Systems and methods for adjusting UAV trajectory

Patent metadata

Field	Value
Publication number	US-11008098-B2
Application number	US-201816109991-A
Country	US
Kind code	B2
Filing date	Aug 23, 2018
Priority date	Feb 26, 2016
Publication date	May 18, 2021
Grant date	May 18, 2021

Abstract

A system for controlling an unmanned aerial vehicle (UAV) includes a first user interface configured to receive a first user input and a second user interface configured to receive a second user input. The first user input provides one or more instructions to effect an autonomous flight of the UAV. The second user input provides one or more instructions to modify the autonomous flight of the UAV, The autonomous flight includes a flight towards a target.

First claim

What is claimed is:

1. A system for controlling an unmanned aerial vehicle (UAV), comprising:
a first user interface configured to receive a first user input, the first user input providing one or more instructions to effect an autonomous flight of the UAV towards a target, the first user input comprising information regarding a first flight parameter and a second flight parameter controlling the autonomous flight of the UAV, and the first flight parameter being associated with at least one of a direction of a flight path of the UAV, a velocity of the UAV, or an acceleration of the UAV; and
a second user interface configured to receive a second user input, the second user input providing one or more instructions to modify the first flight parameter to be a modified first flight parameter that is configured to alter the at least one of the direction of the flight path of the UAV, the velocity of the UAV, or the acceleration of the UAV to modify the autonomous flight of the UAV,
wherein:
the second flight parameter includes a flight parameter, associated with the first user input, that is unchanged by the second user input; and
at least during a duration of the second user input, a flight of the UAV is determined according to the modified first flight parameter and the second flight parameter.

2. The system of claim 1 , wherein the target includes a target object or a target destination.

3. The system of claim 1 , wherein the autonomous flight includes at least one of:
a flight to a predetermined location;
an autonomous return of the UAV;
an autonomous navigation along one or more waypoints;
an autonomous flight to a point of interest;
a flight along a preset trajectory or a preset direction;
a flight along an autonomously planned trajectory;
a flight along a user configured trajectory;
a flight to a tapped location on a map of the first user interface; or
a flight tracking a target object.

4. The system of claim 1 , wherein the first user interface is located on a first device and the second user interface is located on a second device.

5. The system of claim 4 , wherein:
the first device or the second device includes a handheld device or a mobile device, the handheld or mobile device including a cell phone, tablet, or PDA; and
the second device includes a remote controller.

6. The system of claim 4 , wherein the first device and the second device are operably coupled to one another.

7. The system of claim 1 , wherein the first user interface and the second user interface are located on a single device.

8. The system of claim 1 , wherein:
the first user interface includes a touch screen; and
the first user input is received via a user tapping on the touch screen.

9. The system of claim 1 , wherein the first user interface is configured to show a location of the UAV on a two dimensional map and/or display images received from a camera coupled to the UAV.

10. The system of claim 1 , wherein the second user interface includes one or more actuatable mechanisms, the one or more mechanisms including one or more control sticks.

11. The system of claim 10 , wherein:
the one or more control sticks include at least one of a roll stick configured to affect a rotation of the UAV about a roll axis and a yaw stick configured to affect a rotation of the UAV about a yaw axis.

12. The system of claim 11 , wherein an actuation of the one or more control sticks is configured to effect at least one of:
adding a direction component along a horizontal plane and perpendicular to an autonomous flight path of the UAV, a degree of the actuation corresponding to a magnitude of the direction component;
adding a velocity component along the horizontal plane and perpendicular to the autonomous flight path of the UAV, a degree of the actuation corresponding to a magnitude of the velocity component;
adding an acceleration component to the autonomous flight path of the UAV, a degree of the actuation corresponding to a magnitude of the acceleration component; or
adding a centripetal acceleration to the UAV, a degree of the actuation inversely corresponding to a size of a radius of a trajectory arc of the UAV.

13. The system of claim 11 , wherein the one or more control sticks is configured to stop the autonomous flight.

14. The system of claim 1 , wherein the first user interface is further configured to display at least one of an autonomous flight path of the UAV or a modified flight path of the UAV.

15. The system of claim 1 , wherein the second user input is configured to modify the autonomous flight of the UAV for the duration of the second user input.

16. The system of claim 1 , wherein the autonomous flight of the UAV is modified further taking into account environmental factors in concert with the second user input, the environmental factors being determined based on one or more sensors on board the UAV, the one or more sensors including a camera.

17. The system of claim 1 , wherein the autonomous flight of the UAV is modified by a flight controller that takes into account the second user input.

18. The system of claim 1 , wherein after the second user input is received and released, the UAV is configured to:
fly along a prior flight path it was flying along prior to receiving the one or more instructions to modify the autonomous flight of the UAV; or
fly along a new flight path different from the prior flight path.

19. A method of controlling an unmanned aerial vehicle (UAV), comprising:
receiving a first user input at a first user interface, the first user input providing one or more instructions to effect an autonomous flight of the UAV towards a target, the first user input comprising information regarding a first flight parameter and a second flight parameter controlling the autonomous flight of the UAV, and the first flight parameter being associated with at least one of a direction of a flight path of the UAV, a velocity of the UAV, or an acceleration of the UAV; and
receiving a second user input at a second user interface, the second user input providing one or more instructions to modify the first flight parameter to be a modified first flight parameter that is configured to alter the at least one of the direction of the flight path of the UAV, the velocity of the UAV, or the acceleration of the UAV to modify the autonomous flight of the UAV,
wherein:
the second flight parameter includes a flight parameter, associated with the first user input, that is unchanged by the second user input; and
at least during a duration of the second user input, a flight of the UAV is determined according to the modified first flight parameter and the second flight parameter.

20. A non-transitory computer readable medium storing code, logic, or instructions to:
receive a first user input at a first user interface, the first user input providing one or more instructions to effect an autonomous flight of an unmanned aerial vehicle (UAV) towards a target, the first user input comprising information regarding a first flight parameter and a second flight parameter controlling the autonomous flight of the UAV, and the first flight parameter being associated with at least one of a direction of a flight path of the UAV, a velocity of the UAV, or an acceleration of the UAV; and
receive a second user input at a second user interface, the second user input providing one or more instructions to modify the first flight parameter to be a modified first flight parameter that is configured to alter the at least one of the dire

Assignees

• Sz Dji Technology Co Ltd

Inventors

• Zhang Litian
• Hu Xiao
• Liu Ang
• Zhou Guyue

Classifications

• B64U2201/20

  Remote controls · CPC title

• B64U2201/10

  autonomous, i.e. by navigating independently from ground or air stations, e.g. by using inertial navigation systems [INS] · CPC title

• B64C39/024 Primary

  of the remote controlled vehicle type, i.e. RPV · CPC title

• G08G5/57

  for unmanned aircraft · CPC title

• G08G5/55

  for a single aircraft · CPC title