Unmanned aerial vehicle modular command priority determination and filtering system

Patent metadata

Field	Value
Publication number	US-11874656-B2
Application number	US-201715583097-A
Country	US
Kind code	B2
Filing date	May 1, 2017
Priority date	Mar 31, 2016
Publication date	Jan 16, 2024
Grant date	Jan 16, 2024

Abstract

Methods, systems, and apparatus, including computer programs encoded on computer storage media, for unmanned aerial vehicle modular command priority determination and filtering system. One of the methods includes enabling control of the UAV by a first control source that provides modular commands to the UAV, each modular command being a command associated with performance of one or more actions by the UAV. Modular commands from a second control source requesting control of the UAV are received. The second control source is determined to be in control of the UAV based on priority information associated with each control source. Control of the UAV is enabled by the second control source, and modular commands are implemented.

First claim

What is claimed is:

1. A method implemented by an unmanned aerial vehicle (UAV) comprising one or more processors, the method comprising:
receiving, by a source determination system included in the UAV and from a first control source that provides modular commands to the UAV, one or more first modular commands associated with performance by the UAV of one or more actions related to a flight plan for the UAV;
receiving, by the source determination system included in the UAV and from a second control source that provides modular commands to the UAV, one or more second modular commands associated with performance by the UAV of one or more actions for enforcing an approved geofence in connection with the flight plan;
filtering, by the source determination system, the one or more received first and second modular commands, thereby discarding from implementation by the UAV one or more of the received first or second modular commands, wherein filtering comprises:
receiving, from the first control source, repeated instances of the same modular command;
determining a number of repeated instances of the same modular command that have been received; and
discarding some of the repeated instances of the same modular command if the number of instances of the repeated modular command exceeds a threshold value;

determining, during implementation of a non-discarded first modular command under control of the first control source, that the UAV has moved outside of the approved geofence;
based on the determination that the UAV has moved outside of the approved geofence, transferring control of the UAV to the second control source to implement a non-discarded second modular command for returning the UAV to within the approved geofence; and
based on the UAV returning to within the approved geofence, transferring control of the UAV to the first control source to continue implementing the non-discarded first modular command.

2. The method of claim 1 , wherein filtering comprises:
receiving from the first control source a modular command to travel to a waypoint;
determining whether the UAV has sufficient battery capacity to travel to the waypoint; and
discarding the modular command to travel to the waypoint if the UAV does not have sufficient battery capacity to travel to the waypoint.

3. The method of claim 1 , wherein filtering comprises:
assigning the first control source to perform a group of modular commands; and
discarding modular commands that were received from a control source other than the assigned first control source for the group of modular commands.

4. The method of claim 1 , further comprising:
determining a priority level associated with the first control source for a particular received modular command; and
based on the priority level of the first control source, determining whether to enable performance of the modular command by the UAV.

5. The method of claim 1 , wherein each modular command is validated for the UAV to implement, and wherein the validation is based on configuration information of the UAV.

6. The method of claim 1 , wherein filtering comprises:
receiving a request to cancel a modular command from a requesting control source that requested the modular command, wherein the requesting control source is the first control source or the second control source; and
discarding from implementation the modular command requested to be canceled.

7. The method of claim 1 , wherein the first control source is an application program executing on a computer system of the UAV.

8. The method of claim 1 , further comprising:
maintaining, by the source determination system, the first modular commands and second modular commands in a queue of modular commands, the queue being in an order based, at least in part, on priority information associated with each control source; and
enabling, by the source determination system, control of the UAV according to the queue, and implementing modular commands from the queue of modular commands.

9. The method of claim 1 , further comprising:
receiving, from the first control source and based on parameters for a particular modular command and value ranges associated with the parameters, a cancellation request to cancel the particular modular command, wherein the cancellation request is received in conjunction with a unique identifier for the particular command; and
discarding from implementation the particular modular command in response to the cancellation request.

10. The method of claim 1 , further comprising:
based on a request from the first control source for a particular modular command, providing, to the first control source, value ranges associated with parameters for the particular modular command in conjunction with a unique identifier for the particular modular command.

11. Non-transitory computer storage media storing instructions, that when executed by an unmanned aerial vehicle (UAV) comprising one or more processors, cause the UAV to perform operations comprising:
receiving one or more first modular commands associated with performance of one or more first actions by the UAV from a first control source within the UAV;
receiving one or more second modular commands associated with performance of one or more second actions by the UAV from a second control source within the UAV, the second actions corresponding to enforcing an approved geofence for the UAV;
discarding a subset of the one or more first modular commands and the one or more second modular commands, wherein discarding comprises:
receiving, from the first control source, repeated instances of the same modular command;
determining a number of repeated instances that the same modular command has been received; and
discarding some of the repeated instances of the same modular command if the number of instances of the repeated modular command exceeds a threshold value;

determining, while the UAV is under control of the first control source, that the UAV has moved outside of the approved geofence;
based on the UAV moving outside of the approved geofence, transferring control of the UAV to the second control source for returning the UAV to within the approved geofence; and
based on the UAV returning to within the approved geofence, returning control of the UAV to the first control source.

12. The computer storage media of claim 11 , wherein discarding comprises:
receiving from the first control source a modular command to travel to a waypoint;
determining whether the UAV has sufficient battery capacity to travel to the waypoint; and
discarding the modular command to travel to the waypoint if the UAV does not have sufficient battery capacity to travel to the waypoint.

13. The computer storage media of claim 11 , wherein discarding comprises:
assigning the first control source to perform a group of modular commands; and
discarding modular commands that were received from a control source other than the assigned first control source for the group of modular commands.

14. The computer storage media of claim 11 , wherein the operations further comprise:
determining a priority level associated with the first control source for a particular received modular command; and
based on the priority level of the first control source, determining whether to enable performance of the modular command by the UAV.

15. The computer storage media of claim 11 , wherein each modular command is validated for the UAV to implement, and wherein the validation is based on configuration information of the UAV.

16. The computer storage media of claim 11 , wherein discarding

Assignees

• Skydio Inc

Inventors

• Bethke Brett Michael
• Michini Bernard J
• Lovegren Jonathan Anders
• Bouffard Patrick Michael

Classifications

• G08G5/57

  for unmanned aircraft · CPC title

• G08G5/55 Primary

  for a single aircraft · CPC title

• B64U2101/26

  for manufacturing, inspections or repairs · CPC title

• G05D1/0016 Primary

  characterised by the operator's input device (input arrangements for computing systems in general G06F3/00) · CPC title

• B64C39/024

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