JP6590937B2 - Apparatus, system, and method for analyzing the behavior of a remotely controlled unmanned aerial vehicle (UAV) - Google Patents

Description

  Unmanned vehicles such as drones have been developed for a wide range of applications including surveillance, search and rescue operations, surveys, and other fields. In some instances, unmanned vehicles may be equipped with sensors for collecting data during flight. For example, drones typically include sensors for detecting parameters such as vehicle speed, altitude, and location.

  However, existing methods for data recording of unmanned vehicles are not ideal. In some cases, the recorded data may not include the complete operational history of the unmanned vehicle user. In some cases, the recorded operational data may not provide enough detail to allow an accurate analysis of events that may occur.

  There is a need for improved recording of operation histories on moving objects such as unmanned vehicles. A system, method, and apparatus for recording the operation history of a movable object is presented herein. The recorded operation history may include not only incoming operation commands received by the remote control vehicle but also outgoing operation commands transmitted from the remote controller of the remote control vehicle. The recorded operation history may further include vehicle status data, such as data related to the remote control vehicle operation process. The recorded operation history of the vehicle may be used to analyze the behavior of the vehicle.

  In one aspect of the present disclosure, an apparatus for recording user operation data for a remote control vehicle is described. The apparatus may include a memory configured to record user operation data, and the user operation data recorded by the memory is not accessible for modification. The user operation data may include outgoing operation commands that affect the operation of the remote control vehicle. The transmission operation command may be transmitted to the remote control vehicle and received via the remote controller of the remote control vehicle.

  In another aspect of the present disclosure, a method for recording user operation data for a remote control vehicle is described. The method includes receiving an outgoing operation command using a user interface of the remote controller, the remote controller including a user operation data recorder. The method further includes recording user operation data in a memory of the user operation data recorder, wherein the user operation data recorder includes an outgoing command. User operation data recorded in the user operation data recorder may not be accessible for modification.

  In another aspect of the present disclosure, an apparatus for recording user operation data for a remote control vehicle is described. The apparatus includes a memory configured to record user operation data, the memory being detachable from the remote controller and received in a housing that is more resistant to destruction than the rest of the remote controller. The user operation data may include outgoing operation commands that affect the operation of the remote control vehicle. The transmission operation command may be transmitted to the remote control vehicle and received via the remote controller of the remote control vehicle.

  In another aspect of the present disclosure, a method for recording user operation data for a remote control vehicle is described. The method includes receiving an outgoing operation command using a user interface of the remote controller, the remote controller including a user operation data recorder. The method further includes recording user operation data in a memory of the user operation data recorder, wherein the user operation data recorder includes an outgoing command. The memory of the user-operated data recorder may be received in a housing that is removable from the remote controller and is more resistant to destruction than the rest of the remote controller.

  In another aspect of the present disclosure, an apparatus for recording user operation data for a remote control vehicle is described. The apparatus includes a memory configured to record user operation data, and the user operation data recorded by the memory is associated with a particular user of the remote control vehicle. The user operation data may include outgoing operation commands that affect the operation of the remote control vehicle. The transmission operation command may be transmitted to the remote control vehicle and may be received via the remote controller of the remote control vehicle.

  In another aspect of the present disclosure, a method for recording user operation data for a remote control vehicle is described. The method includes receiving an outgoing operation command using a user interface of the remote controller, the remote controller including a user operation data recorder. The method further includes recording user operation data in a memory of the user operation data recorder, wherein the user operation data recorder includes an outgoing command. User operation data recorded by the memory may be associated with a particular user of the remote control vehicle.

  In some embodiments, the user operation data recorder is physically integrated with a processing unit configured to control the operation of the remote controller so that when the user operation data recorder is tampered with, the remote controller operates It becomes impossible. The user operation data recorder may be integrated with the processing unit in one package, and one package is configured to perform a complete function, so that when attempting to separate the user operation data recorder from one package, The function of one package is destroyed. The user operation data recorder may be attached to the interconnect substrate and may be wire bonded to achieve electrical connection, so that removing the user operation data recorder from the interconnect substrate without damaging the physical integrity of the recorder Can not.

  In some embodiments, the user operation data recorder may be integrated with a processing unit configured to control the operation of the remote controller via software so that when the user operation data recorder is tampered with, The controller becomes inoperable. The processing unit may be implemented with a software version corresponding to the unique identity of the user-operated data recorder, so that standard operation of the software of the processing unit requires obtaining the unique identity of the user-operated data recorder.

  In some embodiments, the user-operated data recorder memory is received in a housing that includes cushioning and / or waterproofing.

  In some embodiments, the user-operated data recorder memory includes an array of multiple disk drives that operate as a single logical unit. The memory may be configured to record user operation data as logically sequential segments with each segment recorded on at least one of the plurality of disk drives in the array, so that the disk drives in the array In the event of a failure, the segments recorded on the failed disk drive can be reconstructed using the one or more segments recorded on one or more remaining disk drives in the array.

  In some embodiments, the housing that receives the memory of the user-operated data recorder includes a tamper evident structure. The tamper-evident structure may include one or more labels attached to the one or more fasteners of the housing so that when attempting to loosen the one or more fasteners, the label reveals Physical damage will occur. The tamper-evident structure may include one or more fasteners of the housing that are coupled to the electrical circuit so that if one attempts to loosen the one or more fasteners, either in memory or on the remote controller A change to the electrical circuit recorded in the processing unit is detected.

  In some embodiments, the user operation data recorder is configured to associate user operation data with a particular user. The user operation data recorder may be configured to recognize the identity of a particular user entering a call operation command and use the identity of the particular user to associate user operation data with a particular user. Recognizing the identity of a particular user may include providing user authentication to each user. The apparatus can be configured to start recording user operation data once the user is authenticated and end recording once the user authentication is complete. User operation data for each user may be configured to be distinguished from data for other users through physically separated storage areas. User operation data for each user may be configured to be distinguished from data for other users via digital means.

  In some embodiments, the user operation data recorder further includes a processing unit configured to receive outgoing operation commands from one or more users of the remote control vehicle, wherein the processing unit is a memory of the user operation data recorder. Communicating with.

  In some embodiments, the user operation data recorded by the user operation data recorder further includes the location of the user. In some embodiments, the user operation data further includes remote control vehicle identification. The identification may include a unique serial number of the remote control vehicle. In some embodiments, user operation data may be associated with a corresponding time.

  In some embodiments, the user-operated data recorder memory may be non-volatile memory. In some embodiments, the memory is configured to continuously record data. In some embodiments, the memory is configured to record data periodically at predetermined intervals.

  In some embodiments, the user-operated data recorder is further configured to enter an accident mode that prevents updates to the recorder when the recorder is alerted that one or more accident conditions have been detected. One or more accident situations may include loss of the vehicle's global positioning system signal, loss of the vehicle's wireless connection, vehicle collision, entry of the vehicle into the restricted area, deviation of the vehicle's flight path from the planned path, It may be selected from data from a visual sensor of the vehicle that indicates abnormal acceleration of the vehicle, abnormal speed of the vehicle, abnormal temperature of the vehicle, and low visibility. The user operation data recorder may be further configured to exit the accident mode when the recorder receives an indication that the accident situation has been resolved.

  In some embodiments, the user operation data recorder may be further configured to upload user operation data to a database in the management center via a secure connection. User operation data upload may be performed periodically at preset intervals, or may be performed when the user operation data recorder is warned that one or more accident situations have been detected. is there.

  In some embodiments, the remote control vehicle is a drone. The outgoing operation command may affect the flight of the drone, the operation of one or more sensors on the drone, and / or the positioning of the load on the drone relative to the rest of the drone. .

  In another aspect of the present disclosure, a remote controller for controlling operation of a remote control vehicle is described, the remote controller including a user interface, a communication module, and a device for recording user operation data. The user interface may be configured to receive outgoing operation commands and may be configured to control operation of the remote control vehicle. The communication module may be configured to transmit a call operation command from the remote controller to the remote control vehicle. The apparatus for recording user operation data may include any user operation data recorder described herein.

  In another aspect of the present disclosure, an apparatus for recording vehicle operation data for a remote control vehicle is described. The apparatus includes a memory configured to record vehicle operation data, the vehicle operation data including incoming operation commands that affect the operation of the remotely controlled vehicle, the incoming operation commands being via a remote controller of the remote controlled vehicle. Received. The vehicle operation data recorded by the memory may not be accessible for modification.

  In another aspect of the present disclosure, a method for recording vehicle operation data for a remote control vehicle is described. The method includes receiving one or more incoming operation commands from a remote controller using a communication module of the remote control vehicle, the remote control vehicle including a vehicle operation data recorder. The method further includes recording the vehicle operation data in a memory of the vehicle operation data recorder, wherein the vehicle operation data includes an incoming operation command. The vehicle operation data recorded in the vehicle operation data recorder may not be accessible for correction.

  In another aspect of the present disclosure, an apparatus for recording vehicle operation data for a remote control vehicle is described. The apparatus includes a memory configured to record vehicle operating data, the memory being detachable from the remote control vehicle and received in a housing that is more resistant to destruction than the rest of the remote control vehicle. . The vehicle operation data may include incoming operation commands that affect the operation of the remote control vehicle, and the incoming operation commands are received via a remote controller of the remote control vehicle.

  In another aspect of the present disclosure, a method for recording user operation data for a remote control vehicle is described. The method includes receiving one or more incoming operation commands from a remote controller using a communication module of the remote control vehicle, the remote control vehicle including a vehicle operation data recorder. The method further includes recording the vehicle operation data in a memory of the vehicle operation data recorder, wherein the vehicle operation data includes an incoming operation command. The memory of the user-operated data recorder may be received in a housing that is removable from the remote controller and is more resistant to destruction than the rest of the remote controller.

  In another aspect of the present disclosure, an apparatus for recording vehicle operation data for a remote control vehicle is described. The apparatus includes a memory configured to record vehicle operation data, wherein the vehicle operation data recorded by the memory is associated with a particular user of the remotely controlled vehicle. The vehicle operation data may include incoming operation commands that affect the operation of the remote control vehicle. The incoming operation command may be transmitted to the remote control vehicle and received via a remote controller of the remote control vehicle.

  In another aspect of the present disclosure, a method for recording user operation data for a remote control vehicle is described. The method includes receiving one or more incoming operation commands from a remote controller using a communication module of the remote control vehicle, the remote control vehicle including a vehicle operation data recorder. The method further includes recording the vehicle operation data in a memory of the vehicle operation data recorder, wherein the vehicle operation data includes an incoming operation command. The vehicle operation data recorded by the memory may be associated with a specific user of the remote control vehicle.

  In some embodiments, the vehicle operation data recorder is physically integrated with a processing unit configured to control operation of the remote control vehicle so that when the vehicle operation data recorder is tampered with, the remote control vehicle Becomes inoperable. The vehicle operation data recorder may be integrated with the processing unit in one package, and one package is configured to perform a complete function so that when attempting to separate the vehicle operation data recorder from one package, The function of one package is destroyed. The vehicle operation data recorder may be attached to the interconnect substrate and may be wire bonded to achieve an electrical connection so that the vehicle operation data recorder can be removed from the interconnect substrate without damaging the physical integrity of the recorder. Can not.

  In some embodiments, the vehicle operation data recorder may be integrated with a processing unit configured to control the operation of the remotely controlled vehicle via software so that when the vehicle operation data recorder is tampered with, Remote control vehicle becomes inoperable. The processing unit may be implemented with a software version corresponding to the unique identity of the vehicle operation data recorder, so that standard operation of the processing unit software requires obtaining the unique identity of the vehicle operation data recorder.

  In some embodiments, the vehicle operating data recorder memory is received in a housing that includes cushioning and / or waterproofing.

  In some embodiments, the vehicle operating data recorder memory includes an array of multiple disk drives that operate as a single logical unit. The memory may be configured to record vehicle operating data as logically sequential segments, each segment recorded in at least one of the plurality of disk drives in the array, so that the disk drives in the array In the event of a failure, the segments recorded on the failed disk drive can be reconstructed using the one or more segments recorded on one or more remaining disk drives in the array.

  In some embodiments, the housing that receives the memory of the vehicle operating data recorder includes a tamper evident structure. The tamper-evident structure may include one or more labels attached to the one or more fasteners of the housing so that when attempting to loosen the one or more fasteners, the label reveals Physical damage will occur. The tamper-evident structure may include one or more fasteners of the housing that are coupled to the electrical circuit so that when attempting to loosen the one or more fasteners, in memory or in the remote control vehicle A change to the electrical circuit recorded in the processing unit is detected.

  In some embodiments, the vehicle operation data recorder is configured to associate vehicle operation data with a particular user of the remote control vehicle. The vehicle operation data recorder may be configured to recognize the identity of a particular user entering a call operation command and use the identity of the particular user to associate user operation data with a particular user. Recognizing the identity of a particular user may include providing user authentication to each user. The vehicle operation data recorder can be configured to start recording the vehicle operation data once the user is authenticated, and end the recording when the user authentication is completed. The vehicle operation data for each user may be configured to be distinguished from the data for other users via a physically separated storage area. Vehicle operation data for each user may be configured to be distinguished from data for other users via digital means.

  In some embodiments, the vehicle operation data recorder further comprises a processing unit configured to receive incoming operation commands, wherein the processing unit is in communication with a memory of the vehicle operation data recorder.

  In some embodiments, the vehicle operation data recorded by the vehicle operation data recorder further includes one or more environmental parameters or vehicle status data related to the vehicle operation process. Vehicle status data related to one or more environmental parameters may include one or more of vehicle location, external temperature, wind speed, and precipitation detection. Vehicle status data related to one or more operational processes includes vehicle acceleration, vehicle angular acceleration, vehicle speed, vehicle position, vehicle location, vehicle altitude, vehicle actuator position, aircraft flap settings One or more of: engine performance, engine operating speed, engine power output, battery charge percentage, vehicle cabin pressure, and vehicle cabin temperature. In some embodiments, the remote control vehicle further includes a camera and the vehicle status data further includes one or more pictures of the surrounding environment of the vehicle taken by the camera. The vehicle status data may be associated with a corresponding incoming operation command.

  In some embodiments, the vehicle operation data recorded by the vehicle operation data recorder further includes a remote controller identification. The identification may include a unique serial number of the remote controller. In some embodiments, vehicle operation data may be associated with a corresponding time.

  In some embodiments, the vehicle operation data recorder memory may be a non-volatile memory. In some embodiments, the memory is configured to continuously record data. In some embodiments, the memory is configured to record data periodically at predetermined intervals.

  In some embodiments, the vehicle operation data recorder is further configured to enter an accident mode that prevents updates to the recorder when the recorder is alerted that one or more accident conditions have been detected. One or more accident situations may include loss of the vehicle's global positioning system signal, loss of the vehicle's wireless connection, vehicle collision, entry of the vehicle into the restricted area, deviation of the vehicle's flight path from the planned path, It may be selected from data from a visual sensor of the vehicle that indicates abnormal acceleration of the vehicle, abnormal speed of the vehicle, abnormal temperature of the vehicle, and low visibility. The vehicle operation data recorder may be further configured to exit the accident mode when the recorder receives an indication that the accident situation has been resolved.

  In some embodiments, the vehicle operation data recorder may be further configured to upload the vehicle operation data to a database in the management center via a secure connection. Upload of vehicle operation data may be executed periodically if the vehicle operation data recorder is warned that one or more accident situations have been detected, provided that it is executed periodically at preset intervals. .

  In some embodiments, the remote control vehicle is a drone. Incoming operation commands may affect the flight of the drone, the operation of one or more sensors on the drone, and / or the positioning of the load on the drone relative to the rest of the drone. .

  In another aspect of the present disclosure, a remote control vehicle is described. The remote control vehicle includes one or more propulsion units configured to affect the movement of the remote control vehicle and a communication module configured to receive an incoming operation command from the remote controller to the remote control vehicle. Including. The remote control vehicle further includes a device for recording vehicle operation data, and the device may include any vehicle operation data recorder described herein.

  In another aspect of the present disclosure, a system for recording operational data including user operational data and vehicle operational data for a remote control vehicle is described. The system includes a vehicle operation data recorder having a memory configured to record vehicle operation data. The vehicle operation data may include incoming operation commands that affect the operation of the remote control vehicle, and the incoming operation commands are received via a remote controller of the remote control vehicle. The vehicle operation data recorder may include any vehicle operation data recorder described herein. The system further includes a user operation data recorder having a memory configured to record user operation data. The user operation data may include a transmission operation command that affects the operation of the remote control vehicle, the transmission operation command being transmitted to the remote control vehicle and received via a remote controller of the remote control vehicle. The user operation data recorder may include any user operation data recorder described herein.

  In another aspect of the present disclosure, a method for analyzing the behavior of a remote control vehicle is described. The method includes receiving, from a user operation data recorder, user operation data including transmission operation commands that affect operation of the remote control vehicle, the transmission operation commands being received via a remote controller of the remote control vehicle. . The method includes a vehicle operation data recorder that includes (1) incoming operation commands that affect the operation of a remotely controlled vehicle, or (2) vehicle status data relating to one or more environmental parameters or vehicle operation processes. It further includes receiving operation data. The method compares user operation data and vehicle operation data, thereby identifying discrepancies including (1) differences between outgoing operation commands and incoming operation commands, or (2) differences between incoming operation commands and vehicle status data. In addition. The method further includes determining one or more causes of remote control vehicle behavior based on the identified discrepancy.

  In another aspect of the present disclosure, an apparatus for analyzing the behavior of a remote control vehicle is described. The device is (1) user operation data including transmission operation commands that affect the operation of the remote control vehicle, wherein the transmission operation commands are received via the remote control remote control, and ( 2) configured to receive vehicle operation data including (i) incoming operation commands that affect the operation of the remotely controlled vehicle or (ii) one or more environmental parameters or vehicle status data relating to the vehicle operation process Communication unit. The device compares the user operation data and the vehicle operation data, thereby causing a discrepancy that may include (1) a difference between the outgoing operation command and the incoming operation command or (2) a difference between the incoming operation command and the vehicle status data. It further includes one or more processors configured individually or collectively to identify. The one or more processors can be further configured to determine one or more causes of the behavior of the remotely controlled vehicle based on the identified discrepancy.

  In another aspect of the present disclosure, a system for analyzing the behavior of a remote control vehicle is described. The system includes a user operation data recorder having a memory configured to record user operation data, the user operation data including outgoing operation commands that affect the operation of the remote control vehicle, the outgoing operation commands being remote controlled Received via the vehicle's remote controller. The system further includes a vehicle operation data recorder having a memory configured to record vehicle operation data, wherein the vehicle operation data is either (1) an incoming operation command that affects the operation of the remotely controlled vehicle or (2) 1 Vehicle status data relating to one or more environmental parameters or vehicle operating processes. User operation data and vehicle operation data are accessible for comparison and may include (1) differences between outgoing operation commands and incoming operation commands or (2) differences between incoming operation commands and vehicle status data. The discrepancy is identified, thereby determining one or more causes of the behavior of the remote control vehicle.

  In some embodiments, an accident occurs in a remote control vehicle and the behavior of the remote control vehicle is analyzed to determine one or more possible causes of the accident. Accidents may include one or more of vehicle collisions, missing vehicles, vehicles entering restricted areas, and vehicles engaged in illegal activities. The analysis of remote control vehicle behavior may further be used to facilitate the allocation of accident liability. The allocation of liability may be configured to determine insurance payments and / or determine prosecution when illegal activities are identified. Analysis of remote control vehicle behavior may further be used to facilitate criminal investigations related to accidents.

  In some embodiments, the behavior of the remote control vehicle is analyzed to improve the design or manufacture of the vehicle or its components.

In some embodiments, the comparison of the user operation data and the vehicle operation data identifies that there is no discrepancy between the outgoing operation command and the incoming operation command and that there is no discrepancy between the incoming operation command and the vehicle status data. To do. Remote cause of the behavior of the controlled vehicle, then Ru is determined to be the user sends affect operation command behavior unintentionally or intentionally.

  In some embodiments, the comparison between user operation data and vehicle operation data identifies discrepancies between outgoing operation commands and incoming operation commands. The cause of the behavior of the remote control vehicle may then be determined to be an error in sending an operation command to the remote control vehicle. The errors may include one or more of a malfunction of the communication link between the remote controller and the remote control vehicle, a malfunction of the communication module of the remote controller or the remote control vehicle, and a hijack event.

  In some embodiments, the comparison of user operation data and vehicle operation data identifies discrepancies between incoming operation commands and vehicle status data. The cause of the behavior may then be determined to be an error in executing the incoming operation command by the remote control vehicle. Errors may include malfunctions in the operating process of the remote control vehicle, and the vehicle status data includes data values that are outside the standard range of the operating process, changes in data values that are outside the standard range of the operating process, data for the operating process One or more of the data from the remote control position sensor indicating an abnormal combination of values and position sensor failure may be included. Alternatively or in combination, the error may include disruption of the remote control vehicle's operating process due to environmental parameters, and the vehicle status data is one of data indicating low visibility, data indicating strong winds, and data indicating heavy rain. Or a plurality may be included.

  It should be understood that different aspects of the invention can be recognized individually, collectively, or in combination with each other. The various aspects of the invention described herein can be applied to any of the specific applications specified below, or for any other type of movable object. Any description herein of an aircraft applies to any movable object, such as any vehicle, and can be used for any movable object. In addition, the systems, devices, and methods disclosed herein in connection with aircraft movement (eg, flight) are also of other types such as ground or water movement, subsurface movement, or space movement. It can be applied in the context of movement.

Other objects and features of the present invention will become apparent upon review of the specification, claims and appended drawings.
Incorporation by reference

  All publications, patents, and patent applications referred to herein are expressly and individually indicated as if each individual publication, patent, or patent application was incorporated by reference. Are incorporated herein by reference to the same extent.

  The novel features of the invention are set forth with details in the appended claims. A better understanding of the features and advantages of the present invention will be obtained by reference to the following detailed description and accompanying drawings that set forth illustrative embodiments, in which the principles of the invention are utilized.

FIG. 2 is a diagram illustrating a system for recording operational data for a remote control vehicle, according to an embodiment. 1 is a schematic diagram of a system for recording operational data for a remote control vehicle, according to an embodiment. FIG. FIG. 6 is a schematic diagram of user operation data recorded by a user operation data recorder according to an embodiment. It is the schematic of the vehicle operation data recorded by the vehicle operation data recorder according to embodiment. It is a figure which shows the analysis method of the behavior of the remote control vehicle based on embodiment as a block diagram. It is a flowchart which shows the analysis method of the behavior of the remote control vehicle based on embodiment. It is a table | surface which shows the analysis method of the behavior of the remote control vehicle based on embodiment. It is a figure which shows the unmanned aircraft which concerns on embodiment. It is a figure which shows the movable object which concerns on embodiment. 1 is a schematic diagram as a block diagram of a system for controlling a movable object, according to an embodiment. FIG.

  The systems, methods, and apparatus presented herein allow for the recording of operation histories of movable objects such as remote controlled vehicles. The operation history may include operation data recorded for the movable object. The recorded operation data may include outgoing operation commands sent from a remote controller of the remote control vehicle and / or incoming operation commands received by the remote control vehicle. The recorded operation data may further include vehicle status data such as data related to the vehicle operation process. The recorded operation history of the vehicle may be used to analyze the behavior of the vehicle. It should be understood that different aspects of the invention can be recognized individually, collectively, or in combination with each other. The various aspects of the invention described herein may be applied to any of the specific applications specified below, or to any other type of remotely controlled vehicle or movable object.

  Exceptions can occur during the operation of a remotely controlled vehicle, leading to specific behavior of the vehicle. For example, a malfunction of the vehicle propulsion unit may lead to a vehicle collision, or a malfunction of a component of the vehicle navigation system may lead to the vehicle deviating from its planned travel path. In such situations, analysis of the vehicle's operating history may help determine potential causes of vehicle behavior. Thus, a system for maintaining a complete record of the vehicle's operational history may provide a useful tool for analyzing vehicle behavior.

  Due to the nature of the operation of the remote control vehicle, complete recording of the operation history of the remote control vehicle preferably includes recording of operation commands that are transmitted to and received by the vehicle. The outgoing operation command transmitted from the remote controller operated by the user to the remote control vehicle may not necessarily match the incoming operation command received by the vehicle. For example, an error may occur in signal transmission between the remote controller and the vehicle, and the vehicle may not be able to receive an incoming operation command corresponding to a transmission operation command. In another exemplary scenario, a remotely controlled vehicle hijacking may occur, an unauthorized user sends an operating command to the vehicle, and the vehicle sends any recorded outgoing operation that is sent from the remote controller. An incoming operation command that does not correspond to the command is received. A system for maintaining a complete record of outgoing and incoming operational commands that affect the operation of a remotely controlled vehicle may provide a means for more accurately identifying the cause of vehicle behavior.

  The operation data of the remote control vehicle may be recorded by the remote controller or its components. Alternatively or in combination, the operational data may be recorded by the remote control vehicle or its components. In order to protect the integrity of the recorded data, an apparatus for recording operational data may have various features or configurations for protecting the recorded data.

  The remote control vehicle described herein may include an unmanned aerial vehicle (UAV). As described herein, an outgoing operation command and an incoming operation command can be used for UAV flight, operation of one or more sensors mounted on the UAV, and / or onboard mounted on the UAV for the rest of the UAV. May include commands that affect the positioning of objects.

  Referring now to the drawings, FIG. 1 illustrates a system 100 for recording operational data for a remote control vehicle 300 according to an embodiment. The system 100 includes a remote control vehicle 300 and a remote control vehicle remote controller 200 operated by a user or operator 10 of the remote control vehicle. The user can interact with the remote controller to send one or more outgoing operation commands 270 to the remote control vehicle. The remote controller may be a handheld device and may include one or more physical user input components such as one or more buttons, switches, levers, and joysticks. The remote controller may include a software-based user interface provided, for example, on a display screen disposed on the remote controller.

  The outgoing operation command 270 may be transmitted through the wireless connection 110 and received by the remote control vehicle 300 as an incoming operation command 370. The wireless connection may be a direct connection or an indirect connection, as described elsewhere in this specification, for example WiFi, Bluetooth ™, or a cellular or cellular telephone network (eg, 3G network or 4G network). Incoming operation commands received by the remote control vehicle may affect the operation of the vehicle.

  The outgoing operation command and the incoming operation command may affect the flight of the unmanned aerial vehicle (UAV). For example, the operational command can initiate one or more predetermined flight sequences, such as a flight path or flight pattern, a take-off sequence, or a landing sequence, or direct a flight to a preset destination. The operation command may control the positioning of the load mounted on the vehicle relative to the rest of the vehicle, for example, rotating the load around one, two, three or more axes. The operation command may control the operation of the load. For example, the payload may be a camera and the operational command may instruct the camera to turn on or off, switch modes, zoom, or focus. The operation command may further control the operation of one or more communication units of the vehicle and / or one or more sensors mounted on the vehicle.

  The remote controller 200 may include a user operation data recorder 250 configured to record user operation data 265. The user operation data may include a transmission operation command 270. The user operation data recorder may have a feature or configuration for preventing falsification of recorded user operation data. The recorded user operation data may be stored in the user operation data recorder, for example, on the memory of the user operation data recorder. Alternatively or in combination, the recorded user operation data may be transmitted from the user operation data recorder to one or more other devices, eg, for analysis and / or backup storage, as described in more detail herein. May be sent to.

  Remote control vehicle 300 may include a vehicle operation data recorder 350 configured to record vehicle operation data 365. The vehicle operation data may include an incoming operation command 370. The vehicle operation data recorder may have a feature or configuration for preventing falsification of recorded vehicle operation data. The recorded vehicle operation data may be stored in the vehicle operation data recorder, for example, on the memory of the vehicle operation data recorder. Alternatively or in combination, the recorded vehicle operation data may be transferred from the vehicle operation data recorder to one or more other devices, eg, for analysis and / or backup storage, as described in more detail herein. May be sent.

  The system 100 may further include an analysis unit or device 400 configured to receive the user operation data 265 and the vehicle operation data 365 and analyze the behavior of the remotely controlled vehicle based on the two sets of data. The analysis unit may be supported by a remote controller, a remote control vehicle, or a separate device that is not mounted on the remote controller or vehicle.

  Optionally, system 100 may further include a backup unit 500 configured to receive user operation data 265 and vehicle operation data 365 over a secure connection and store the data in a database. The backup unit may be supported by a remote controller, a remote control vehicle, or a separate device that is not mounted on the remote controller or vehicle. For example, the backup unit may be supported at a management center, which can be configured to communicate with a remote controller and / or a remote control vehicle via a secure communication channel. The operation data backed up in the backup unit may be held for a predetermined period.

  FIG. 2 is a schematic diagram of a system 100 for recording operational data for a remote control vehicle 300 according to an embodiment. The user 10 can interact with the remote controller 200 via the user interface 215 of the remote controller and provide user input 217. User input may include instructions for controlling the operation of the remote control vehicle, which may be converted to outgoing operation commands 270. User interface 215 may include physical user input components such as one or more buttons, switches, levers, or joysticks located on the remote controller. The user interface may include means for utilizing one or more sensors configured to detect user input. For example, the remote controller may include one or more inertial sensors configured to sense the tilt of the remote controller, and the tilt may be converted into an outgoing operation command. Alternatively or in combination, the user interface may include a display screen to provide a software-based interface for capturing user input. The user may interact with the software-based interface using one or more physical user input components or sensors of the remote controller, or the display screen may include a touch screen that allows the user to interact.

  User input 217 received by the user interface 215 may be provided to the processing unit 210 of the remote controller 200. The processing unit may include one or more processors configured individually or collectively to control the operation of the remote controller. For example, the processing unit may receive instructions for providing a user interface or instructions for converting the input into one or more outgoing operation commands 270 that receive user input and affect the operation of the remote control vehicle 300. May include. The outgoing operation command may control, for example, the operation of the load, which may start one or more predetermined flight sequences of the drone, may control the positioning of the load mounted on the vehicle, The operation of one or more communication units of the vehicle may be controlled and / or the operation of one or more sensors mounted on the vehicle may be controlled.

  The remote controller may further include one or more sensors 225 configured to collect remote controller status data 275 related to one or more environmental parameters or the remote controller operating process. For example, the one or more sensors may include a global positioning system (GPS) unit configured to detect a remote controller location that generally corresponds to a user location.

  The processing unit 210 may be configured to receive remote controller status data 275 from one or more sensors and package the remote controller status data and outgoing operation commands into user operation data 265. The processing unit may be further configured to send user operation data to a user operation data recorder 250 where data may be recorded. The user operation data recorder may include a memory 255 configured to record user operation data. The memory may be a non-volatile memory. The memory may be configured to record data continuously, or to record data periodically at predetermined intervals. Alternatively or in combination, the memory may be configured to record data in response to an event. In many embodiments, the user-operated data recorder may have features or configurations for protecting recorded data, as further described herein. For example, the memory may be received in a housing that is configured to be resistant to destruction, or the memory may have a tamper evident feature (eg, inaccessible for modification, physically inseparable, recorded data System architecture for backup and / or recovery).

  The user operation data recorder may further include a processing unit in communication with the memory, and the processing unit may be configured to receive user operation data from the processing unit 210 of the remote controller and transmit the data to the memory. The processing unit of the user operation data recorder may be further configured to package user operation data for storage in memory. For example, if the user operation data includes two or more subsets of data, the processing unit may add one subset of data to one before sending the user operation data thus packaged for storage to memory. It may be configured to associate with the other subset of one or more data.

  The processing unit 210 of the remote controller may be further configured to send a call operation command to the communication module 220 of the remote controller 200. The communication module may be configured to package outgoing operation commands for wireless transmission to the remote control vehicle 300. For example, the communication module may be configured to compress and / or encode outgoing operation commands for wireless transmission.

  The communication module 220 of the remote controller 200 may communicate with the communication module 320 of the remote control vehicle 300 via the wireless connection 110. Communication modules 220 and 320 may include a transmitter and / or receiver configured to transmit and / or receive data. For example, a communication module may include a transceiver that incorporates one or more transmitters and one or more receivers. The transceiver may have one or more transmitters and one or more receivers integrated into a single component or distributed over multiple components of the transceiver. The communication module may communicate using one or more of many methods. For example, the method may include a wireless serial communication link such as Bluetooth ™. The method may include transmitting data over a telecommunications network, a cellular network, or a data network, and the network may include the Internet or a network based on the Internet, such as a cloud communication network. The method may include direct communication in which data is transmitted directly between the remote controller and the remote control vehicle, or the method may include one of the relay station, tower, satellite, mobile station, computer, server, etc. Indirect communication transmitted via one or more intermediate network nodes may be included. Accordingly, the wireless connection 110 may include, for example, a connection using WiFi, WiMAX, coded orthogonal frequency division multiplexing (COFDM), or a cellular or cellular telephone network (eg, a 3G network or a 4G network).

  The communication module 320 of the remote control vehicle 300 can receive the incoming operation command 370. The communication module may be configured to receive and unpackage the incoming operation command by decompressing and / or de-encrypting the incoming operation command. The incoming operation command may be transmitted to the processing unit 310 of the remote control vehicle, and the processing unit is configured to control the operation of the remote control vehicle based on the incoming operation command. For example, the processing unit sends instructions to the one or more propulsion units 330 to affect the movement of the remotely controlled vehicle, such as instructions to initiate one or more predetermined flight sequences of the drone. You can do it. Based on the incoming operation command, the processing unit controls the positioning of the load mounted on the vehicle, controls the operation of the load, controls the operation of one or more communication units of the vehicle, and / or An instruction for controlling operation of one or a plurality of sensors mounted on the vehicle may be further transmitted.

  The remote control vehicle is one or more configured to collect vehicle status data 375 related to one or more environmental parameters or vehicle operating processes, as described in detail elsewhere herein. The sensor 325 may be further included. For example, the sensor may include a sensor for detecting the acceleration or speed of a vehicle configured to receive information from one or more propulsion units. Another example of a sensor may be a position sensor, such as a global positioning system (GPS) unit, configured to detect the location of a remotely controlled vehicle. The vehicle status data includes, for example, vehicle speed and / or acceleration, engine performance, positioning data (eg, global coordinates, one axis of rotation, two axes, or orientation relative to three axes), battery level, and Available communication networks may be included.

  The processing unit 310 may be configured to receive the vehicle status data 375 from one or more sensors and package the vehicle status data and incoming operation commands into the vehicle operation data 365. The processing unit may be further configured to send vehicle operation data to a vehicle operation data recorder 350 where data may be recorded. The vehicle operation data recorder may include a memory 355 configured to record vehicle operation data, as will be described in detail elsewhere herein. The memory may be a non-volatile memory. The memory may be configured to record data continuously, or to record data periodically at predetermined intervals. Alternatively or in combination, the memory may be configured to record data in response to an event. The vehicle operation data recorder may further include a processing unit in communication with the memory, wherein the processing unit of the vehicle operation data recorder receives vehicle operation data from the remote control vehicle processing unit 310 and transmits the data to the memory. May be configured. The processing unit of the vehicle operation data recorder may be further configured to package the vehicle operation data for storage in memory. For example, if the vehicle operation data includes two or more subsets of data, the processing unit of the vehicle operation data recorder may send one subset of data before sending the vehicle operation data packaged in this way to the memory. May be associated with the other subset of one or more data.

  The system 100 may further include an analysis unit 400 configured to analyze the behavior of the remote control vehicle 300. The analysis unit can provide an analysis of possible causes of the behavior of the remote control vehicle. The analysis unit may include a communication module 420 configured to receive user operation data 265 and vehicle operation data 365 from user operation data recorder 250 and vehicle operation data recorder 350, respectively. The communication module 420 can be configured to communicate wirelessly with a user operation data recorder and a vehicle operation data recorder, as described in further detail herein. Alternatively or in combination, the communication module 420 may be configured to communicate using a wired communication method. For example, wired communication methods may utilize wires, cables, optical fibers, waveguides, or other physical connections suitable for transmitting data. The analysis unit may be supported by a remote controller, a remote control vehicle, or a separate device that is not mounted on the remote controller or remote control vehicle.

  The analysis unit 400 may further include a processing unit 410 configured to receive user operation data and vehicle operation data from the communication module 420. The processing unit 410 may include one or more processors configured individually or collectively to compare user operation data and vehicle operation data, thereby identifying discrepancies between the two data sets. . The discrepancy may include, for example, a difference between the transmission operation command and the incoming operation command, a difference between the incoming operation command and the vehicle status data, and / or a difference between the transmission operation command and the vehicle status data. Based on the identified discrepancy, the processing unit 410 may determine one or more causes of the behavior of the remote control vehicle, as described in further detail herein.

  The analysis unit 400 is configured to perform the analysis after completion of each trip of the remote control vehicle, for example, periodically at preset intervals, such as every 5 seconds, or in response to one or more events. May be. Alternatively or in combination, the analysis unit may be configured to perform the analysis when prompted by a user with special privileges or permissions to access the recorded operational history. Alternatively or in combination, the analysis may be performed when the vehicle operation encounters one or more exceptional situations. Exceptional situations include, for example, loss of communication with the vehicle, missing remote control vehicle, remote control vehicle collision, remote control vehicle entry into restricted area, planned route of remote control vehicle travel One or more of the data from the remote control vehicle's visual sensor indicating a deviation from the remote control vehicle, abnormal acceleration of the remote control vehicle, abnormal speed of the remote control vehicle, abnormal temperature of the remote control vehicle, or low visibility May include.

  System 100 may optionally include a backup unit 500 configured to store user operation data and vehicle operation data in a database. The backup unit may be supported by the remote controller 200, the remote control vehicle 300, or a separate device that is not mounted on the remote controller or the remote control vehicle. The backup unit may be combined with the analysis unit 400, or the analysis unit and the backup unit may be separate devices. The backup unit may be configured to receive data from a plurality of remote controllers and / or a plurality of remote control vehicles. In many embodiments, the backup unit may be supported at a management center, which can be configured to communicate with one or more remote controllers and / or remote control vehicles via a secure communication channel. . In this way, the management center can function as a repository of operation data. The operation data backed up in the backup unit may be held for a predetermined period.

  The backup unit may include a communication module 520 configured to receive data from the user operation data recorder and the vehicle operation data recorder. The communication module can be configured to communicate with the user operation data recorder and the vehicle operation data recorder using a wireless communication method, a wired communication method, or a combination thereof, as described in further detail herein. The communication method may include, for example, connection in a network having an unlimited range or a network having a limited range. Preferably, the connection is a secure connection to ensure the integrity of the data being transmitted. The user operation data recorder and the vehicle operation data recorder may be configured to periodically upload data to the backup unit at preset intervals. Alternatively or in combination, the data may be uploaded to the backup unit when the vehicle operation encounters one or more exceptional situations, as described in further detail herein.

  Communication module 520 may be configured to provide received data to memory 555, which includes a database for storing operational data. The database may be configured to store operational data for a plurality of remote controllers and / or a plurality of remote control vehicles. For example, the memory 555 may include a plurality of memory units each configured to store respective operational data for a plurality of remote controllers or remote control vehicles. Alternatively or in combination, the database may include a plurality of component databases, each configured to store operational data for each of a plurality of remote controllers or remote control vehicles. The database can provide backup storage for the operation data to prevent data loss if one or more of the user operation data recorder and the vehicle operation data recorder is illegally accessed.

  In many embodiments, recorded user operation data and / or vehicle operation data can only be accessed for retrieval by users with special privileges or permissions. Users with special privileges or permissions may include government agencies or businesses authorized by the government. For example, an authorized user may be a government-designated law enforcement organization that retrieves recorded operational history data for the purpose of conducting investigations related to incidents where remote controlled vehicles enter restricted areas without permission. There is. Optionally, the user operation data recorder and / or the vehicle operation data recorder may be configured to have one or more settings that can be modified by a user with special privileges or permissions. For example, the user operation data recorder or the vehicle operation data recorder may be one or more special operations based on the occurrence of one or more specific operating conditions of the remote control vehicle or based on a specific behavior of the remote control vehicle. It may be configured to enter a mode. In such a case, a user with special privileges or permissions may have the ability to issue instructions for changing the operation mode to the user operation data recorder and / or the vehicle operation data recorder.

  In some embodiments, the user operation data recorder and / or the vehicle operation data recorder may include one or more exceptional situations (eg, vehicle collisions) in the operation of the remote control vehicle 300 for which the recorder is described herein. The vehicle may be configured to enter the “accident mode” when warned of the occurrence of a deviation of the vehicle movement route from the planned route. One or more exceptional situations may be detected by one or more of a remote controller, a remote control vehicle, and an analysis unit. Accordingly, one or more of the remote controller, remote control vehicle, and analysis unit may generate an alarm that is transmitted to the user operation data recorder and / or the vehicle operation data recorder. In the accident mode, the user operation data recorder or the vehicle operation data recorder is “locked down”, that is, configured to start a mechanism for preventing the user operation data or the vehicle operation data from being updated. Good. The user operation data recorder or the vehicle operation data recorder may be configured to exit the accident mode when the recorder receives permission that the exceptional situation has been resolved. Such permission may be issued by a user with special privileges or permissions, for example as described herein.

  In many embodiments, the data recorded in the user operation data recorder and the vehicle operation data recorder is configured so that it cannot be accessed for modification in order to protect the integrity of the recorded data. User operation data and vehicle operation data may be accessible for purposes other than modification to recorded data, such as for retrieval of recorded data. The user operation data recorder may be physically integrated with the processing unit of the remote controller so that if the user operation data recorder is tampered with, the remote controller becomes inoperable. Similarly, the vehicle operation data recorder may be physically integrated with the remote control vehicle processing unit so that if the vehicle operation data recorder is tampered with, the vehicle becomes inoperable. Therefore, if either the user operation data recorder or the vehicle operation data recorder is tampered with, the remote control vehicle may not be operated. For example, in the case of a UAV, the UAV may no longer be able to fly. System in package (SIP) technology may be used to integrate a user operation data recorder or a vehicle operation data recorder with each processing unit in one package. For example, the plurality of functional chips of the processing unit may be packaged with the memory of the data recorder so that the package performs a complete function. Attempting to separate the memory from the package may destroy the functionality of other modules in the package and stop the operation of the remote controller or remote control vehicle. In another exemplary embodiment, chip-on-board (COB) technology may be used to integrate a user operation data recorder or a vehicle operation data recorder into its respective processing unit, with each of the memories on the interconnect substrate. Applied and wire bonded to achieve electrical connection. Attempting to remove the memory from the interconnect substrate can compromise the physical integrity of the memory and thus prevent the user from accessing the data recorded in the memory. Conversely, attempting to remove the memory from the interconnect board does not compromise the integrity of the data stored in the memory, but destroys the functionality of other modules attached to the same interconnect board, and the remote controller Or the remote control vehicle may become inoperable. Preferably, the data is not accessible for modification, but such an arrangement allows the user to retrieve the recorded data for analysis.

  Instead of or in combination with the physical integration method, the user operation data recorder or the vehicle operation data recorder may be integrated with the remote controller or the processing unit of the remote control vehicle via software. For example, the processing unit may be implemented with a software version corresponding to the unique identity of the user operation data recorder or the vehicle data operation recorder, respectively, so that the standard operation of the processing unit software is the user operation data recorder or the vehicle operation data recorder. Need to get a unique identity. The unique identity of either data recorder may be configured to be destroyed when an attempt to tamper with the data recorder is detected, so that the software of the remote controller or remote control vehicle processing unit can After that, it becomes inoperable.

  The user operation data recorder or the vehicle operation data recorder may further include a housing configured to receive the memory of each recorder. The housing may be removable from a remote controller for removal of user operation data or vehicle operation data, or from a remote control vehicle. In many embodiments, the housing is configured to be more resistant to breakage than the rest of the remote controller or remote control vehicle. For example, the housing may include one or more of a cushioning material, a waterproof material, a heat resistant material, an electrically insulated material, and a corrosion resistant material. The housing may be configured to withstand, for example, up to 3,400 g of acceleration, ie an impact speed of about 310 mph. The housing may be further configured to withstand temperatures in excess of 1,000 ° C.

  The housing may further include a tamper-evident structure to prevent tampering attempts and detect any such attempts. For example, the tamper-evident structure may include one or more labels, such as a paper label that adheres to one or more fasteners of the housing, so that one or more of the fasteners may be loosened. Will cause obvious physical damage to the label. The tamper-evident structure may also include one or more fasteners of the housing that are coupled to the electrical circuit so that when attempting to loosen the one or more fasteners, either in memory or in the remote controller Alternatively, changes to the electrical circuit recorded in the processing unit of the remote control vehicle may be detected.

  The memory may be further configured to withstand damage to operational data stored in the memory. The memory may utilize redundant array (RAID) technology consisting of multiple independent disks, and the memory may include an array of multiple disk drives that operate as a single logical unit. As known in the art, RAID techniques with mirroring, striping, and / or parity may be utilized. For example, the memory may be configured to record user operation data or vehicle operation data to two or more of the plurality of disk drives in the array so that if a disk drive fails, the data is stored on the remaining disks. You can recover from one or more of the drives. Alternatively or in combination, the memory is configured to record user operation data or vehicle operation data as logically sequential segments with each segment recorded on at least one of the plurality of disk drives in the array. It's okay. If a disk drive fails, the segments that were recorded on the failed disk can be reconstructed using one or more segments that were recorded on one or more of the remaining disk drives in the array.

  FIG. 3 is a schematic diagram of user operation data 265 recorded by the user operation data recorder according to the embodiment. The user operation data may include a transmission operation command 270 that affects the operation of the remote control vehicle, and the transmission operation command is received from the user of the vehicle via the remote controller. The user operation data may further include other data related to the user or the remote controller. For example, the user operation data may further include remote controller status data 275 that may include the location of the remote controller, and the remote controller location may often indicate the location of the user operating the remote controller. The remote controller may include one or more sensors configured to detect the location of the remote controller, such as a global positioning system (GPS) unit.

  The user operation data may further include a recording time 20 for each subset of data within the user operation data. The time may include one or more of a date, day of the week, time of day, or any other indication of time. Each subset of data, such as an outgoing operation command or a set of remote controller locations, may be associated with a corresponding time. “Time stamped” user operation data provides a more complete picture of the operation history of the remote control vehicle, thereby facilitating analysis of the operation data.

  The user operation data may further include a remote control vehicle identification 305. A system for recording an operation history of a remote control vehicle can be configured to associate user operation data with a unique identification of the remote control vehicle, the unique identification being associated with the remote control vehicle and all other Other remote control vehicles such as remote control vehicles may be distinguished and / or distinguished. The remote control vehicle identification may include, for example, a unique serial number of the remote control vehicle.

  The user operation data may further include a particular user identity 15 of the remote control vehicle. A remote control vehicle may be operated by multiple users. A system for recording an operation history of a remote control vehicle can be configured to associate user operation data including outgoing operation commands with the user's recognized identity. User identity recognition may include providing user authentication to each of one or more users of the remote control vehicle. For example, the remote controller user interface may provide a means for each user to log into the air traffic control system using a unique user identity such as a password and an authentication key. The user operation data recorder starts recording user operation data once the user is authenticated and logged in, and associates the recorded data with outgoing operation commands entered into the remote controller by a specific user with the user's identity May be configured. The user operation data recorder may be further configured to end the recording of the user operation data when the user authentication ends. The user operation data recorder may be configured to distinguish data for each user from data for other users by physically separating the storage area for each user's data. For example, the memory of the user operation data recorder may include physically separate memory components that each store user operation data for one user. Alternatively or in combination, the user-operated data recorder may be configured to distinguish data for each user from data for other users via digital means. For example, the memory may include a digitally separated database where each database stores user operational data for one user. Associating user operation data with a user identity can provide a way to capture the portion of each user's contribution to recorded user operation data.

  FIG. 4 is a schematic diagram of the vehicle operation data 365 recorded by the vehicle operation data recorder according to the embodiment. The vehicle operation data may include incoming operation commands 370 that affect the operation of the remote control vehicle, and the incoming operation commands are received from a remote controller operated by a user of the remote control vehicle.

  The remote control vehicle operational data may further include one or more environmental parameters 385 or vehicle status data 375 related to the remote controlled remote control vehicle operational process 380. A remotely controlled remote control vehicle may include one or more sensors configured to collect operational data of the remote control vehicle. For example, one or more sensors may be coupled to one or more propulsion units of a remotely controlled remote control vehicle to collect data related to the operation process of the remote control vehicle. Vehicle status data related to one or more operational processes includes: remote control vehicle acceleration, remote control vehicle angular acceleration, remote control vehicle speed, remote control vehicle position, remote control vehicle single axis of rotation, Orientation with respect to three or three rotation axes, remote control vehicle location or global coordinates, remote control vehicle altitude, remote control vehicle actuator position, aircraft flap settings, engine performance, engine operating speed, engine Power output, battery charge percentage, communication network availability, remote control vehicle cabin pressure, and remote control vehicle cabin temperature. Further, the one or more sensors may be coupled to the outer portion of the remotely controlled remote control vehicle to collect data related to environmental parameters of the surrounding environment. Vehicle status data relating to one or more environmental parameters may include detection of a remote controlled vehicle location, external temperature, wind speed, or rainfall. In an embodiment of a remotely controlled remote control vehicle that includes a camera, vehicle status data related to environmental parameters may include one or more pictures of the surrounding environment of the remote control vehicle taken by the camera. The vehicle status data may be associated with a corresponding incoming operation command, and the vehicle status data results from the remote controlled remote controlled vehicle executing the corresponding incoming operation command.

  The vehicle operation data may further include a recording time 20 for each subset of data in the vehicle operation data. The time may include one or more of a date, day of the week, time of day, or any other indication of time. Each subset of data, such as an incoming operation command or a set of vehicle status data, may be associated with a corresponding time. “Time-stamped” vehicle operation data provides a more complete picture of the remote control vehicle's operation history, thereby facilitating analysis of the operation data.

  The vehicle operation data may further include a remote controller identification 205. The remote control vehicle may be controlled by a plurality of remote controllers. A system for recording an operation history of a remote control vehicle can be configured to associate vehicle operation data with a unique identification of a remote controller. The remote controller identification may include, for example, a unique serial number of the remote control vehicle.

  The vehicle operation data may further include the identity 15 of the specific user of the remote control vehicle. A system for recording vehicle operation history can be configured to associate vehicle operation data, including incoming operation commands and / or vehicle status data, with a particular user of the vehicle. In some embodiments, an incoming operation command may be received from a remote controller that is pre-associated with a particular user identity. Alternatively, the vehicle operation data recorder may be configured to recognize a particular user's identity and use that user's identity to associate vehicle operation data with a particular user. User identity recognition may include providing user authentication to each of one or more users of the remote control vehicle. For example, the remote controller user interface may provide a means for each user to log into the air traffic control system using a unique user identity such as a password and an authentication key. The vehicle operation data recorder may be configured to begin recording user operation data once the user is authenticated and logged in, and associate the recorded data with the user's identity. The vehicle operation data recorder may be further configured to end the recording of the vehicle operation data when the user authentication ends. The vehicle operation data recorder may be configured to distinguish data for each user from data for other users by physically separating a storage area for each user's data. For example, the vehicle operation data recorder memory may include physically separate memory components, each storing vehicle operation data for one user. Alternatively or in combination, the vehicle operation data recorder may be configured to distinguish data for each user from data for other users via digital means. For example, the memory may include a digitally separated database where each database stores vehicle operating data for one user.

  FIG. 5 is a block diagram illustrating a system 600 for analyzing the behavior of a remote control vehicle according to an embodiment. The system may include a user operation data recorder 250 and a vehicle operation data recorder 350, as described in further detail herein. The user operation data recorder may be configured to record user operation data 265 including transmission operation commands 270 that affect the operation of the remote control vehicle, the transmission operation commands being transmitted from the user of the remote control vehicle via the remote controller. Received. The user operation data may further include remote controller status data such as the location of the remote controller. The vehicle operation data recorder is configured to record vehicle operation data 365 including incoming operation commands 370 that affect the operation of the remote control vehicle, and the incoming operation commands are received from the remote controller by the remote control vehicle. The vehicle operating data may further include vehicle status data 375 that may include environmental parameters or data related to the vehicle operating process, as described herein. The system may further include an analysis unit as described herein for performing analysis of operational data.

  The user operation data and the vehicle operation data recognize a discrepancy that may include (1) a difference 610 between the outgoing operation command and the incoming operation command and / or (2) a difference 620 between the incoming operation command and the vehicle status data. Can be accessed for comparison. Optionally, the comparison may be performed to identify a discrepancy 630 between the originating operation command and the vehicle status data. The identified discrepancy may be useful for determining one or more causes of remote control vehicle behavior. The difference between the outgoing operation command and the incoming operation command may help to identify errors in the transmission of the operation command from the remote controller to the remote control vehicle. Differences between incoming operation commands and vehicle status data can help identify errors in the execution of received operation commands by the remote control vehicle. The difference between the outgoing operation command and the vehicle status data may help identify errors in the execution of the operation command sent by the remote controller.

  FIG. 6 is a flowchart illustrating a method 700 for analyzing the behavior of a remote control vehicle according to the embodiment. The method may be performed using the analysis unit described herein. In step 710, the analysis unit receives user operation data from the user operation data recorder and receives vehicle operation data from the vehicle operation data recorder. As described in further detail herein, user operation data may include outgoing operation commands that affect the operation of the remote control vehicle transmitted from the remote controller to the remote control vehicle. The vehicle operation data may include not only vehicle status data related to one or more environmental parameters or vehicle operation processes, but also incoming operation commands received by the remote control vehicle from the remote controller.

  At step 720, user operation data and vehicle operation data are compared to identify any discrepancies. Any subset of data in the two data sets may be compared to one or more of the other subsets of data in the two data subsets. For example, a transmission operation command from user operation data may be compared with vehicle status data from vehicle operation data. The comparison may not provide detailed information regarding the nature of the identified error or the cause of the error, but such a comparison may indicate whether there was any error in the vehicle's execution of the operating command sent by the remote controller. May show. To obtain additional insight, additional comparisons between different subsets of data may be performed.

  In step 730, the outgoing operation command from the user operation data may be compared with the incoming operation command from the vehicle operation data. The comparison may include identifying discrepancies between the two sets of data, as in step 732. If no discrepancy is found, it may be determined at step 734 that the operating command has been properly transmitted from the remote controller to the remote control vehicle. If a discrepancy is identified, at step 736, it may be determined that at least a portion of the cause of the vehicle behavior is an error in sending an operation command to the remote control vehicle. Additional analysis may be performed to identify the type of error. For example, the analysis may find that the discrepancy includes one or more portions of outgoing operation commands that are lacking in incoming operation commands. Such discrepancies may indicate that the vehicle behavior may be due to a failure to send a send operation command from the remote controller to the vehicle. Alternatively or in combination, the discrepancy may indicate that the vehicle behavior may be due to a hijacking incident in which the hijacker intercepted some of the outgoing operation commands. The additional analysis may also find that the discrepancy includes one or more portions of the outgoing operation command that are different from the corresponding portion of the incoming operation command. Such discrepancies may indicate that the vehicle behavior is caused by an error in sending an outgoing operation command from the remote controller to the remote control vehicle. Alternatively or in combination, the discrepancy may indicate that the vehicle behavior was caused by a hijacking incident in which the hijacker intercepted some of the outgoing maneuver commands and made changes. Additional analysis may also find that the discrepancy includes one or more portions of incoming operation commands that are missing from the outgoing operation commands. Such a discrepancy may indicate that the cause of the vehicle behavior may be a hijacking incident where the hijacker has transmitted an operation command received by the vehicle as an incoming operation command.

  The comparison 720 may further include a step 750 where the incoming operation command and vehicle status data are compared, where both data subsets are from the vehicle operation data. The comparison may include identification of discrepancies between the two sets of data, as in step 752. If no discrepancy is found, step 754 may determine that the incoming operation command has been properly executed by the remote control vehicle. If a discrepancy is identified, at step 756, it may be determined that at least a portion of the cause of the vehicle behavior is an error in executing the incoming operation command by the remote control vehicle. Additional analysis of discrepancies may provide additional insight regarding the nature of the identified error. For example, a subset of vehicle status data generated from one sensor of a remote control vehicle may be compared to one or more other subsets of vehicle status data generated from other sensors of the remote control vehicle.

  One or more comparisons may be performed between the user operation data and a subset of the vehicle operation data to obtain a more detailed understanding of the possible causes of the behavior of the remote control vehicle. For example, both steps 730 and 750 may be performed to determine whether the cause of vehicle behavior includes one or more of the causes identifiable in steps 734, 736, 754, and 756. .

  FIG. 7 is a table showing a method 700 for analyzing the behavior of a remote control vehicle according to the embodiment. The table summarizes some of the possible causes of remote control vehicle behavior as determined by method 700. The possible causes summarized in FIG. 7 are provided as examples only, and many other causes may be considered either instead or in combination with one or more of the causes summarized in FIG. There is also.

  In some cases, the analysis performed using method 700 identifies that there is no discrepancy between the outgoing operation command and the incoming operation command and that there is no discrepancy between the incoming operation command and the vehicle status data. To do. In such cases, it may be determined that the operational command sent by the user has been properly executed by the remote control vehicle and thus the behavior of the remote control vehicle has been triggered by the user command. For example, the user may have entered an input that is converted into an outgoing operation command that includes an instruction for the UAV to enter the restricted area, causing the UAV to enter the restricted area. Thus, in these cases, the user may be held accountable for the results of the behavior of the remote control vehicle. In some cases, the user may have unintentionally sent an operating command (eg, accidentally touching a wrong component of the remote controller user interface). In some cases, the user may have intentionally sent a command.

  In some cases, the analysis performed using method 700 may identify discrepancies between outgoing and incoming operational commands. Additional analysis of discrepancies may be performed to gain additional insight regarding the nature of the error, as described elsewhere herein. Depending on the results of the additional analysis, the behavior of the remote control vehicle may result in malfunction of the communication link (eg, wireless connection) between the remote controller and the remote control vehicle, malfunction of the remote controller and / or the communication module of the remote control vehicle. Or may have been caused by a hijacking incident. Communication link malfunctions may include, for example, connectivity loss provided by the wireless network. Such a malfunction may lead to a call operation command not reaching the communication module of the remote control vehicle. The malfunction of the communication module may include, for example, a mechanical failure or an electrical failure of the remote controller and / or the communication module of the remote control vehicle. Such a malfunction may lead to the remote controller being unable to transmit a call operation command or the remote control vehicle being unable to receive an incoming operation command. A hijacking incident may include a hijacker intercepting a call operation command, making changes to the call operation command, and / or sending an operation command that is not allowed. For example, a hijacker may intercept and / or change outgoing maneuver commands that include instructions for a UAV landing sequence, causing the UAV to be destroyed, or causing the UAV flight path to be changed. In another exemplary scenario, a hijacker may send an unauthorized operation command that includes instructions for a camera onboard the UAV to perform illegal surveillance activities. If the analysis identifies that there is no simultaneous discrepancy between the incoming maneuver command and the vehicle status data, it may be determined that the behavior under analysis was not caused by any error in the execution of the incoming maneuver command by the remote control vehicle.

  In some cases, the analysis performed using method 700 may identify discrepancies between incoming maneuvering commands and vehicle status data. In such cases, it may be determined that the cause of the behavior of the remote control vehicle is an error in execution of the incoming operation command by the remote control vehicle. The error may include a malfunction of an operation process of the remote control vehicle such as an engine function of the remote control vehicle. Such malfunctions may be identified through additional analysis of vehicle status data. For example, the vehicle status data may include data values that are outside the normal range of the operating process, changes in data values that are outside the normal range of the operating process, or abnormal combinations of data values of the operating process. The vehicle status data may include data from a remote control vehicle position sensor that indicates a position sensor failure. Alternatively or in combination, errors in the execution of incoming maneuver command by the remote control vehicle may include interruption of the remote control vehicle's function due to environmental parameters. For example, the vehicle status data may include data from a remote control vehicle's visual sensor that indicates low visibility, or data from a rain sensor that indicates heavy rain. If the analysis identifies that there is no simultaneous discrepancy between the outgoing operation command and the incoming operation command, it may be determined that the behavior under analysis was not caused by any error in sending the operation command to the remote control vehicle.

  In some cases, the analysis performed using method 700 may identify discrepancies both between outgoing and incoming operational commands, and between incoming operational commands and vehicle status data. In such a case, it is determined that the cause of the behavior of the remote control vehicle is one or more combinations of an error in transmission of the operation command to the remote control vehicle and an error in execution of the incoming operation command by the remote control vehicle. You can do it.

  The method for analyzing the behavior of a remote control vehicle may have many applications. For example, an accident may occur in a remote control vehicle, the remote control vehicle performing a remote control vehicle collision, a missing remote control vehicle, a remote control vehicle entering a restricted area, and a remote control that performs illegal activities One or more of the vehicles may be included. The analysis may then be used to determine one or more possible causes of the accident, as described in detail herein.

  Information about the analysis may be used to facilitate the allocation of accident liability. For example, if a remote control vehicle collides with another remote control vehicle, determining the cause of the collision may facilitate the accidental allocation of the collision. Using the systems and methods described herein, the operation data of the remote control vehicle can be determined by whether each remote control vehicle's behavior was caused by a user error, for example, a remote controller, a remote control vehicle, or a configuration thereof. It may be analyzed to determine if it was caused by a component malfunction, caused by a malfunction in the communication link between the remote controller and the remote control vehicle, or caused by a hijacking event. If the analysis finds that, for example, the accident was caused by a malfunction of one of the remote control vehicles, the user may not be held responsible for the accident. Negligence may instead be allocated to the manufacturer of the remote control vehicle or to the manufacturer of the components of the remote control vehicle.

  Liability allocation can be used to determine insurance payments. If it is determined that the user is negligent (eg, the vehicle behavior was the result of a command entered by the user), the user may be personally responsible for paying the cost of damage, if any, resulting from the accident. May be responsible. If it is determined that the manufacturer of the remote control vehicle or remote control vehicle component is negligent, the manufacturer's insurance may be required to cover the cost of damage. The user's insurance and / or manufacturer's insurance may be partially or fully damaged if it is determined that there is negligence in a third party or environmental condition such as a communication link failure, bad weather, and / or hijacking incident. May cover the cost.

  Legal liability allocation may be used to determine prosecution when an illegal activity is identified. For example, if a remotely controlled vehicle enters a restricted area without permission, an analysis of operational data may be performed as described herein to determine the cause of vehicle behavior. If it is determined that the user is responsible for entering an operational command that instructs the vehicle to enter the restricted area, the user may be prosecuted and the operational data may be used as evidence during the prosecution.

  Analysis information can also be used to facilitate criminal investigations related to accidents. For example, a remote control vehicle may perform illegal monitoring, and analysis of operational data may indicate that the vehicle behavior was due to unauthorized operational commands sent to the remote controlled vehicle by a hijacker. is there. In such cases, the user of the remote control vehicle may prove to be innocent and the recorded operational data may be used by the investigating authorities to attempt to identify the hijacker.

  The operational data analysis described herein may also help identify vehicle characteristics that may require troubleshooting or improvement. For example, analysis of operational data may indicate that certain operational processes of the vehicle, such as engine functions, are prone to errors leading to accidents. Information about the analysis may then be used to improve the design or manufacturing process of the component responsible for the operational process.

  The systems, devices, and methods described herein can be applied to a wide variety of movable objects. As described above, any description herein regarding an aircraft applies to any movable object and may be used for any movable object. The movable object of the present invention can be in the air (eg, fixed wing aircraft, rotary wing aircraft, or aircraft having neither fixed wing nor rotary wings), underwater (eg, ships or submarines), or on the ground (eg, cars, Trucks, buses, vans, motor vehicles such as motorcycles, movable structures or frames such as rods, fishing rods, or trains), underground (for example, subways), in space (for example, space planes, satellites, or space probes) Or in any suitable environment, such as any combination of these environments. The movable object may be a vehicle such as a remote control vehicle as described elsewhere herein. In some embodiments, the movable object can be attached to a living body such as a human or animal. Suitable animals may include birds, canines, felines, horses, cows, sheep, pigs, true sea pigs, rodents, or insects.

  The movable object may be free to move in the environment with respect to 6 degrees of freedom (eg, 3 degrees of freedom in translation and 3 degrees of freedom in rotation). Instead, movement of the movable object may be constrained with respect to one or more degrees of freedom, such as by a predetermined path, track, or orientation. The movement can be actuated by any suitable actuation mechanism such as an engine or motor. The moving mechanism actuation mechanism is 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. There is. The movable object may be self-propelled via a propulsion system as described further below. The propulsion system may optionally operate with an energy source such as electrical energy, magnetic energy, solar energy, wind energy, gravity energy, chemical energy, nuclear energy, or any suitable combination thereof. Alternatively, the movable object may be carried by a living thing.

  In some cases, the movable object may be a vehicle. Suitable vehicles may include ships, aircraft, spacecraft, or ground vehicles. For example, an aircraft may be a fixed wing aircraft (eg, airplane, glider), a rotary wing aircraft (eg, helicopter, rotary wing aircraft), an aircraft with both fixed and rotary wings, or an aircraft without both (eg, small Airship, hot air balloon). A vehicle may be self-propelled, such as traveling on air, self-propelled on the water or in the water, in space, or on the ground or in the ground. Self-propelled vehicles can utilize a propulsion system, such as a propulsion system that includes one or more engines, motors, wheels, axles, magnets, rotors, propellers, blades, nozzles, or any suitable combination thereof. In some cases, the self-propelled system takes off from the surface, landing on the surface, maintaining its current position and / or orientation (eg, hovering), changing orientation, and / or Can be used to make it possible to change the position.

  For example, the propulsion system may include one or more rotors. The rotor may include one or more blades (eg, one, two, three, four or more blades) secured to a central axis. The blades can be arranged symmetrically or asymmetrically about the central axis. The blade can be turned by rotation of a central shaft that can be driven by a suitable motor or engine. The blade can be configured to pivot with clockwise rotation and / or counterclockwise rotation. The rotor can be a horizontal rotor (which may refer to a rotor with a horizontal rotation surface), a vertically oriented rotor (which may refer to a rotor with a vertical rotation surface), or between a horizontal position and a vertical position. It may be a rotor tilted at an intermediate angle. In some embodiments, the horizontally oriented rotor may pivot and provide lift to the movable object. The vertically oriented rotor may swivel and provide thrust to the movable object. A rotor oriented at an intermediate angle between a horizontal position and a vertical position may turn to provide both lift and thrust to the movable object. One or more rotors may be used to provide a torque that counteracts the torque caused by the turning of another rotor.

  The movable object can be controlled remotely by the user or locally by an occupant in or on the movable object. In some embodiments, the movable object is a drone such as a UAV. Unmanned maneuverable movable objects such as UAVs may not have an occupant boarding the movable object. The movable object can be controlled by a human or autonomous control system (eg, a computer control system), or any suitable combination thereof. The movable object may be an autonomous robot or a semi-autonomous robot such as a robot configured with artificial intelligence.

  The movable object may have any suitable size and / or dimensions. In some embodiments, the movable object may be sized and / or dimensioned with a human occupant in or on the vehicle. Alternatively, the movable object may be smaller in size and / or dimensions than a movable object that can have a human occupant in or on the vehicle. The movable object may be of a size and / or dimension suitable for being lifted or carried by a human. Alternatively, the movable object may be larger than the size and / or dimensions suitable for being lifted or carried by a human. In some cases, the movable object has a maximum dimension (eg, length, width, height, diameter, diagonal) of about 2 cm, 5 cm, 10 cm, 50 cm, 1 m, 2 m, 5 m, or 10 m or less. Good. The maximum dimension may be about 2 cm, 5 cm, 10 cm, 50 cm, 1 m, 2 m, 5 m, or 10 m or more. For example, the distance between the opposing rotor shafts of the movable object may be about 2 cm, 5 cm, 10 cm, 50 cm, 1 m, 2 m, 5 m, or 10 m or less. Alternatively, the distance between the shafts of opposing rotors may be about 2 cm, 5 cm, 10 cm, 50 cm, 1 m, 2 m, 5 m, or 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, 50 cm x 50 cm x 30 cm, or 5 cm x 5 cm x 3 cm. The total volume of the movable object is about 1 cm ³ , 2 cm ³ , 5 cm ³ , 10 cm ³ , 20 cm ³ , 30 cm ³ , 40 cm ³ , 50 cm ³ , 60 cm ³ , 70 cm ³ , 80 cm ³ , 90 cm ³ , 100 cm ³ , 150 cm ³ , ^{200cm 3, 300cm 3, 500cm 3} , 750cm 3, 1000cm 3, 5000cm 3, 10,000cm 3, 100,000cm 3, 1m 3 or may be at 10 m ³ or less. Conversely, the total volume of the movable object is about 1 cm ³ , 2 cm ³ , 5 cm ³ , 10 cm ³ , 20 cm ³ , 30 cm ³ , 40 cm ³ , 50 cm ³ , 60 cm ³ , 70 cm ³ , 80 cm ³ , 90 cm ³ , 100 cm ³ , ^{150cm 3, 200cm 3, 300cm 3} , 500cm 3, 750cm 3, 1000cm 3, 5000cm 3, 10,000cm 3, may be at 100,000 ^3, 1 m ³ or 10 m ³ or more.

In some embodiments, the movable object (which may refer to the transverse cross sectional area encompassed by the movable object) about ^{32,000cm 2, 20,000cm 2, 10,000cm 2} , 1,000cm 2, 500cm It may have an installation area of ² , 100 cm ² , 50 cm ² , 10 cm ² , or 5 cm ² or less. Conversely, footprint, of about ^{32,000cm 2, 20,000cm 2, 10,000cm 2} , 1,000cm 2, 500cm 2, 100cm 2, 50cm 2, 10cm 2, or may be at 5 cm ² or more.

  In some cases, the movable object may weigh as little as 1000 kg. The weight of the movable object is about 1000 kg, 750 kg, 500 kg, 200 kg, 150 kg, 100 kg, 80 kg, 70 kg, 60 kg, 50 kg, 45 kg, 40 kg, 35 kg, 30 kg, 25 kg, 20 kg, 15 kg, 12 kg, 10 kg, 9 kg, 8 kg, 7 kg. 6 kg, 5 kg, 4 kg, 3 kg, 2 kg, 1 kg, 0.5 kg, 0.1 kg, 0.05 kg, or 0.01 kg or less. Conversely, the weight is about 1000 kg, 750 kg, 500 kg, 200 kg, 150 kg, 100 kg, 80 kg, 70 kg, 60 kg, 50 kg, 45 kg, 40 kg, 35 kg, 30 kg, 25 kg, 20 kg, 15 kg, 12 kg, 10 kg, 9 kg, 8 kg, 7 kg. , 6 kg, 5 kg, 4 kg, 3 kg, 2 kg, 1 kg, 0.5 kg, 0.1 kg, 0.05 kg, or 0.01 kg or more.

  In some embodiments, the movable object may be small relative to the load carried by the movable object. The load may include a load and / or a support mechanism, as will be described in more detail below. In some examples, the ratio of movable object weight to product load may be greater than about 1: 1, less than about 1: 1, or equal to about 1: 1. In some cases, the ratio of the moving object weight to the product load may be greater than about 1: 1, less than about 1: 1, or equal to about 1: 1. Optionally, the ratio of support mechanism weight to product load may be greater than about 1: 1, less than about 1: 1, or equal to about 1: 1. When desired, the ratio of moving object weight to product load may be 1: 2, 1: 3, 1: 4, 1: 5, 1:10 or less, or even lower. Conversely, the ratio of the moving object weight to the product load may be 2: 1, 3: 1, 4: 1, 5: 1, 10: 1 or more, or even higher.

  In some embodiments, the movable object may have a low energy consumption. For example, the movable object may use a value less than or less than about 5 W / hour, 4 / W hour, 3 / W hour, 2 / W hour, 1 / W hour. In some instances, the moving object support mechanism may have a low energy consumption. For example, the support mechanism may use a value less than or less than about 5 W / hr, 4 / W hr, 3 / W hr, 2 / W hr, 1 / W hr. Optionally, the load of movable objects may have a low energy consumption of about 5 W / hr, 4 W / hr, 3 / W hr, 2 / W hr, less than 1 / W hr or even smaller values. .

  FIG. 8 shows an unmanned aerial vehicle (UAV) 800 according to the present disclosure. A UAV may be an example of a movable object described herein. UAV 800 may include a propulsion system having four rotors 802, 804, 806, and 808. Any number of rotors may be provided (eg, 1, 2, 3, 4, 5, 6 or more). The drone's rotor or other propulsion system may allow the drone to hover / maintain position, change orientation, and / or change location. The distance between the shafts of the opposing rotors may be any suitable length 810. For example, the length 810 may be equal to 2 m or less, or less than 5 m. In some embodiments, the length 810 may be in the range of 40 cm to 7 m, 70 cm to 2 m, or 5 cm to 5 m. Any description herein regarding UAVs may apply to movable objects, such as different types of movable objects, and vice versa.

  In some embodiments, the movable object can be configured to carry a load. A cargo may include one or more of passengers, cargo, equipment, instruments, and the like. Cargo can be provided inside the housing. The housing may be separate from the housing for the movable object or may be part of the housing for the movable object. Alternatively, the movable object does not have a housing, but the load may comprise a housing. Alternatively, a portion of the load or the entire load may be provided without a housing. The load can be firmly fixed to the movable object. Optionally, the load may be movable relative to the movable object (eg, translatable or rotatable relative to the movable object).

  In some embodiments, the load includes a load. The load can be configured not to perform any operation or function. Instead, the load may be a load configured to perform an operation or function, also known as a function load. For example, a load may include one or more sensors for investigating one or more targets. Any suitable sensor such as an image capture device (eg, camera), audio capture device (eg, parabolic microphone), infrared imaging device, or ultraviolet imaging device can be incorporated into the load. The sensor can provide static sensing data (eg, photos) or dynamic sensing data (eg, video). In some embodiments, the sensor provides sensing data to the target of the load. Alternatively or in combination, the payload may include one or more emitters for providing a signal to one or more targets. Any suitable emitter such as an illumination source or a sound source can be used. In some embodiments, the payload includes one or more transceivers for communication with modules remote from the movable object. Optionally, the load can be configured to interact with the environment or target. For example, the load may include a tool such as a robot arm, instrument, or mechanism that can manipulate the object.

  Optionally, the load may include a support mechanism. A support mechanism can be provided to the load, which is either directly (eg, directly contacting the movable object) or indirectly (eg, not touching the movable object) via the support mechanism. Can be connected to a movable object. Conversely, the load can be attached to a movable object without the need for a support mechanism. The load can be formed integrally with the support mechanism. Alternatively, the load can be releasably coupled to the support mechanism. In some embodiments, the load may include one or more load elements, one or more of the load elements being movable relative to the movable object and / or support mechanism as described above. There may be.

  The support mechanism can be formed integrally with the movable object. Alternatively, the support mechanism can be releasably coupled to the movable object. The support mechanism can be directly or indirectly coupled to the movable object. The support mechanism can provide support to the load (eg, support at least a portion of the weight of the load). The support mechanism may include a suitable mounting structure (eg, a gimbal base) that can stabilize and / or direct the movement of the load. In some embodiments, the support mechanism can be adapted to control the state (eg, position and / or orientation) of the load relative to the movable object. For example, the support mechanism may be relative to the movable object (eg, once, twice, or so that the load maintains the position and / or orientation of the load relative to an appropriate reference frame regardless of movement of the movable object. It can be configured to move (with respect to 3 degree translation and / or 1 degree, 2 degree, or 3 degree rotation). The reference frame may be a fixed reference frame (eg, ambient environment). Alternatively, the reference frame may be a moving reference frame (eg, a movable object, a load target).

  In some embodiments, the support mechanism can be configured to allow movement of the load relative to the support mechanism and / or the movable object. Translation is for translation with a maximum of 3 degrees of freedom (eg, along one, two, or three axes) or with a maximum of three degrees of freedom (eg, around one, two, or three axes) It may be a rotation, or any suitable combination thereof.

  In some cases, the support mechanism may include a support mechanism frame assembly and a support mechanism actuation assembly. The support mechanism frame assembly can provide structural support to the load. The support mechanism frame assembly may include individual support mechanism frame components, and some of the individual support mechanism frame components may be movable relative to each other. The support mechanism actuation assembly may include one or more actuators (eg, motors) that actuate movement of individual support mechanism frame components. The actuator may be configured to allow movement of multiple support mechanism frame components simultaneously or to allow movement of a single support mechanism frame component at a time. Movement of the support mechanism frame components may cause a corresponding movement of the load. For example, the support mechanism actuation assembly can actuate rotation of one or more support mechanism frame components about one or more rotational axes (eg, roll axis, pitch axis, or yaw axis). The rotation of the one or more support mechanism frame components may cause the load to rotate about one or more axes of rotation relative to the movable object. Alternatively or in combination, the support mechanism actuation assembly actuates translation of one or more support mechanism frame components along one or more translation axes, thereby providing one or more to the movable object. It may cause translation of the load along the corresponding axis.

  In some embodiments, the movement of movable objects, support mechanisms, and loads relative to a fixed reference frame (eg, the surrounding environment) and / or relative to each other can be controlled by the terminal. The terminal may be a remote control device that is remote from the movable object, the support mechanism, and / or the load. The terminal can be placed on or fixed to the support table. Alternatively, the terminal may be a handheld device or a wearable device. For example, the terminal may include a smartphone, tablet, laptop, computer, glasses, gloves, helmet, microphone, or any suitable combination thereof. The terminal may include a user interface such as a keyboard, mouse, joystick, touch screen, or display. Any suitable user input can be used to interact with the terminal, such as manually entered commands, voice control, gesture control, or position control (eg, via terminal movement, position setting, or tilt).

  The terminal can be used to control any suitable state of the movable object, the support mechanism, and / or the load. For example, the terminals can be used to control the position and / or orientation of movable objects, support mechanisms, and / or loads relative to each other and / or relative to each other. In some embodiments, the terminal can be used to control an actuating assembly of a support mechanism, a movable object such as a load sensor, or a load emitter, a support mechanism, and / or individual elements of the load. . A terminal may include a wireless communication device adapted to communicate with one or more of a movable object, a support mechanism, or a load.

  The terminal may include a suitable display unit for displaying information on movable objects, support mechanisms, and / or payloads. For example, the terminal can be configured to display movable object, support mechanism, and / or payload information regarding position, translation speed, translation acceleration, orientation, angular velocity, angular acceleration, or any suitable combination thereof. In some embodiments, the terminal can display information provided by the load, such as data provided by the function load (eg, an image recorded by a camera or other image capture device).

  Optionally, the terminal controls the movable object, the support mechanism, and / or the load, or the state of the movable object, the support mechanism, and / or the load, and the movable object, the support mechanism, and / or Alternatively, both receiving and / or displaying information from the load may be performed. For example, the terminal may control the positioning of the load with respect to the environment while displaying image data captured by the load or information about the position of the load. Instead, different terminals may be used for different functions. For example, the first terminal may control the movement or state of the movable object, the support mechanism, and / or the load. On the other hand, the second terminal may receive and / or display information from the movable object, the support mechanism, and / or the load. For example, the first terminal may be used to control the positioning of the load with respect to the environment. On the other hand, the second terminal displays the image data captured by the load. Various communication modes between a movable object and an integrated terminal that controls both the movable object and receives data, or a movable object and multiple terminals that both control the movable object and receive data May be utilized between. For example, at least two different communication modes may be formed between a movable object and a terminal that both controls the movable object and receives data from the movable object.

  FIG. 9 shows a movable object 900 including a support mechanism 902 and a load 904 according to the embodiment. Although the movable object 900 is shown as an aircraft, this depiction is not intended to be limiting and any suitable type of movable object may be used as described hereinabove. One skilled in the art will appreciate that any of the embodiments described herein in connection with an aircraft system can be applied to any suitable movable object (eg, UAV).

  In some cases, the load 904 may be provided on the movable object 900 without the need for a support mechanism 902. The movable object 900 may include a propulsion mechanism 906, a detection system 908, and a communication system 910. The propulsion mechanism 906 may include one or more of a rotor, propeller, blade, engine, motor, wheel, axle, magnet, or nozzle as described herein above. The movable object may have one, more than two, more than three, more than four propulsion mechanisms. The propulsion mechanisms may all be the same type. Alternatively, the one or more propulsion mechanisms may be different types of propulsion mechanisms. In some embodiments, the propulsion mechanism 906 causes the movable object 900 to take off vertically from or to the surface without requiring any horizontal movement of the movable object 900 (eg, without going down the runway). It is possible to land vertically. Optionally, the propulsion mechanism 906 may be operable to allow the movable object 900 to hover in the air at a specified position and / or orientation.

  For example, the movable object 900 may have a plurality of horizontally oriented rotors that can provide lift and / or thrust to the movable object. A plurality of horizontally oriented rotors can operate to provide the movable object 900 with vertical take-off capability, vertical landing capability, and hover capability. In some embodiments, one or more of the horizontally oriented rotors may pivot in a clockwise direction. On the other hand, one or more of the horizontally oriented rotors may pivot counterclockwise. For example, the number of clockwise rotors may be equal to the number of counterclockwise rotors. The respective rotational speeds of the horizontally oriented rotors control the lift and / or thrust generated by each rotor, thereby (in terms of translation up to 3 degrees and rotation up to 3 degrees) spatial arrangement, speed of the movable object 900 , And / or can be varied independently to adjust the acceleration.

  The sensing system 908 may include one or more sensors that may sense the spatial arrangement, velocity, and / or acceleration of the movable object 900 (eg, for translation up to 3 degrees and rotation up to 3 degrees). . The one or more sensors may include a global positioning system (GPS) sensor, a motion sensor, an inertial sensor, a proximity sensor, or an image sensor. Sensing data provided by sensing system 908 controls the spatial arrangement, velocity, and / or orientation of movable object 900 (eg, using an appropriate processing unit and / or control module as described below). Can be used to Alternatively, the sensing system 908 can be used to provide data regarding the environment surrounding the movable object, such as weather conditions, proximity to potential obstacles, geographical feature locations, man-made structure locations, and the like.

  The communication system 910 enables communication with a terminal 912 having a communication system 914 via a wireless signal 916. The communication system 910, 914 may include any number of transmitters, receivers, and / or transceivers suitable for wireless communication. The communication can be one-way communication, so data can be transmitted in only one direction. For example, a one-way communication may include only a movable object 900 that transmits data to the terminal 912, and vice versa. Data may be transmitted from one or more transmitters of the communication system 910 to one or more receivers of the communication system 912, and vice versa. Alternatively, the communication may be bi-directional and data can be transmitted in both directions between the movable object 900 and the terminal 912. Bi-directional communication may include transmitting data from one or more transmitters of communication system 910 to one or more receivers of communication system 914, and vice versa.

  In some embodiments, the terminal 912 provides control data to one or more of the movable object 900, the support mechanism 902, and the mount 904, and the mobile object 900, the support mechanism 902, and the mount 904 Receive information from one or more of them (eg, data detected by a load, such as information on the position and / or movement of a movable object, support mechanism, or load, image data captured by a load camera) it can. In some instances, control data from the terminal may include instructions for relative position, movement, actuation, or control of the movable object, support mechanism, and / or load. For example, the control data may include a modification of the location and / or orientation of the movable object (eg, via control of the propulsion mechanism 906) or movement of the load relative to the movable object (eg, via control of the support mechanism 902). May cause. Control data from the terminal controls the operation of the camera or other image capture device (eg, taking still images or videos, zooming in or out, turning on or off, switching imaging modes, changing image resolution Such as changing the focus, changing the depth of field, changing the exposure time, changing the viewing angle or the viewing field). In some cases, communication from the movable object, the support mechanism, and / or the load may include information from one or more sensors (eg, of the sensing system 908 or of the load 904). The communication may include information detected from one or more different types of sensors (eg, GPS sensors, motion sensors, inertial sensors, proximity sensors, or image sensors). Such information may relate to the position (eg, location, orientation), movement, or acceleration of the movable object, support mechanism, and / or load. Such information from the load may include data captured by the load or a detection state of the load. Control data provided and transmitted by terminal 912 can be configured to control one or more states of movable object 900, support mechanism 902, or load 904. Alternatively or in combination, the support mechanism 902 and the load 904 may each include a communication module configured to communicate with the terminal 912, such that the terminal includes the movable object 900, the support mechanism 902, and the load 904. Can communicate and control independently of each other.

  In some embodiments, the movable object 900 can be configured to communicate with another remote device in addition to or instead of the terminal 912. Further, the terminal 912 may be configured to communicate not only with the movable object 900 but also with another remote device. For example, the movable object 900 and / or the terminal 912 may communicate with another movable object, i.e., a support mechanism or load of another movable object. When desired, the remote device may be a second terminal or other computing device (eg, a computer, laptop computer, tablet, smartphone, or other mobile device). The remote device can be configured to transmit data to the movable object 900, receive data from the movable object 900, transmit data to the terminal 912, and / or receive data from the terminal 912. Optionally, the remote device can be connected to the Internet or other telecommunications network so that data received from movable object 900 and / or terminal 912 can be uploaded to a website or server.

  FIG. 10 is a schematic diagram as a block diagram of a system 1000 for controlling a movable object, according to an embodiment. System 1000 can be used in conjunction with any suitable embodiment of the systems, devices, and methods disclosed herein. System 1000 may include a detection module 1002, a processing unit 1004, a non-transitory computer readable medium 1006, a control module 1008, and a communication module 1010.

  The detection module 1002 can utilize different types of sensors that collect information related to movable objects in different ways. Different types of sensors may detect different types of signals or signals from different sources. For example, the sensors may include inertial sensors, GPS sensors, proximity sensors (eg, laser light sensing and ranging), or visual / image sensors (eg, cameras). The detection module 1002 can be operatively coupled to a processing unit 1004 having a plurality of processors. In some embodiments, the detection module is operable to a transmission module 1012 (eg, a Wi-Fi image transmission module) configured to transmit detection data directly to a suitable external device or system. Can be combined. For example, the transmission module 1012 can be used to transmit an image captured by the camera of the detection module 1002 to a remote terminal.

  The processing unit 1004 may have one or more processors, such as a programmable processor (eg, a central processing unit (CPU)). The processing unit 1004 can be operatively coupled to a non-transitory computer readable medium 1006. The non-transitory computer readable medium 1006 can store logic, code, and / or program instructions that can be executed by the processing unit 1004 to perform one or more steps. The non-transitory computer readable medium may include one or more memory units (eg, removable media such as an SD card or random access memory (RAM) or an external storage device). In some embodiments, data from the sensing module 1002 is transmitted directly to the memory unit of the non-transitory computer readable medium 1006 and stored in the memory unit of the non-transitory computer readable medium 1006. it can. The memory unit of the non-transitory computer readable medium 1006 is logic, code, and / or program instructions executable by the processing unit 1004 to perform any suitable embodiment of the methods described herein. Can be stored. For example, the processing unit 1004 can be configured to execute instructions that cause one or more processors of the processing unit 1004 to analyze the detection data generated by the detection module. The memory unit can store detection data from the detection module processed by the processing unit 1004. In some embodiments, a memory unit of non-transitory computer readable medium 1006 can be used to store processing results produced by processing unit 1004.

  In some embodiments, the processing unit 1004 can be operatively coupled to a control module 1008 that is configured to control the state of the movable object. For example, the control module 1008 can be configured to control the movable object propulsion mechanism to adjust the spatial arrangement, speed, and / or acceleration of the movable object for six degrees of freedom. Alternatively or in combination, the control module 1008 can control one or more of the states of the support mechanism, load, or sensing module.

  The processing unit 1004 is operable to a communication module 1010 that is configured to send and / or receive data from one or more external devices (eg, a terminal, display device, or other remote controller). Can be combined. As will be further described below, any suitable means of communication such as wired communication or wireless communication can be used. The communication module 1010 transmits one or more of detection data from the detection module 1002, processing results generated by the processing unit 1004, predetermined control data, user commands from a terminal or remote controller, and / or the like. Can be received. In some embodiments, the communication module 1010 can be configured to implement adaptive communication mode switching, as described elsewhere herein.

  The components of system 1000 can be arranged in any suitable configuration. For example, one or more of the components of system 1000 are located on a movable object, support mechanism, load, terminal, sensing system, or additional external device that communicates with one or more of the above. Sometimes. Further, although FIG. 10 shows a single processing unit 1004 and a single non-transitory computer readable medium 1006, those skilled in the art will recognize that this is not intended to be limiting and that the system 1000 It will be appreciated that may include multiple processing units and / or non-transitory computer readable media. In some embodiments, one or more of the plurality of processing units and / or non-transitory computer readable media is a movable object, a support mechanism, a load, a terminal, a sensing module, one of the above. Suitable aspects of processing functions and / or memory functions that may be located at different locations, such as on additional external devices in communication with one or more, or appropriate combinations thereof, such that It may occur at one or more of the above locations.

While preferred embodiments of the invention have been shown and described, it will be apparent to those skilled in the art that such embodiments are provided by way of example only. Numerous variations, changes and substitutions will occur to those skilled in the art without departing from the invention. It should be understood that various alternatives to the embodiments of the invention described herein can be utilized in practicing the invention. It is intended that the following claims define the scope of the invention and that the methods and structures within these claims and their equivalents be covered by the claims.
[Item 1]
A method for analyzing the behavior of a remotely controlled vehicle,
Receiving user operation data including a transmission operation command affecting the operation of the remote control vehicle from a user operation data recorder, wherein the transmission operation command is received via a remote controller of the remote control vehicle; Receiving user action data,
From the vehicle operation data recorder, including (1) the incoming operation command that affects the operation of the remote control vehicle, or (2) one or more environmental parameters or vehicle status data relating to the operation process of the vehicle Receiving vehicle operation data;
The user operation data and the vehicle operation data are compared, whereby (1) a difference between the transmission operation command and the incoming operation command, or (2) a difference between the incoming operation command and the vehicle status data. Identifying discrepancies involving,
Determining one or more causes of the behavior of the remote control vehicle based on the identified discrepancy;
Including said method.
[Item 2]
An accident occurs in the remote control vehicle and the method is used to determine one or more possible causes of the accident;
2. The method according to item 1.
[Item 3]
The accident includes one or more of a vehicle collision, a missing vehicle, a vehicle entering a restricted area, and a vehicle performing illegal activities;
Item 3. The method according to Item 2.
[Item 4]
Further comprising using information generated using the method to facilitate allocation of liability for the accident;
Item 3. The method according to Item 2.
[Item 5]
The allocation of the liability determines the payment of the insurance;
5. The method according to item 4.
[Item 6]
The allocation of legal liability determines the prosecution when an illegal activity is identified;
5. The method according to item 4.
[Item 7]
Further comprising using information generated using the method to facilitate a criminal investigation related to the accident;
Item 3. The method according to Item 2.
[Item 8]
Further comprising using information generated using the method to improve the design or manufacture of the vehicle or a component of the vehicle,
2. The method according to item 1.
[Item 9]
The comparison identifies that there is no discrepancy between the outgoing operation command and the incoming operation command and that there is no discrepancy between the incoming operation command and the vehicle status data;
2. The method according to item 1.
[Item 10]
It is determined that the cause of the behavior of the remote control vehicle is that the user sends the operation command that affects the behavior, and the user sends the operation command unintentionally or intentionally. did,
10. The method according to item 9.
[Item 11]
The comparison identifies a discrepancy between the outgoing operation command and the incoming operation command;
2. The method according to item 1.
[Item 12]
It is determined that the cause of the behavior of the remote control vehicle is an error in sending an operation command to the remote control vehicle.
12. The method according to item 11.
[Item 13]
The error includes one or more of a malfunction of a communication link between the remote controller and the remote control vehicle, a malfunction of a communication module of the remote controller or the remote control vehicle, and a hijacking event;
13. The method according to item 12.
[Item 14]
The comparison identifies a discrepancy between the incoming operation command and the vehicle status data;
2. The method according to item 1.
[Item 15]
It is determined that the cause of the behavior is an error in execution of the incoming operation command by the remote control vehicle;
15. The method according to item 14.
[Item 16]
The error includes a malfunction of an operation process of the remote control vehicle;
16. The method according to item 15.
[Item 17]
The vehicle status data is out of the standard range of the operating process, the data value is out of the standard range of the operating process, the abnormal combination of data values for the operating process, and the position sensor failure Comprising one or more of the data from the position sensor of the remote control vehicle indicating:
Item 17. The method according to Item 16.
[Item 18]
The error includes disruption of the operation process of the remote control vehicle due to environmental parameters;
16. The method according to item 15.
[Item 19]
The vehicle status data includes one or more of data indicating low visibility, data indicating strong winds, and data indicating heavy rain;
19. The method according to item 18.
[Item 20]
A device for analyzing the behavior of a remote control vehicle,
(1) user operation data including a transmission operation command that affects the operation of the remote control vehicle, wherein the transmission operation command is received via the remote controller of the remote control; and (2 ) (I) receiving vehicle operation data including the incoming operation command that affects the operation of the remote control vehicle or (ii) one or more environmental parameters or vehicle status data relating to the operation process of the vehicle. A communication unit;
The user operation data and the vehicle operation data are compared, thereby including (1) a difference between the transmission operation command and the incoming operation command or (2) a difference between the incoming operation command and the vehicle status data. Identify discrepancies,
One or more processors configured individually or collectively to determine one or more causes of the behavior of the remote controlled vehicle based on the identified discrepancy;
Said device comprising.
[Item 21]
An accident occurs in the remote control vehicle and the device is used to determine one or more possible causes of the accident;
Item 21. The device according to Item 20.
[Item 22]
The accident includes one or more of a vehicle collision, a missing vehicle, a vehicle entering a restricted area, and a vehicle performing illegal activities;
Item 22. The device according to Item 21.
[Item 23]
Information generated by the device is used to facilitate the allocation of legal liability for the accident,
Item 22. The device according to Item 21.
[Item 24]
The allocation of the liability determines the payment of the insurance;
24. The device according to item 23.
[Item 25]
The allocation of legal liability determines the prosecution when an illegal activity is identified;
24. The device according to item 23.
[Item 26]
Information generated by the device is used to facilitate a criminal investigation related to the accident,
Item 22. The device according to Item 21.
[Item 27]
Information generated by the device is used to improve the design or manufacture of the vehicle or components of the vehicle;
Item 21. The device according to Item 20.
[Item 28]
The comparison identifies that there is no discrepancy between the outgoing operation command and the incoming operation command and that there is no discrepancy between the incoming operation command and the vehicle status data;
Item 21. The device according to Item 20.
[Item 29]
It is determined that the cause of the behavior of the remote control vehicle is that the user sends the operation command that affects the behavior, and the user sends the operation command unintentionally or intentionally. did,
Item 29. The device according to Item 28.
[Item 30]
The comparison identifies a discrepancy between the outgoing operation command and the incoming operation command;
Item 21. The device according to Item 20.
[Item 31]
It is determined that the cause of the behavior of the remote control vehicle is an error in sending an operation command to the remote control vehicle.
Item 30. The device according to Item 30.
[Item 32]
The error includes one or more of a malfunction of a communication link between the remote controller and the remote control vehicle, a malfunction of a communication module of the remote controller or the remote control vehicle, and a hijacking event;
Item 32. The device according to Item 31.
[Item 33]
The comparison identifies a discrepancy between the incoming operation command and the vehicle status data;
Item 21. The device according to Item 20.
[Item 34]
It is determined that the cause of the behavior is an error in execution of the incoming operation command by the remote control vehicle;
34. The device according to item 33.
[Item 35]
The error includes a malfunction of an operation process of the remote control vehicle;
35. The device according to item 34.
[Item 36]
The vehicle status data is out of the standard range of the operating process, the data value is out of the standard range of the operating process, the abnormal combination of data values for the operating process, and the position sensor failure Including one or more of the data from the position sensor of the remote control vehicle indicating:
36. The device according to item 35.
[Item 37]
The error includes disruption of the operation process of the remote control vehicle due to environmental parameters;
35. The device according to item 34.
[Item 38]
The vehicle status data includes one or more of data indicating low visibility, data indicating strong winds, and data indicating heavy rain;
Item 40. The device according to Item 37.
[Item 39]
A system for analyzing the behavior of a remote control vehicle,
A user operation data recorder having a memory for recording user operation data, wherein the user operation data includes a transmission operation command that affects an operation of the remote control vehicle, and the transmission operation command is a remote of the remote control vehicle. A user operation data recorder received via the controller;
A vehicle operation data recorder having a memory for recording vehicle operation data, wherein the vehicle operation data is (1) an incoming operation command that affects the operation of the remote control vehicle, or (2) one or more environments. A vehicle operation data recorder comprising parameters or vehicle status data relating to the vehicle operation process;
With
The user operation data and the vehicle operation data are accessible for comparison, and (1) a difference between the transmission operation command and the incoming operation command, or (2) the incoming operation command and the vehicle status Identifying discrepancies including data differences, thereby determining one or more causes of the behavior of the remote control vehicle;
Said system.
[Item 40]
An accident occurs in the remote control vehicle and the system is used to determine one or more possible causes of the accident;
40. The system of item 39.
[Item 41]
The accident includes one or more of a vehicle collision, a missing vehicle, a vehicle entering a restricted area, and a vehicle performing illegal activities;
41. The system of item 40.
[Item 42]
Information generated by the system is used to facilitate the allocation of liability for the accident,
41. The system of item 40.
[Item 43]
The allocation of the liability determines the payment of the insurance;
43. The system of item 42.
[Item 44]
The allocation of legal liability determines the prosecution when an illegal activity is identified;
43. The system of item 42.
[Item 45]
Information generated by the system is used to facilitate a criminal investigation related to the accident,
41. The system of item 40.
[Item 46]
Information generated by the system is used to improve the design or manufacture of the vehicle or components of the vehicle;
40. The system of item 39.
[Item 47]
The comparison identifies that there is no discrepancy between the outgoing operation command and the incoming operation command and that there is no discrepancy between the incoming operation command and the vehicle status data;
40. The system of item 39.
[Item 48]
It is determined that the cause of the behavior of the remote control vehicle is that the user sends the operation command that affects the behavior, and the user sends the operation command unintentionally or intentionally. did,
48. The system of item 47.
[Item 49]
The comparison identifies a discrepancy between the outgoing operation command and the incoming operation command;
40. The system of item 39.
[Item 50]
It is determined that the cause of the behavior of the remote control vehicle is an error in sending an operation command to the remote control vehicle.
50. The system of item 49.
[Item 51]
The error includes one or more of a malfunction of a communication link between the remote controller and the remote control vehicle, a malfunction of a communication module of the remote controller or the remote control vehicle, and a hijacking event;
51. The system of item 50.
[Item 52]
The comparison identifies a discrepancy between the incoming operation command and the vehicle status data;
40. The system of item 39.
[Item 53]
It is determined that the cause of the behavior is an error in execution of the incoming operation command by the remote control vehicle;
53. The system of item 52.
[Item 54]
The error includes a malfunction of an operation process of the remote control vehicle;
54. The system of item 53.
[Item 55]
The vehicle status data is out of the standard range of the operational process, the data value is out of the standard range of the operational process, the abnormal combination of data values for the operational process, and the position sensor failure Including one or more of the data from the position sensor of the remote control vehicle indicating:
55. The system of item 54.
[Item 56]
The error includes disruption of the operation process of the remote control vehicle due to environmental parameters;
54. The system of item 53.
[Item 57]
The vehicle status data includes one or more of data indicating low visibility, data indicating strong winds, and data indicating heavy rain;
57. The system of item 56.

Claims (15)

A device for analyzing the behavior of the remote control unmanned aircraft (UAV),
(1) wherein a user operation data including influencing calling operation command to the operation of the remote control unmanned aircraft (UAV), the calling operation command via the remote controller of the remote control unmanned aircraft (UAV) is received, the user operation data, and (2) (i) said remote control unmanned aircraft (UAV) is the remote control unmanned aircraft a incoming operation command generated by receiving the originating operation command (UAV) incoming operation affects the operation command and (ii) the remote control unmanned aircraft unmanned aircraft involved in the operation process of (UAV) (UAV) unmanned aircraft including status data (UAV) communication for receiving operation data Unit,
By comparison with the calling operation command and the incoming operation command (1) the transmission operation command and identify discrepancies, including the differences of the incoming management command and the incoming operation command to the unmanned aircraft (UAV) by comparison with the status data (2) the remote control unmanned aerial of the indicated by the remote control unmanned aircraft (UAV) is likely if the operating process exerted on said unmanned aircraft (UAV) status data by the incoming operation commands machine performs at least one of identification of the identification of discrepancies, including the differences between the operation processes (UAV), the based on the identified discrepancies remote control unmanned aircraft wherein one of behavior or more of (UAV) A processor for determining a cause. Accident, unmanned aircraft (UAV) collision, missing, one of the illegal activities by the unmanned aircraft to restricted areas within the entrance of (UAV), and unmanned aircraft (UAV) of the unmanned aircraft (UAV) One or more,
The device, the transmission operation command and the comparison with the incoming operation command and the incoming operation command to the unmanned aircraft (UAV) that is compared with the status data, the remote control unmanned aircraft (UAV) The apparatus of claim 1, wherein the apparatus is used to determine one or more causes of the behavior of the vehicle and to determine one or more possible causes of the accident from the determined results. The device, one or more of the causes of the behavior of the remote control unmanned aircraft (UAV) is user error, malfunction of the remote controller, malfunction of the remote control unmanned aircraft (UAV), and the remote controller determining whether the one of the malfunction of the communication link between the remote control unmanned aircraft (UAV), the device according to claim 2. The device, in order to facilitate criminal investigations relating to the accident, the originating operation command transmission of the remote control unmanned aircraft to (UAV) determines whether a command unauthorized, wherein The device according to claim 2 or claim 3. The device, in order to improve the design or manufacture of the components of the unmanned aircraft (UAV) or the unmanned aircraft (UAV), and determines whether an error-prone a particular operation process leading to an accident The device according to any one of claims 1 to 4. Wherein the cause of the behavior of the remote control unmanned aircraft (UAV) is determined to be the user sends affect operation command to the behavior unintentionally or intentionally, claim 1 The said apparatus of any one of Claim 5. Cause of the behavior of the remote control unmanned aircraft (UAV) is, the remote control unmanned aircraft is determined to be an error in transmission of the operation command for (UAV), or any of claims 1 to 6 1 The device according to item. The error, the malfunction of the communication link between the remote controller and the remote control unmanned aircraft (UAV), malfunction of the communication module of the remote controller or the remote control unmanned aircraft (UAV), and the hijacking 8. The device of claim 7, comprising one or more of: The cause of the behavior, the remote control unmanned aircraft is determined to be the error in the execution of the incoming operation commands by (UAV), the device according to any one of claims 1 to 8 . Wherein the error comprises a malfunction of the operation process of the remote control unmanned aircraft (UAV),
The device according to claim 9. The unmanned aircraft (UAV) status data, the standard range at which the data value of the operation process, abnormal combinations of data values for the change in the standard range in which the data value, the operation process of the operation process, and indicating the failure of the position sensor comprises one or more of the data from the position sensor of the remote control unmanned aircraft (UAV), the device according to claim 10. Wherein the error comprises a disruption of the operation process of the by environmental parameters remotely controlled unmanned aircraft (UAV), the device according to claim 9. The unmanned aircraft (UAV) status data, data indicating the low visibility, data indicating the strong wind, and one or more of the data indicative of the heavy rain, in any one of claims 1 to 12 The device as described. A system for analyzing the behavior of the remote control unmanned aircraft (UAV),
A user operation data recorder having a memory for recording the user operation data, the user operation data includes the remote control unmanned aircraft (UAV) affect transmission operation command to the operation of the calling operation command said is received through the remote controller of the remote control unmanned aircraft (UAV), and the user operation data recorder,
A unmanned aircraft (UAV) operation data recorder having a memory for recording the unmanned aerial machine (UAV) operation data, the unmanned aircraft (UAV) operational data, (1) the remote control unmanned aircraft (UAV) the operating process of the a incoming operation commands remote control unmanned aircraft (UAV) operations affecting incoming operation command, and (2) the unmanned aircraft (UAV) but be generated by receiving the calling operation command related to unmanned aircraft including (UAV) status data, including unmanned aircraft and (UAV) operation data recorder, a,
For comparison with the calling operation command and the comparison with the incoming operation command and the incoming operation command to the unmanned aircraft (UAV) status data, the user operation data and the unmanned aircraft (UAV) operation data to be accessible, exerted on (1) the transmission operation command and identify discrepancies, including the differences of the incoming operation command, and (2) wherein the incoming operation commands remote control unmanned aircraft (UAV) perform at least one of identification of the identification of discrepancies, including the differences between the operation process of the remote control unmanned aircraft (UAV) that is likely will the operation process the indicated by an unmanned aircraft (UAV) status data, whereby determining one or more causes of the behavior of the remote control unmanned aircraft (UAV), the system. A method for analyzing the behavior of the remotely controlled unmanned aircraft (UAV),
The user operating the data recorder, the remote control unmanned aircraft comprising: receiving a user operation data including influencing calling operation command to the operation of the (UAV), the originating operation command said remote control unmanned aircraft (UAV ) is received through the remote controller, the receiving comprises receiving a user operation data, unmanned aircraft from (UAV) operation data recorder, the originating operation command (1) the remote control unmanned aircraft (UAV) and a incoming operation command generated by in said remote control unmanned aircraft operated affecting incoming operation commands (UAV), and (2) the unmanned aircraft (UAV) unmanned aircraft involved in the operation process of ( receiving a unmanned aircraft (UAV) operation data including UAV) status data,
Identification of discrepancies, including the differences between the calling operation commands and by comparison with the incoming operation command (1) the originating operation command and the incoming operation command, and (2) the incoming operation command to the unmanned aircraft (UAV) said remote control unmanned aerial that by the incoming operation commands by comparison with the status data indicated by the remote control unmanned aircraft operation process which will be exerted on the (UAV) and the unmanned aircraft (UAV) status data Identifying at least one of discrepancies including differences from the machine (UAV) operational process;
The method based on the identified discrepancies, including, determining one or more causes of the behavior of the remote control unmanned aircraft (UAV).

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