of the UAV. 417. The method of claim 417, wherein the autonomous flight path of the UAV changes the autonomous flight of the UAV in response to the user input, further considering environmental factors. 458. The method of claim 458, wherein the environmental factor is identified based on one or more sensors mounted on the UAV. 459. The method of claim 459, wherein the one or more sensors comprises a camera. 417. The method of claim 417, wherein the autonomous flight path of the UAV is modified by a flight controller that takes into account the user input. 417. The method of claim 417, wherein the autonomous flight is a flight to a predetermined position. 417. The method of claim 417, wherein the autonomous flight is an autonomous return of the UAV. 417. The method of claim 417, wherein the autonomous flight is autonomous navigation along one or more waypoints. The method according to claim 417, wherein the autonomous flight is an autonomous flight to a target point. 417. The method of claim 417, wherein the autonomous flight is a flight along a preset trajectory or a preset direction. 417. The method of claim 417, wherein the autonomous flight is a flight along an autonomously planned orbit. The method of claim 417, wherein the autonomous flight is a flight along a user-configured orbit. 417. The method of claim 417, wherein the autonomous flight is a flight to a position tapped on the map of the first user interface. 417. The method of claim 417, wherein the UAV is configured to fly along the autonomous flight path after changing the autonomous flight path in response to the user input. 417. The method of claim 417, wherein after changing the autonomous flight path in response to the user input, the UAV is configured to fly along a new autonomous flight path different from the autonomous flight path. A non-transient computer-readable medium that controls the flight of unmanned aerial vehicles (UAVs).
The autonomous flight of the UAV, the autonomous flight including the autonomous flight path, and the autonomous flight.
Changing the autonomous flight path in response to user input, said autonomous flight path, comprising code, logic, or instructions that change, change, and maintain autonomous flight. Temporary computer-readable medium. The non-transitory computer-readable medium of claim 472, wherein the user input is configured to add a directional component to the autonomous flight path of the UAV. The non-transitory computer-readable medium of claim 473, wherein the directional component is orthogonal to the autonomous flight path and the additional directional component is along a horizontal plane. The non-transitory computer-readable medium of claim 472, wherein the user input is configured to add a velocity component to the autonomous flight path of the UAV. The non-transitory computer-readable medium of claim 475, wherein the velocity component is orthogonal to the autonomous flight path and the added velocity component is along a horizontal plane. The non-transitory computer-readable medium of claim 472, wherein the user input is configured to add an acceleration component to the autonomous flight path of the UAV. The non-transitory computer-readable medium of claim 477, wherein the acceleration component is orthogonal to the autonomous flight path and the additional acceleration component is along a horizontal plane. The non-transitory computer-readable medium according to claim 472, wherein the degree of user input corresponds to the degree of change in the autonomous flight path. The non-transitory computer-readable medium according to claim 479, wherein the degree of user input corresponds to the duration of user input or the force of user input. The non-transitory computer-readable medium according to claim 472, wherein the change in autonomous flight path is maintained only for a duration in which the user input is maintained. The non-transitory computer-readable medium of claim 481, wherein the user-input release is configured to return the UAV to its original flight path. The non-transitory computer-readable medium of claim 481, wherein the user-input release is configured to return the UAV to a flight path parallel to the original flight path. The non-transitory computer-readable medium according to claim 472, wherein the change of the autonomous flight path is maintained after one user input. The non-transitory computer-readable medium according to claim 484, wherein the modification of the autonomous flight path includes a new autonomous flight path. The non-transitory computer-readable medium according to claim 485, wherein the new autonomous flight path has a trajectory different from that of the autonomous flight path. The non-transitory computer-readable medium according to claim 472, wherein the user input does not change the autonomous flight path beyond a predetermined threshold. The non-transitory computer-readable medium according to claim 487, wherein the predetermined threshold value is a predetermined distance of the UAV from the autonomous flight path. The non-transitory computer-readable medium of claim 487, wherein the predetermined threshold is a predetermined time. The non-transitory computer-readable medium of claim 472, wherein the user input is processed and interpreted by the flight controller to alter the autonomous flight path of the UAV. The non-transitory computer-readable medium according to claim 472, wherein the autonomous flight of the UAV and the change of the autonomous flight path are performed by a flight controller mounted on the UAV. The non-transitory computer-readable medium according to claim 472, wherein the autonomous flight of the UAV is performed via a handheld device or a mobile device. The non-transitory computer-readable medium of claim 492, wherein the handheld device or mobile device comprises a mobile phone, tablet, or PDA. The non-transitory computer-readable medium of claim 492, wherein the handheld device or mobile device comprises a touch screen. The non-transitory computer-readable medium of claim 492, wherein the handheld device or mobile device is configured to indicate the location of the UAV on a two-dimensional map. The non-transitory computer-readable medium of claim 492, wherein the handheld device or mobile device is configured to display an image received from a camera connected to the UAV. The non-transitory computer-readable medium of claim 492, wherein the handheld device or mobile device is configured to display the autonomous flight path of the UAV. The non-transitory computer-readable medium of claim 492, wherein the handheld device or mobile device is configured to display the modified flight path of the UAV. The non-transitory computer-readable medium according to claim 472, wherein the user input is received by the remote controller. The non-transitory computer-readable medium of claim 499, wherein the remote controller comprises one or more operable mechanisms. The non-transitory computer-readable medium of claim 500, wherein the one or more mechanisms comprises one or more control sticks. The non-transitory computer-readable medium of claim 501, wherein the one or more control sticks include roll sticks configured to act on the rotation of the UAV around a roll axis. The non-temporary operation of the one or more control sticks according to claim 501, wherein the operation of the one or more control sticks is configured to add a directional component orthogonal to the autonomous flight path of the UAV, the added directional component being along a horizontal plane. Computer-readable medium. The non-transitory computer-readable medium according to claim 503, wherein the degree of operation corresponds to the magnitude of the directional component. The non-temporary operation of the one or more control sticks according to claim 501, wherein the operation of the one or more control sticks is configured to add a velocity component orthogonal to the autonomous flight path of the UAV, the added velocity component being along a horizontal plane. Computer-readable medium. The non-transitory computer-readable medium according to claim 505, wherein the degree of operation corresponds to the magnitude of the velocity component. The non-transitory computer-readable medium of claim 501, wherein the operation of the one or more control sticks is configured to add an acceleration component to the autonomous flight path of the UAV. The non-transitory computer-readable medium according to claim 507, wherein the degree of operation corresponds to the magnitude of the acceleration component. The non-transitory computer-readable medium of claim 501, wherein the one or more control sticks include yaw sticks configured to act on the rotation of the UAV around the yaw axis. The non-transitory computer-readable medium of claim 501, wherein the operation of the one or more control sticks is configured to add centripetal acceleration to the UAV. The non-transitory computer-readable medium of claim 510, wherein the degree of actuation corresponds inversely to the size of the radius of the orbital arc of the UAV. The non-transitory computer-readable medium according to claim 472, wherein the user input changes the altitude of the UAV. The non-transitory computer-readable medium according to claim 472, wherein the autonomous flight path of the UAV modifies the autonomous flight of the UAV in response to the user input, further considering environmental factors. The non-transitory computer-readable medium of claim 513, wherein the environmental factor is identified based on one or more sensors mounted on the UAV. The non-transitory computer-readable medium of claim 514, wherein the one or more sensors comprises a camera. The non-transitory computer-readable medium of claim 472, wherein the autonomous flight path of the UAV is modified by a flight controller that takes into account the user input. The non-transitory computer-readable medium of claim 472, wherein the autonomous flight is a flight to a predetermined position. The non-transitory computer-readable medium of claim 472, wherein the autonomous flight is an autonomous return of the UAV. The non-transitory computer-readable medium of claim 472, wherein the autonomous flight is autonomous navigation along one or more waypoints. The non-transitory computer-readable medium according to claim 472, wherein the autonomous flight is an autonomous flight to a target point. The non-transitory computer-readable medium according to claim 472, wherein the autonomous flight is a flight along a preset trajectory or a preset direction. The non-transitory computer-readable medium according to claim 472, wherein the autonomous flight is an autonomously planned flight along an orbit. The non-transitory computer-readable medium according to claim 472, wherein the autonomous flight is a flight along a user-configured orbit. The non-transitory computer-readable medium of claim 472, wherein the autonomous flight is a flight to a position tapped on the map of the first user interface. 472. The non-transitory computer-readable medium of claim 472, further comprising code, logic, or instructions that cause the UAV to fly along the autonomous flight path after changing the autonomous flight path in response to the user input. .. 472. Claim 472 further comprises a code, logic, or instruction to cause the UAV to fly along a new autonomous flight path different from the autonomous flight path after changing the autonomous flight path in response to the user input. Non-temporary computer-readable medium. Unmanned aerial vehicle (UAV)
(1) A first set of signals for the autonomous flight of the UAV, the autonomous flight includes a first set of signals including an autonomous flight path, and (2) a second set for changing the autonomous flight path. A flight controller configured to generate a second set of signals, wherein the autonomous flight path is modified while maintaining said autonomous flight.
One or more propulsion units that (a) perform the autonomous flight of the UAV in response to the first set of signals and (b) the UAV in response to the second set of signals. A UAV comprising one or more propulsion units configured to alter said autonomous flight path. 527. The UAV of claim 527, wherein the second set of signals is configured to add a directional component to the autonomous flight path of the UAV. 528. The UAV of claim 528, wherein the directional component is orthogonal to the autonomous flight path and the additional directional component is along a horizontal plane. 527. The UAV of claim 527, wherein the second set of signals is configured to add a velocity component to the autonomous flight path of the UAV. 530. The UAV of claim 530, wherein the velocity component is orthogonal to the autonomous flight path and the added velocity component is along a horizontal plane. 527. The UAV of claim 527, wherein the second set of signals is configured to add an acceleration component to the autonomous flight path of the UAV. The UAV of claim 532, wherein the acceleration component is orthogonal to the autonomous flight path and the additional acceleration component is along a horizontal plane. The UAV of claim 527, wherein the degree of the second set of signals corresponds to the degree of change in the autonomous flight path. The UAV of claim 534, wherein the degree of the second set of signals corresponds to the duration of the user input or the force of the user input. The UAV of claim 527, wherein the autonomous flight path change is maintained only for a duration in which the user input is maintained. 536. The UAV of claim 536, wherein the user-input release is configured to return the UAV to its original flight path. 536. The UAV of claim 536, wherein the user-input release is configured to return the UAV to a flight path parallel to the original flight path. The UAV according to claim 527, wherein the change in the autonomous flight path is maintained after one user input. The UAV of claim 539, wherein the modification of the autonomous flight path includes a new autonomous flight path. The UAV of claim 540, wherein the new autonomous flight path has a different trajectory than the autonomous flight path. 527. The UAV of claim 527, wherein the second set of signals does not change the autonomous flight path beyond a predetermined threshold. The UAV according to claim 542, wherein the predetermined threshold value is a predetermined distance of the UAV from the autonomous flight path. 542. The UAV of claim 542, wherein the predetermined threshold is a predetermined time. The UAV according to claim 527, wherein the autonomous flight of the UAV is performed via a handheld device or a mobile device. The UAV of claim 545, wherein the handheld device or mobile device comprises a mobile phone, tablet, or PDA. The UAV of claim 545, wherein the handheld device or mobile device comprises a touch screen. The UAV of claim 545, wherein the handheld device or mobile device is configured to indicate the location of the UAV on a two-dimensional map. 545. The UAV of claim 545, wherein the handheld device or mobile device is configured to display an image received from a camera connected to the UAV. 545. The UAV of claim 545, wherein the handheld device or mobile device is configured to display the autonomous flight path of the UAV. 545. The UAV of claim 545, wherein the handheld device or mobile device is configured to display the modified flight path of the UAV. 527. The UAV of claim 527, wherein the second set of signals is generated in response to a user input being received by the remote controller. 552. The UAV of claim 552, wherein the remote controller comprises one or more operable mechanisms. The UAV of claim 553, wherein the one or more mechanisms include one or more control sticks. 554. The UAV of claim 554, wherein the one or more control sticks include a roll stick configured to act on the rotation of the UAV around a roll axis. The UAV of claim 554, wherein the operation of the one or more control sticks is configured to add a directional component orthogonal to the autonomous flight path of the UAV, the added directional component being along a horizontal plane. The UAV according to claim 556, wherein the degree of operation corresponds to the magnitude of the directional component. The UAV of claim 554, wherein the operation of the one or more control sticks is configured to add a velocity component orthogonal to the autonomous flight path of the UAV, the added velocity component being along a horizontal plane. The UAV of claim 558, wherein the degree of operation corresponds to the magnitude of the velocity component. 554. The UAV of claim 554, wherein the operation of the one or more control sticks is configured to add an acceleration component to the autonomous flight path of the UAV. The UAV according to claim 560, wherein the degree of operation corresponds to the magnitude of the acceleration component. 554. The UAV of claim 554, wherein the one or more control sticks include a yaw stick configured to act on the rotation of the UAV around the yaw axis. 554. The UAV of claim 554, wherein the actuation of the one or more control sticks is configured to add centripetal acceleration to the UAV. 563. The UAV of claim 563, wherein the degree of actuation corresponds inversely to the size of the radius of the orbital arc of the UAV. 527. The UAV of claim 527, wherein the second set of signals alters the altitude of the UAV. The UAV according to claim 527, wherein the autonomous flight path of the UAV is modified in consideration of further environmental factors. The UAV of claim 566, wherein the environmental factor is identified based on one or more sensors mounted on the UAV. 567. The UAV of claim 567, wherein the one or more sensors includes a camera. The UAV of claim 527, wherein the autonomous flight is a flight to a predetermined position. The UAV of claim 527, wherein the autonomous flight is an autonomous return of the UAV. 527. The UAV of claim 527, wherein the autonomous flight is autonomous navigation along one or more waypoints. The UAV according to claim 527, wherein the autonomous flight is an autonomous flight to a target point. The UAV of claim 527, wherein the autonomous flight is a flight along a preset trajectory or a preset direction. The UAV of claim 527, wherein the autonomous flight is a flight along an autonomously planned orbit. The UAV according to claim 527, wherein the autonomous flight is a flight along a user-configured orbit. The UAV of claim 527, wherein the autonomous flight is a flight to a position tapped on the map of the first user interface. 527. The UAV of claim 527, wherein the UAV is configured to fly along the autonomous flight path after changing the autonomous flight path in response to the second set of signals. 527. The UAV is configured to fly along a new autonomous flight path different from the autonomous flight path after changing the autonomous flight path in response to the second set of signals. The described UAV.