System and method for electronic fence
阅读说明：本技术 用于电子围栏的系统和方法 (System and method for electronic fence ) 是由 耿畅 赵建 周鸿柱 陈煜� 李顺年 郑森垚 于 2017-11-17 设计创作，主要内容包括：本文提供了一种用于处理复杂限制飞行区域并实现飞行响应措施的系统、方法和设备。在一些实例中,可以提供不同的处理模块。处理模块中的一个处理模块可以处理关于复杂限制飞行区域的信息并发送影响无人飞行器的飞行的数据。在一些实例中,数据可以仅与UAV可以行进的水平方向和垂直方向有关。(A system, method, and apparatus for handling complex restricted flight zones and implementing flight response measures are provided herein. In some instances, different processing modules may be provided. One of the processing modules may process information about the complex restricted flight zone and transmit data that affects the flight of the unmanned aerial vehicle. In some examples, the data may relate only to the horizontal and vertical directions in which the UAV may travel.)
1. A method for managing a restricted flight zone of an unmanned aerial vehicle UAV, the method comprising:
by means of an application processor:
receiving region information about a restricted flight region from a database;
processing the area information to obtain location information of the restricted flight area relative to the UAV; and
by means of a flight controller in communication with the application processor:
receiving location information of the restricted flight zone relative to the UAV; and
controlling flight of the UAV based on the received location information.
2. The method of claim 1, wherein the zone information includes information about one or more sub-zones of the restricted flight zone.
3. The method of claim 2, wherein the one or more sub-regions comprise a regularly shaped base portion.
4. The method of claim 1, wherein the location information includes information about one or more restricted flight zones near the UAV and/or one or more sub-zones of the restricted flight zone near the UAV.
5. The method of claim 4, wherein the one or more sub-regions comprise a regularly shaped base portion.
6. The method of claim 4, wherein a given restricted flight zone of the restricted flight zones is divided into two or more sub-zones by the application processor.
7. The method of claim 4, wherein the location information includes information regarding how many restricted flight zones and/or sub-zones are in proximity to the UAV.
8. The method of claim 4, wherein the location information includes an Identifier (ID) of a restricted flight area or sub-area near the UAV.
9. The method of claim 4, wherein the location information includes a distance between the UAV and the restricted flight area or sub-area.
10. The method of claim 4, wherein the distance is a shortest distance in a horizontal direction between the UAV and one edge of a restricted flight area or sub-area to one side of the UAV.
11. The method of claim 10, wherein the distance is not used to affect flight of the UAV when the UAV is below the restricted flight area or sub-area.
12. The method of claim 4, wherein the location information includes a directional vector of the UAV relative to the restricted flight region or sub-region.
13. The method of claim 12, where the directional vector of the UAV is a unit vector that extends horizontally from a restricted flight area or sub-area on a side of the UAV to the UAV.
14. The method of claim 12, wherein the directional vector is not used to affect flight of the UAV when the UAV is below the restricted flight area or sub-area.
15. The method of claim 12, wherein the position information includes a plurality of directional vectors of the UAV relative to a plurality of restricted flight areas or sub-areas.
16. The method of claim 4, wherein the location information includes an altitude at which the UAV is allowed to fly based on current coordinates of the UAV.
17. The method of claim 4, wherein the location information includes whether the UAV is below a restricted flight area or sub-area with altitude restrictions.
18. The method of claim 17, wherein the flight controller is configured to: determining whether to process a distance or direction vector to a restricted flight area or sub-area that is horizontally positioned relative to the UAV, or to process an altitude restriction experienced by the UAV based on whether the UAV is below a restricted flight area or sub-area having an altitude restriction.
19. The method of claim 1, wherein the flight controller does not receive the restricted flight zone or does not process the restricted flight zone.
20. The method of claim 1, further comprising: displaying the restricted flight zone on a mobile display.
21. The method of claim 20, wherein the mobile display is configured to store information about the restricted flight zone.
22. The method of claim 1, wherein the application processor and flight controller are located on the UAV.
23. The method of claim 1, wherein the received location information prevents the UAV from entering a restricted flight area.
24. The method of claim 1, wherein the received location information forces the UAV to land when the UAV is within the restricted flight area.
25. The method of claim 24, wherein the received location information forces the UAV to land when the UAV is not within a predetermined distance from an outer edge of the restricted flight area.
26. The method of claim 1, wherein the received location information forces the UAV to exit the restricted flight area when the UAV is within the restricted flight area.
27. The method of claim 26, wherein the received location information forces the UAV to land when the UAV does not leave the restricted flight zone within a predetermined period of time.
28. The method of claim 1, wherein the received location information provides a warning to a user of the UAV to land the UAV when the UAV is within the restricted flight area.
29. The method of claim 1, wherein the restricted flight zone of the restricted flight zone comprises a combination of different sub-zones.
30. The method of claim 29, wherein the combination of different sub-regions comprises a base portion that is polygonal, circular or elliptical in shape.
31. The method of claim 29, wherein the combination of different sub-regions comprises different flight limit heights.
32. The method of claim 29, wherein the combination of different sub-regions overlap.
33. The method of claim 1, wherein a restricted flight zone of the plurality of restricted flight zones comprises a base portion that is polygonal, circular, or elliptical in shape.
34. The method of claim 1, wherein processing the zone information comprises dividing a restricted flight zone into a plurality of sub-zones having different altitude restrictions.
35. The method of claim 34, wherein the plurality of sub-regions comprises a first region having a polygonal or circular base portion and having a fly height measured perpendicularly from the polygonal base.
36. The method of claim 34, further comprising: locating, with the aid of the application processor, position information of the UAV relative to each sub-region.
37. The method of claim 34, wherein the dividing divides the restricted flight zone into sub-zones having different altitude restrictions.
38. The method of claim 37, further comprising: the sub-areas with different height limits are additionally divided into basic restricted flight areas with a base of polygonal or circular shape.
39. The method of claim 1, wherein the flight controller is configured to: deriving flight information for the UAV by processing the received position information prior to flight for the controlling UAV.
40. The method of claim 39, wherein the flight information includes a direction vector and a distance if the UAV is near the restricted flight zone, and an altitude limit based on an altitude of the restricted flight zone if the UAV is below the restricted flight zone.
41. The method of claim 1, wherein the location information received by the flight controller includes flight information of the UAV.
42. The method of claim 41, wherein the flight information includes a direction vector and a distance if the UAV is near the restricted flight zone, and an altitude limit based on an altitude of the restricted flight zone if the UAV is below the restricted flight zone.
43. The method of claim 1, wherein the regional information includes a simplified representation of a restricted flight region of the restricted flight region near the UAV.
44. The method of claim 43, wherein the processing comprises: accessing information about a restricted flight zone corresponding to a simplified representation of the restricted flight zone in proximity to the UAV.
45. A system for managing a restricted flight zone of an unmanned aerial vehicle UAV, the system comprising:
an application processor configured to:
receiving region information about a restricted flight region from a database;
processing the region information to obtain location information of a restricted flight region relative to the UAV based on the region information; and
a flight controller in communication with the application processor, wherein the flight controller is configured to:
receiving location information of the restricted flight zone relative to the UAV; and
controlling flight of the UAV based on the received location information.
46. A method for storing a simplified representation of a restricted flight area of an unmanned aerial vehicle UAV, the method comprising:
by means of one or more processors:
receiving information about a restricted flight zone;
processing the information about the restricted flight zone to generate information about a simplified representation of the restricted flight zone; and
storing information about the simplified representation of the restricted flight zone in a database.
47. The method of claim 46, further comprising: utilizing the information about the restricted flight zone to affect behavior of the UAV.
48. The method of claim 47, where the information about the simplified restricted flight zone is not directly used to affect the behavior of the UAV.
49. The method of claim 48, where the UAV's behavior is unaffected in areas within the simplified restricted flight zone and outside of the restricted flight zone.
50. The method of claim 47, where the UAV is prevented from entering the restricted flight zone.
51. The method of claim 47, where a warning is given to a user of the UAV when the UAV is within the restricted flight area.
52. The method of claim 51, wherein the user is given a period of time to land the UAV when the UAV is within the restricted flight area.
53. The method as defined in claim 46, wherein the simplified representation of the restricted flight zone encompasses the restricted flight zone.
54. The method of claim 46, wherein the restricted flight zone comprises a base portion that is polygonal, circular, or elliptical in shape.
55. The method of claim 54, wherein the base portion shape is a polygon.
56. The method as defined in claim 55, wherein the simplified representation of the restricted flight zone comprises a circle surrounding a periphery of a substantial portion of the restricted flight zone.
57. The method of claim 46, wherein the restricted flight zone comprises a combination of different sub-zones.
58. The method of claim 57, wherein the combination of different sub-regions comprises a base portion that is polygonal, circular or elliptical in shape.
59. The method of claim 57, wherein the combination of different sub-regions comprises restricted flight regions having different flight limit heights.
60. The method of claim 57, wherein the combination of different sub-regions overlap.
61. The method as defined in claim 46, wherein the simplified representation of information about the restricted flight zone requires less stored data than the information about the restricted flight zone.
62. The method of claim 46, wherein the information about the restricted flight zone is received from an external database.
63. The method of claim 46, wherein the database is located on a memory on the UAV.
64. The method of claim 46, wherein the database is located on a mobile device external to the UAV.
65. The method of claim 46, wherein the one or more processors are located on the UAV.
66. A system for storing a simplified representation of a restricted flight zone of an unmanned aerial vehicle UAV, the system comprising:
one or more processors configured to:
receiving information about a restricted flight zone;
processing the information about the restricted flight zone to generate information about a simplified representation of the restricted flight zone; and
a database configured to:
receiving information regarding a simplified representation of the restricted flight zone; and
storing the information regarding the simplified representation of the restricted flight zone.
67. A method for managing a restricted flight zone of an unmanned aerial vehicle UAV, the method comprising:
by means of one or more processors:
locating in a database a simplified representation of a restricted flight zone in the vicinity of the UAV;
accessing information about a restricted flight zone corresponding to a simplified representation of the restricted flight zone in proximity to the UAV;
generating a signal to control the UAV or a remote control operably coupled to the UAV, wherein the signal is generated based on the restricted flight zone and not based on a simplified representation of the restricted flight zone.
68. The method of claim 67, wherein the signal is configured to control one or more propulsion units of the UAV to affect the UAV to act according to the restricted flight zone.
69. The method of claim 68, where the signal prevents the UAV from entering the restricted flight zone.
70. The method of claim 68, where the signal forces the UAV to land when the UAV is within the restricted flight area.
71. The method of claim 70, wherein the signal forces the UAV to land after a predetermined period of time when the UAV is within the restricted flight zone.
72. The method of claim 67, wherein the signal is configured to control a mobile controller operatively coupled to the UAV to affect the UAV to act according to the restricted flight zone.
73. The method of claim 72, wherein the signal is configured to provide an alert on the mobile controller when a UAV is near or within the restricted flight zone.
74. The method of claim 67, wherein the simplified representation of the restricted flight zone encompasses the restricted flight zone.
75. The method of claim 67, where the UAV's behavior is unaffected in areas within the simplified restricted flight zone and outside of the restricted flight zone.
76. The method of claim 67, wherein the restricted flight zone comprises a base portion that is polygonal, circular, or elliptical in shape.
77. The method of claim 76, wherein the base portion shape is a polygon.
78. The method of claim 77, wherein the simplified representation of the restricted flight zone comprises a circle that encompasses an outer perimeter of a substantial portion of the restricted flight zone.
79. The method of claim 67, wherein the restricted flight zone comprises a combination of different sub-zones.
80. The method of claim 79, wherein the combination of different sub-regions comprises a base portion that is polygonal, circular or elliptical in shape.
81. The method of claim 79, wherein the combination of different sub-regions comprises sub-regions having different flight limit heights.
82. The method of claim 79, wherein the combination of different sub-regions overlap.
83. The method as defined in claim 67, wherein the simplified representation of information about the restricted flight zone requires less stored data than the information about the restricted flight zone.
84. The method of claim 67, wherein the information about the restricted flight zone is received from an external database.
85. The method of claim 67, wherein the database is located on a memory on the UAV.
86. The method of claim 67, wherein the database is located on a mobile device external to the UAV.
87. The method of claim 67, wherein the one or more processors are located on the UAV.
88. The method of claim 67, wherein the locating and/or the accessing are performed by an application processor of the UAV.
89. The method of claim 67, wherein the generating is performed by a flight controller of the UAV.
90. A system for managing a restricted flight zone of an unmanned aerial vehicle UAV, the system comprising:
one or more processors configured to:
locating in a database a simplified representation of a restricted flight zone in the vicinity of the UAV;
accessing information about a restricted flight zone corresponding to a simplified representation of the restricted flight zone in proximity to the UAV;
generating a signal to control the UAV or a remote control operably coupled to the UAV, wherein the signal is generated based on the restricted flight zone and not based on a simplified representation of the restricted flight zone.
91. A method for partitioning a restricted flight zone of an unmanned aerial vehicle UAV, the method comprising:
by means of an application processor:
receiving information about the restricted flight zone from a database;
processing the information to divide the restricted flight zone into two or more sub-zones, wherein the information about each of the two or more sub-zones comprises less data than the information about the restricted flight zone, and wherein a combination of the information about the two or more sub-zones substantially reproduces the information about the restricted flight zone.
92. The method of claim 91, wherein the restricted flight zone comprises a plurality of altitude restrictions.
93. The method of claim 91, wherein the restricted flight zone comprises a base portion having a complex shape.
94. The method of claim 91, wherein the processing comprises dividing the restricted flight zone into the two or more sub-zones, wherein the two or more sub-zones comprise different altitude restrictions.
95. The method of claim 91, wherein the processing comprises dividing the restricted flight zone into the two or more sub-zones, wherein each of the two or more sub-zones comprises a base portion of a simple shape.
96. The method of claim 95, wherein the simple shape is a polygonal shape or a circular shape.
97. The method of claim 91, further comprising: storing information about the two or more sub-regions in the database.
98. The method of claim 91, further comprising: calculating, with aid of the application processor, position information of the two or more sub-areas relative to the UAV.
99. The method of claim 98, further comprising: receiving, at a flight controller, position information of the two or more sub-regions relative to the UAV.
100. The method of claim 99, further comprising: controlling, with the flight controller, flight of the UAV based on the received location information.
101. The method of claim 99, further comprising: calculating, with the aid of the flight controller, flight information for the UAV based on the location information.
102. The method of claim 101, wherein the flight information includes a direction vector and a distance if the UAV is on a side of the two or more sub-regions, and an altitude upper boundary based on an altitude limit of the two or more sub-regions if the UAV is below the two or more sub-regions.
103. The method of claim 98, further comprising: calculating, with aid of the application processor, flight information for the UAV based on the location information.
104. The method of claim 103, wherein the flight information includes a direction vector and a distance if the UAV is on a side of the two or more sub-regions, and an altitude upper boundary based on an altitude limit of the two or more sub-regions if the UAV is below the two or more sub-regions.
105. The method of claim 91, wherein the application processor is removably coupled to the UAV.
106. The method of claim 91, wherein the application processor is located remotely from the UAV.
107. A system for managing a restricted flight zone of an unmanned aerial vehicle UAV, the system comprising:
an application processor configured to:
receiving information about the restricted flight zone from a database; and
processing the information about the restricted flight zone to generate information about two or more sub-zones, wherein the information about the two or more sub-zones each comprises less data than the information about the restricted flight zone, and wherein a combination of the information about the two or more sub-zones substantially reproduces the information about the restricted flight zone.
Background
Aircraft have a wide range of real-world applications including surveillance, reconnaissance, exploration, logistics transportation, disaster relief, aerial photography, large-scale agricultural automation, live video broadcasting, and the like. Aircraft carrying payloads (e.g., cameras) may be increasingly subject to public and/or private flight regulations or flight restrictions. The restricted flight zone may include complex shapes and/or rules. The utility of the aircraft may be improved by appropriate distribution and/or utilization of processors for managing the restricted flight zones. Limiting the flight area through appropriate management and/or partitioning may improve the utility of the aircraft.
Disclosure of Invention
Currently, Unmanned Aerial Vehicles (UAVs) may utilize flight control modules to control the flight of the UAVs around a restricted flight area. The flight control module may include a plurality of microcontrollers and various sensors that may be coupled to the flight control module. In some instances, the flight control module may inefficiently process input data (e.g., data regarding restricted flight zones). The ability to quickly locate and/or respond appropriately (e.g., with flight response measures) to a restricted flight zone having a complex shape and height may be desirable.
Therefore, there is a need for systems and methods that provide the ability to abstract complex restricted flight zones, quickly locate the restricted flight zones, and properly address the restricted flight zones. Alternatively, different processing modules may be provided for processing the restricted flight zones and implementing appropriate flight response measures. Different processing modules may be coupled to different devices, sensors, and/or databases. The ability to work together with an appropriate distribution of processing modules and groupings or combinations of modules to achieve features may enable new and improved UAV functionality.
Accordingly, in one aspect, a method for managing a restricted flight zone of an Unmanned Aerial Vehicle (UAV) is provided. The method comprises the following steps: receiving, by means of an application processor, zone information from a database regarding a restricted flight zone; processing the area information to obtain position information of the restricted flight area relative to the UAV; and receiving, by means of a flight controller in communication with the application processor, position information of the restricted flight zone relative to the UAV; and controlling the flight of the UAV based on the received location information.
In another aspect, a system for managing a restricted flight zone of an Unmanned Aerial Vehicle (UAV) is provided. The system comprises: an application processor configured to: receiving region information about a restricted flight region from a database; processing the regional information to obtain location information of the restricted flight region relative to the UAV based on the regional information; and a flight controller in communication with the application processor, wherein the flight controller is configured to: receiving position information of a phase-restricted flight zone relative to the UAV; and controlling the flight of the UAV based on the received location information.
In another aspect, a method for storing a simplified representation of a restricted flight area of an Unmanned Aerial Vehicle (UAV) is provided. The method comprises the following steps: by means of one or more processors: receiving information about a restricted flight zone; processing the information about the restricted flight zone to generate information about a simplified representation of the restricted flight zone; and storing information about the simplified representation of the restricted flight zone in a database.
In another aspect, a system for storing a simplified representation of a restricted flight area of an Unmanned Aerial Vehicle (UAV) is provided. The system comprises: one or more processors configured to: receiving information about a restricted flight zone; processing the information about the restricted flight zone to generate information about a simplified representation of the restricted flight zone; and a database configured to: receiving information regarding a simplified representation of a restricted flight zone; and storing information about the simplified representation of the restricted flight zone.
In another aspect, a method for managing a restricted flight zone of an Unmanned Aerial Vehicle (UAV) is provided. The method comprises the following steps: by means of one or more processors: locating in a database a simplified representation of a restricted flight zone in the vicinity of the UAV; accessing information about a restricted flight zone corresponding to a simplified representation of the restricted flight zone in proximity to the UAV; generating a signal to control the UAV or a remote control operably coupled to the UAV, wherein the signal is generated based on the restricted flight zone and not based on a simplified representation of the restricted flight zone.
In another aspect, a system for managing a restricted flight zone of an Unmanned Aerial Vehicle (UAV) is provided. The system comprises: one or more processors configured to: locating in a database a simplified representation of a restricted flight zone in the vicinity of the UAV; accessing information about a restricted flight zone corresponding to a simplified representation of the restricted flight zone in proximity to the UAV; generating a signal to control the UAV or a remote control operably coupled to the UAV, wherein the signal is generated based on the restricted flight zone and not based on a simplified representation of the restricted flight zone.
In another aspect, a method for partitioning a restricted flight zone of an Unmanned Aerial Vehicle (UAV) is provided. The method comprises the following steps: receiving, by means of an application processor, information from a database about a restricted flight zone; processing the information to divide the restricted flight zone into two or more sub-zones, wherein the information about each of the two or more sub-zones comprises less data than the information about the restricted flight zone, and wherein a combination of the information about the two or more sub-zones substantially reproduces the information about the restricted flight zone.
In another aspect, a system for managing a restricted flight zone of an Unmanned Aerial Vehicle (UAV) is provided. The system comprises: an application processor configured to: receiving information about a restricted flight zone from a database; and processing the information about the restricted flight zone to generate information about the two or more sub-zones, wherein the information about the two or more sub-zones each comprises less data than the information about the restricted flight zone, and wherein a combination of the information about the two or more sub-zones substantially reproduces the information about the restricted flight zone.
It is to be understood that the different aspects of the invention may be understood 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 set forth below or to any other type of movable object. Any description herein of an aircraft may be adapted and used for any movable object, such as any vehicle. Additionally, the systems, devices, and methods disclosed herein in the context of airborne motion (e.g., flying) may also be applied in the context of other types of motion, such as movement on the ground or over water, underwater motion, or in space.
Other objects and features of the present invention will become apparent from a review of the specification, claims and appended figures.
Is incorporated by reference
All publications, patents, and patent applications mentioned in this specification are herein incorporated by reference to the same extent as if each individual publication, patent, or patent application was specifically and individually indicated to be incorporated by reference.
Drawings
The novel features believed characteristic of the invention are set forth with particularity 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 that sets forth illustrative embodiments, in which the principles of the invention are utilized, and the accompanying drawings of which:
fig. 1 illustrates a region having a complex shape according to an embodiment.
FIG. 2 illustrates a restricted flight zone with a simplified representation of the restricted flight zone according to an embodiment.
FIG. 3 illustrates a workflow of data for implementing flight response measures according to an embodiment.
Fig. 4 illustrates side and bottom views of a UAV in accordance with an embodiment relative to a restricted flight area.
Figure 5 illustrates UAV behavior proximate to a restricted flight zone, in accordance with embodiments.
Fig. 6 illustrates a method for managing a restricted flight zone of a UAV according to an embodiment.
Figure 7 illustrates a method for storing a simplified representation of a restricted flight area of a UAV according to an embodiment.
FIG. 8 illustrates a method for managing a restricted flight zone of an unmanned aerial vehicle, according to an embodiment.
Figure 9 illustrates a method for operating a UAV in a restricted flight area, according to an embodiment.
Fig. 10 illustrates an Unmanned Aerial Vehicle (UAV) according to an embodiment.
FIG. 11 is a schematic diagram of a block diagram of a system for controlling a movable object, according to an embodiment.
Fig. 12 illustrates a method for partitioning a restricted flight zone of an Unmanned Aerial Vehicle (UAV), according to an embodiment.
Fig. 13 illustrates an example of direction vectors generated for limiting a flight zone, according to an embodiment.
FIG. 14 illustrates obtaining flight information based on position information, according to an embodiment.
Figure 15 illustrates various UAV behaviors near a restricted flight zone, according to embodiments.
Detailed Description
The systems, methods, and apparatus provided herein may be used to improve the efficiency and operational capability of an aircraft. For example, the aircraft and/or associated equipment may better handle restricted flight zones. An aircraft, as used herein, may refer to an Unmanned Aerial Vehicle (UAV) or any other type of movable object. In some examples, a flight control module, also referred to herein as a flight controller, may be provided for controlling the flight of the UAV. For example, the flight control module may be responsible for generating one or more signals that enable movement of one or more propulsion units of the UAV (e.g., via an ESC controller). In some instances, flight control modules may lack sufficient computing power, may process data inefficiently, provide few hardware interfaces, lack software features, have poor scalability, and/or poor safety. In some instances, the restricted flight zones may have complex shapes, heights, and/or flight response measures associated with them, making them more difficult to handle.
In some instances, additional processing modules may be provided for processing data or implementing features of the aircraft. Additional processing modules may be used in conjunction with the flight control module. In some instances, the additional processing modules may include an application processing module. The application processing modules may also be referred to individually or collectively as an application processor. The application processing module may be disposed on the UAV. Alternatively or additionally, the application processing module may be disposed on a remote control or mobile device operatively coupled to the UAV. The application processing module may be configured to supplement and/or assist the flight control module. The application processing module can ensure a strong computing power. In some instances, the application processing module may enable a large operating system, such as Android or Linux, to run on the UAV. Optionally, the application processing module may have real-time processing capabilities and/or high reliability. In some instances, the application processing module may be configured to run a plurality of different applications as desired.
In some instances, application processing modules may be utilized to accomplish data processing or the implementation of functions requiring heavy data processing. In such instances, the application processing module may work with the flight control module to implement features of the UAV. In some examples, the features may relate to processes that limit the flight zone and/or implement flight response measures.
A restricted flight zone, as used herein, may refer to any area that may restrict or affect the operation of an aircraft. The restricted flight zone is sometimes referred to as a flight restriction zone, and may also refer to a zone and/or region associated with flight response measures of the aircraft. The aircraft may be an Unmanned Aerial Vehicle (UAV) or any other type of movable object. It may be desirable to constrain the operation of the UAV in certain areas. For example, some jurisdictions may have one or more no-fly zones in which UAVs are not permitted to fly. In the united states, UAVs may not fly within certain proximity of airports. Additionally, it may be prudent to limit the flight of the aircraft in certain areas. For example, it may be prudent to limit the flight of an aircraft in a metropolitan area, across a national border, near government buildings, and the like. For example, it may be desirable to restrict flight in areas where flight conditions are known to be dangerous (e.g., known strong winds, near a border, too far off the coastline, near important government buildings, etc.). For example, it may be desirable to restrict flight in areas where special events (e.g., denormal events) are occurring.
In some examples, the restricted flight zone may be a two-dimensional zone, or may be defined by a two-dimensional zone. For example, limiting the flight zone location may include a zone or region.
The region or area may coincide with, reflect or track an existing boundary. The existing boundaries may be, for example, property boundary lines, national boundary lines, boundaries between states, natural boundaries (e.g., boundaries between bodies of water and land), and the like. The region or area may have any shape (e.g., a circle, a rectangle, a triangle, a shape corresponding to one or more natural or artificial features at a location, a shape corresponding to one or more partitioning rules, or any other boundary). For example, the restricted flight zone may track airport boundaries, borders between countries, other jurisdictional borders, or any other type of boundary.
The restricted flight zone may be defined by a straight line or a curved line. In some examples, the restricted flight zone may include a space. The space may be a three-dimensional space including latitude, longitude and altitude (height) coordinates. The three-dimensional space may include a length, a width, and a height. The restricted flight zone may have an altitude (height) boundary, such as a lower altitude (height) boundary and/or an upper altitude (height) boundary. The altitude (height) limit of the flight limit area may be constant over the flight limit area. The altitude (height) limit of the flight restriction area may vary over the flight restriction area. For example, the lower altitude (height) boundary may increase with increasing distance from the center of the flight-restriction region. The restricted flight area may include a space from above the ground to any altitude above the ground (e.g., a predetermined altitude at which the UAV may fly or an altitude at which the UAV may fly). Which may include an altitude (height) vertically upward from one or more restricted flight zones on the ground. For example, for some latitudes and longitudes, all altitudes (heights) may be flight limited. In some instances, some altitudes (heights) of a particular lateral region may be flight-limited, while others are not. For example, for some latitudes and longitudes, some altitudes (heights) may be flight-limited, while others are not. Thus, the restricted flight zone may have any number of dimensions and measurements of dimensions, and/or may be specified by these dimensional positions or by a space, region, line or point representing the zone.
As mentioned herein, the flight restriction region may include any location where it may be desirable to restrict operation of the UAV. For example, the flight-restricted area may include one or more locations at which an unauthorized aircraft may not fly. Other examples of types of flight-restriction regions are provided elsewhere herein. It may include an unauthorized Unmanned Aerial Vehicle (UAV) or all UAVs. The restricted flight zone may include a prohibited airspace, which may refer to an airspace zone (or volume) within which the aircraft is not permitted to fly, typically for safety reasons. The exclusion zone may comprise a defined dimension of airspace identified by a zone on the earth's surface within which aircraft flight is prohibited. Such zones may be established for security or other reasons associated with national welfare. These zones may be published in a federal registry and plotted on a U.S. aerograph or other publication in various jurisdictions. The restricted flight zone may include one or more special use airspaces (e.g., airspaces where restrictions may be imposed on aircraft not undergoing designated operations), such as restricted airspaces (i.e., areas where all aircraft are generally prohibited from entering at all times and are not affected by permission from airspace control mechanisms), military operating zones, warning zones, Temporary Flight Restrictions (TFR) zones, national security zones, and controlled shooting zones. The restricted flight zone, as used herein, may also include any other airspace designated by the user and may be associated with flight response measures. For example, a private property such as a residential building or a commercial building (or a public property such as a park) may be designated as a restricted flight area.
Examples of restricted flight zones may include, but are not limited to: airports, flight corridors, military or other government facilities, locations near sensitive personnel (e.g., when a president or other leader is visiting a location), nuclear locations, research facilities, private airspace, areas of military access, certain jurisdictions (e.g., towns, cities, counties, states/provinces, countries, bodies of water or other natural landmarks), national borders (e.g., borders between the united states and mexico), private or public property, or any other type of region. The restricted flight zone may be a permanent no-flight zone or may be a temporary no-flight zone. The restricted flight zone may be a zone that allows flight but is associated with a set of flight response measures. The list of restricted flight zones may be updated. The restricted flight zone may vary from jurisdiction to jurisdiction. For example, some countries may include schools as restricted flight areas, while some countries may not.
In some examples, the restricted flight zone may include a shape. The shape may be two-dimensional and/or three-dimensional. In some examples, the shape that limits the flight zone may refer to the shape that limits a substantial portion of the flight zone (e.g., the shape generalized at the ground upper or lower limit). The restricted flight zone may comprise a basic portion having any shape. For example, the substantial portion of the restricted flight zone may be circular, elliptical, polygonal (e.g., rectangular, etc.), or may have an irregular or complex shape. In some examples, the restricted flight zones may overlap one another. In some examples, the restricted flight zones may be adjacent but not overlapping with each other.
Fig. 1 illustrates a region having a
In some instances, a complex shaped restricted flight zone may be divided into a plurality of different restricted flight zones according to flight response measures associated therewith. As one example, a complex shaped restricted flight zone may be divided into sub-zones according to altitude restrictions (e.g., an on-flight boundary or an off-flight boundary). For example, restricted
As shown, multiple restricted flight zones may overlap. Each restricted flight zone may have flight response measures associated therewith, as described further below. Each restricted flight zone may have the same or different flight response measures associated with it.
The restricted
The restricted
The restricted
The restricted
Information regarding one or more restricted flight zones may be stored on the UAV. Alternatively or additionally, information regarding one or more restricted flight zones may be accessed from a data source that is not onboard the UAV. For example, if the internet or another network is accessible, the UAV may obtain information about the flight-restriction area from an online server (e.g., a cloud server). Alternatively, the information about the restricted flight zone may have a complicated restricted flight zone (e.g., as shown in fig. 1). As described above, the UAV may receive the information and process it, or resolve the restricted flight area into sub-areas for ease of further processing. The information regarding the one or more restricted flight zones may include various parameters associated with the restricted flight zones. For example, the information may include one or more flight response measures associated with limiting the flight zone.
In some examples, the location of the UAV may be determined. This may occur prior to takeoff of the UAV and/or while in flight of the UAV. In some examples, the UAV may have a GPS receiver that may be used to determine the location of the UAV. In other examples, the UAV may communicate with an external device such as a mobile control terminal. The location of the external device may be determined and used to approximate the location of the UAV. Optionally, the position of the UAV may be determined by means of one or more sensors. The one or more sensors may be located on the UAV or off the UAV. In some examples, a combination of sensors on and off the UAV may be utilized to increase the accuracy of determining the position of the UAV. The information regarding the location of one or more restricted flight zones accessed from data sources not on the UAV may depend on or be determined by the location of the UAV or an external device in communication with the UAV. For example, the UAV may access information about other restricted flight areas around the UAV or within 1 mile, 2 miles, 5 miles, 10 miles, 20 miles, 50 miles, 100 miles, 200 miles, or 500 miles. Information accessed from data sources not on the UAV may be stored on a temporary or permanent database. For example, information accessed from data sources not on the UAV may be added to a library of growing restricted flight zones on the UAV. Alternatively, only limited flight areas around the UAV or within 1, 2, 5, 10, 20, 50, 100, 200, or 500 miles may be stored on a temporary database, limited flight areas that were previously within the aforementioned distance range (e.g., within 50 miles of the UAV) but are currently within the aforementioned distance range (outside of the aforementioned distance range may be deleted. Sub-regions subdivided based on different altitudes within the restricted flight region). Further, the information on the fly can be derived from the position information. The flight information may be derived by an application processor. Alternatively or additionally, the flight information may be derived by a flight controller. The flight information may ultimately control the flight of the UAV, as described further below. In some instances, the flight information may determine what flight response measures to take. For example, if the UAV is within a flight exclusion area, the UAV may automatically land. In some examples, if the UAV is within the restricted flight area, the operator of the UAV may be given a time period after which the UAV will automatically land. In some examples, the UAV may provide an alert to an operator of the UAV regarding limiting the proximity of the flight area. In some examples, the UAV may not be able to take off if the UAV is within a particular distance from the restricted flight area.
In some instances, it may be beneficial to provide different regions (e.g., restricted flight regions) with different flight restriction rules. The flight restriction rules may specify a set of flight response actions to be taken by the UAV (e.g., within the restricted flight area). For example, it may be advantageous to completely inhibit flight in some flight-restricted areas. In some instances, it may be sufficient to provide a warning to the operator of the UAV about the flight restriction area, but allow flight.
In some examples, limiting the flight zone may be associated with one or more flight response actions to be taken by the UAV. The operation of the UAV may be determined or influenced by flight response measures (e.g., within a restricted flight area). The set of flight response actions may include one or more flight response actions. In some embodiments, the flight response action may include completely preventing the UAV from entering the flight restriction area. UAVs that accidentally reach the flight-restricted area may be forced to land or to fly out of the flight-restricted area. In some embodiments, the flight response action may include allowing the UAV to remain in the flight restriction area, but imposing certain limits on the UAV's operation within the flight restriction area. The UAV may be forced to remain within the flight-restricted area. Various types and examples of flight response measures are described herein.
Flight response measures may determine the physical location of the UAV. For example, the flight response measure may determine flight of the UAV, takeoff of the UAV, and/or landing of the UAV. In some examples, flight response measures may prevent UAVs from flying into flight-restricted areas. In some examples, the flight response measure may only allow a particular range of orientations of the UAV, or may not allow a particular range of orientations of the UAV. The range of orientations of the UAV may be relative to one axis, two axes, or three axes. The axis may be an orthogonal axis, such as a yaw axis, a pitch axis or a roll axis. The physical location of the UAV may be determined relative to the flight-restricted area.
Flight response measures may determine movement of the UAV. For example, the flight response measure may determine a translational velocity of the UAV, a translational acceleration of the UAV, an angular velocity of the UAV (e.g., for one axis, two axes, or three axes), or an angular acceleration of the UAV (e.g., for one axis, two axes, or three axes). The flight response measure may set a maximum limit for UAV translational velocity, UAV translational acceleration, UAV angular velocity, or UAV angular acceleration. Thus, the set of flight response actions may include constraining the flight speed and/or flight acceleration of the UAV. The flight response measure may set a minimum threshold for UAV translational velocity, UAV translational acceleration, UAV angular velocity, or UAV angular acceleration. Flight response measures may require the UAV to move between a minimum threshold and a maximum limit. Alternatively, the flight response measure may prevent the UAV from moving within one or more translational velocity ranges, translational acceleration ranges, angular velocity ranges, or angular acceleration ranges. In one example, the UAV may not be allowed to hover within a specified airspace. The UAV may be required to fly at a minimum translational speed above 0 mph. In another example, the UAV may not be allowed to fly too fast (e.g., flying below a maximum speed limit of 40 mph). The movement of the UAV may be determined relative to a flight-restriction region.
Flight response measures may dictate the takeoff and/or landing procedures of the UAV. For example, a UAV may be allowed to fly in a flight-restricted area, but not allowed to land in the flight-restricted area. In another example, the UAV may only be able to take off from a flight-restricted area in a certain manner or at a certain speed. In another example, manual takeoff or landing may not be allowed and an autonomous landing or takeoff procedure must be used within the flight-restricted area. The flight response measure may determine whether take-off is allowed, whether landing is allowed, take-off, or any rules (e.g., speed, acceleration, direction, orientation, flight mode) that must be followed for landing. In some embodiments, only automatic sequences for takeoff and/or landing are allowed, and manual landing or takeoff is not allowed, or vice versa. The takeoff and/or landing procedure of the UAV may be decided with respect to the flight-restricted area.
In some examples, flight response measures may dictate the operation of the payload of the UAV. The payload of the UAV may be a sensor, a transmitter, or any other object that may be carried by the UAV. The payload may be switched on or off. The payload may be rendered operational (e.g., powered on) or non-operational (e.g., powered off). The flight response action may include a condition that does not allow the UAV to operate the payload. For example, flight response measures may require that the payload be powered off in a flight restriction region. The payload may emit a signal and the flight response measures may determine the nature of the signal, the amplitude of the signal, the range of the signal, the direction of the signal, or any mode of operation. For example, if the payload is a light source, the flight response measure may require that the light is not brighter than a threshold intensity within the flight restriction region. In another example, if the payload is a speaker for emitting sound, the flight response measure may require that the speaker not emit any noise outside of the flight restriction area. The payload may be a sensor that collects information, and the flight response measures may determine the mode in which the information is collected, the mode of how the information is pre-processed or processed, the resolution of the collected information, the frequency or sampling rate at which the information is collected, the range over which the information is collected, or the direction in which the information is collected. For example, the payload may be an image capture device. The image capture device may be capable of capturing still images (e.g., still images) or moving images (e.g., video). The flight response measure may determine a zoom of the image capture device, a resolution of an image captured by the image capture device, a sampling rate of the image capture device, a shutter speed of the image capture device, an aperture of the image capture device, whether a flash is used, a mode of the image capture device (e.g., an illumination mode, a color mode, a still and video mode), or a focus of the image capture device. In one example, the camera may not be allowed to capture images on the flight restriction area. In another example, the camera may be allowed to capture images on the flight restriction area, but not sound on the flight restriction area. In another example, the camera may only be allowed to capture high resolution photographs within the flight restriction area and only be allowed to take low resolution photographs outside the flight restriction area. In another example, the payload may be an audio capture device. The flight response measure may decide whether to allow the audio capture device to be powered on, the sensitivity of the audio capture device, the decibel range that the audio capture device can pick up, the directionality of the audio capture device (e.g., for a parabolic microphone), or any other amount of the audio capture device. In one example, the audio capture device may or may not be allowed to capture sound within the flight restriction area. In another example, an audio capture device may be allowed to capture sounds within a particular frequency range within a flight restriction area. The operation of the payload may be decided with respect to the flight restriction region.
Flight response measures may determine whether the payload may transmit or store information. For example, if the payload is an image capture device, the flight response measures may decide whether an image (still or dynamic) may be recorded. The flight response measure may decide whether the image may be recorded into onboard memory on the image capture device or memory on the UAV. For example, the image capture device may be allowed to power on and show the captured image on the local display, but may not be allowed to record any image. The flight response measure may decide whether the image may be streamed out from the image capture device or the UAV. For example, the flight response action may indicate that an image capture device on the UAV may be allowed to stream video down to a terminal that is not on the UAV when the UAV is within the flight-restriction airspace, but not when the UAV is outside of the flight-restriction airspace. Similarly, if the payload is an audio capture radio frequency, the flight response measures may decide whether the sound may be recorded into memory onboard the audio capture device or memory on the UAV. For example, the audio capture device may be allowed to power on and play back captured sound on a local speaker, but may not be allowed to record any sound. Flight response measures may decide whether an image may be streamed out from an audio capture device or any other payload. The storage and/or transmission of the collected data may be decided with respect to the flight restriction area.
In some examples, the payload may be an item carried by the UAV, and the flight response measure may indicate a characteristic of the payload. Examples of characteristics of the payload may include a size of the payload (e.g., height, width, length, diameter, diagonal), a weight of the payload, a stability of the payload, a material of the payload, a frangible fragility of the payload, or a type of the payload. For example, the flight response action may indicate that the UAV may carry no more than 3 pounds of packages while flying above the flight restriction area. In another example, flight response measures may allow UAVs to carry packages greater than 1 foot in size only within flight-restricted areas. Another flight response measure may allow the UAV to fly for only 5 minutes while carrying 1 pound or heavier packaging within the flight restriction area, and may cause the UAV to land automatically if it does not leave the flight restriction area within 5 minutes. A limit may be placed on the type of payload itself. For example, UAVs may not carry payloads that are unstable or may explode. Flight limitations may prevent UAVs from carrying fragile objects. The payload may be characterized with respect to a flight-restriction region.
The flight response measure may also indicate an action that may be performed with respect to an item carried by the UAV. For example, the flight response action may indicate whether the item may be unloaded within the flight restriction area. Similarly, flight response measures may indicate whether items may be picked up from the flight-restricted area. The UAV may have a robot or other mechanical structure that may facilitate the unloading or picking of items. The UAV may have a carrying compartment that can allow the UAV to carry items. Payload-related actions may be specified relative to the flight-restriction region.
Flight response measures may determine the positioning of the payload relative to the UAV. The position of the payload relative to the UAV may be adjustable. The translational position of the payload relative to the UAV and/or the orientation of the payload relative to the UAV may be adjustable. The translational position may be adjustable with respect to one axis, two axes, or three orthogonal axes. The orientation of the payload may be adjustable with respect to one axis, two axes, or three orthogonal axes (e.g., a pitch axis, a yaw axis, or a roll axis). In some embodiments, the payload may be connected with the UAV with a carrier capable of controlling the positioning of the payload relative to the UAV. The carrier may support the weight of the payload on the UAV. The carrier may optionally be a gimbaled platform that may allow the payload to rotate relative to the UAV about one axis, two axes, or three axes. One or more frame assemblies and one or more actuators may be provided that may enable adjustment of the positioning of the payload. The flight response measure may control a vehicle or any other mechanical device that adjusts the position of the payload relative to the UAV. In one example, the flight response measure may not allow the payload to be oriented downward as it flies over the flight-restricted area. For example, the region may have sensitive data that may not be desired to be captured by the payload. In another example, the flight response measure may move the payload translationally downward relative to the UAV within a flight limit area, which may allow for a wider field of view, such as panoramic image capture. The positioning of the payload may be determined relative to the flight-restricted region.
The flight response measure may determine operation of one or more sensors of the unmanned aerial vehicle. For example, the flight countermeasure may decide whether to turn a sensor on or off (or which sensor to turn on or off), the mode in which information is collected, the mode on how to pre-process or process the information, the resolution of the collected information, the frequency or sampling rate at which the information is collected, the range over which the information is collected, or the direction in which the information is collected. Flight response measures may determine whether the sensors may store or transmit information. In one example, when the UAV is within a flight restriction area, the GPS sensor may be turned off while the visual sensor or inertial sensor is turned on for navigation purposes. In another example, an audio sensor of the UAV may be turned off while flying over a flight-restriction area. The operation of one or more sensors may be determined relative to a flight-restriction region.
Communications of the UAV may be controlled in accordance with one or more flight response measures. For example, the UAV may be capable of remote communication with one or more remote devices. Examples of remote devices may include: a remote control that can control the operation of the UAV, payload, carrier, sensors, or any other component of the UAV; a display terminal that may show information received by the UAV; a database, which may collect information from the UAV or any other external device. The remote communication may be wireless communication. The communication may be a direct communication between the UAV and the remote device. Examples of direct communication may include WiFi, WiMax, radio frequency, infrared, visual, or other types of direct communication. The communication may be an indirect communication between the UAV and the remote device, which may include one or more intermediate devices or networks. Examples of indirect communications may include 3G, 4G, LTE, satellite, or other types of communications. The flight response measure may indicate whether the telecommunications is on or off. The flight response action may include a condition that does not allow the UAV to communicate under one or more wireless conditions. For example, when the UAV is within a flight-restricted area, communications may not be allowed. The flight response action may indicate a communication mode that may or may not be allowed. For example, the flight response measure may indicate whether the direct communication mode is allowed, whether the indirect communication mode is allowed, or whether a preference is established between the direct communication mode and the indirect communication mode. In one example, only direct communication is allowed within flight limits. In another example, on a flight restriction area, a preference for direct communication may be established as long as direct communication is available, otherwise indirect communication may be used; while outside the flight-restricted area, no communication is allowed. The flight response measure may indicate characteristics of the communication, such as bandwidth used, frequency used, protocol used, encryption used, devices available to facilitate communication. For example, flight response measures may only allow communication with existing networks when the UAV is within a predetermined volume. The flight response measure may determine the communications of the UAV with respect to the flight restriction area.
Other functions of the UAV (e.g., navigation, power usage, and monitoring) may be determined from flight response measures. Examples of power usage and monitoring may include an amount of time of flight remaining based on the battery and power usage information, a state of charge of the battery, or an estimated amount of distance remaining based on the battery and power usage information. For example, flight response measures may require that the remaining battery life of a UAV operating within a flight-restricted region be at least 3 hours. In another example, flight response measures may require that the UAV be at least 50% charged when the UAV is outside of a flight-restriction region. The flight response measure may determine this additional functionality with respect to the flight restriction area.
As mentioned above, information about the restricted flight zone may be stored in a data source, also referred to herein as a database. The database may be a database for recording or storing parameters associated with a restricted flight zone. The parameters described herein may include or contain the above-described region information. The database may be a database hosted on a website or an online server. The database may be operatively coupled to one or more memory units. The database may be periodically, continuously, and/or optionally updated. For example, the database may be updated at predetermined time intervals. In some instances, the database may be updated by an entity controlling the database. Alternatively or additionally, the database may be updated by other entities (e.g., government entities, users of UAVs, or personnel that require a particular area or region maintained as a restricted flight area, etc.).
The database may include information associated with the UAV, a user of the UAV, and/or a restricted flight area. For example, the database may include parameters associated with a flight restriction region. The parameters of the flight restriction region may include any information related to the flight restriction region. For example, the parameters may include a location, a type (e.g., category), a status (e.g., update date, upload date, etc.), a radius or boundary, a height, a length, a width, a perimeter, a diameter, an altitude (height) boundary (e.g., an altitude (height) upper boundary and/or an altitude (height) lower boundary), a duration, a time period, or a flight response measure associated with the flight-restriction region.
Optionally, the parameters may include data related to a simplified representation of a restricted flight zone, as further described herein. FIG. 2 illustrates a restricted flight zone with a simplified representation of the restricted flight zone according to an embodiment. The restricted
A given restricted flight zone may have a simplified representation of the restricted flight zone associated therewith. In some instances, a simplified representation of the restricted flight zone may be stored in a database. Alternatively, the simplified representation of the restricted flight zone may be stored in a database as a parameter associated with the restricted flight zone. In some instances, the simplified representation of the restricted flight zone may be (or may be represented or defined by) a circle that restricts the outer perimeter of the flight zone. The circle that limits the outer periphery of the flight zone may be a circle that passes through all vertices of the flight zone. For example, the simplified representations of restricted
In some instances, the parameters (e.g., region information) may alternatively or additionally include a region id, latitude, longitude, radius, shape, sub-region id, altitude, region level, country, and/or point. Each of the aforementioned parameters may be a parameter associated with limiting the flight zone itself. Alternatively or additionally, the parameter may be a parameter associated with a simplified representation of a restricted flight zone.
The zone id may be the id of the geospatial zone in which the restricted flight zone is located. The zone id may be unique. The zone id may be a sequence number. The latitude may be the latitude of the center of a circle having the smallest shape footprint that covers the restricted flight zone (e.g., covers a substantial portion of the flight-restriction zone). As one example, the latitude may be the latitude of the center of the simplified representation of the restricted flight zone described above in fig. 2. Alternatively, the latitude may be the latitude of the actual limited flight area. The longitude may be a longitude having a center of a circle covered by a minimum shape covering the restricted flight zone (e.g., covering a substantial portion of the restricted flight zone). As one example, the longitude may be that of the center of the simplified representation of the restricted flight area described above in fig. 2. Alternatively, the longitude may be the longitude that actually limits the flight area. The radius may be a radius of a circle (e.g., a circle having the above-referenced latitude and/or longitude). As one example, the radius may be the radius of the simplified representation of the restricted flight zone described above in FIG. 2. Alternatively, the radius may be a radius that actually limits the flight area. Shape may refer to a shape that limits the flight area. In some examples, the shape may be a circle, a single polygon, and/or a set of polygons. The sub-zone id may refer to the id of the geospatial zone in which the sub-unit that limits the flight area is located. If a set of polygons is used to represent a restricted flight zone (e.g., as described in FIG. 1), the sub-zone id may be used to represent the sequence number of the sub-polygon. Altitude may refer to altitude information that limits the flight area, such as an altitude (height) upper boundary and/or a lower boundary. The zone level may refer to a level of restricting a flight zone, or a category of restricting a flight zone. The country may refer to a country to which the restricted flight zone belongs. A point may refer to geospatial information that defines a vertex of a flight area. In some instances, the points may contain geographic coordinates for each point that defines a substantial portion of the flight area. The geographic coordinates may include a longitude and/or latitude of a vertex bounding the flight area. In some instances, the geographic coordinates may be represented by a structure in which the number of points and the coordinates of the latitude and longitude of each point are arranged in order.
As described above, the parameters of the flight restriction region may include the location of the flight restriction region. The location may include local or global coordinates (e.g., latitude and/or longitude), country, city, street address, street intersection, name (e.g., recognizable name associated with an area, such as kennedy international airport, white house, dorlesse park, gold gate bridge), etc. of the flight-restriction area. The location of the restricted flight zone may represent a single location (e.g., latitude and/or longitude). Alternatively, the location of the restricted flight zone may be represented by a plurality of points, for example, for a polygon the restricted flight zone. For example, a rectangular shaped restricted flight zone may be represented by four points or four different locations each having a latitude and/or longitude. These four points may also be associated with a rank (e.g., 1, 2, 3, 4, 5, etc.). In some instances, the rank may be associated with how the shape that bounds the flight zone is formed or may be created. For example, for a restricted flight zone having a polygonal shape, points having a first level may be connected to points having a second level and a last level, without being connected to intermediate levels. In some examples, for a polygon to limit a flight zone, a given point with an x rating may be configured to connect to points with x-1 and x +1 ratings, where if x-1 ═ 0, then the point connects to the last ranked point.
The parameters of the flight restriction region may specify the shape of the flight restriction region in two or three dimensions. The shape may include any shape, such as circular, elliptical, semi-circular, polygonal, triangular, rectangular, square, octagonal, and the like. For example, the two-dimensional space may be defined by a circle centered at the location. For example, the three-dimensional space may be defined by a cylinder having a base portion centered on the location and extending from a lower altitude (height) boundary to an upper altitude (height) boundary. Other exemplary shapes in three dimensions may include, but are not limited to, spherical, hemispherical, cubical, rectangular prism, irregular shapes, and the like.
The parameters of the flight restriction region may include a set of flight response measures required for the flight restriction region. As noted above, the operation of the UAV may be determined or influenced by flight response measures. The set of flight response actions may include one or more flight response actions. In some embodiments, the flight response action may include completely preventing the UAV from entering the flight restriction area. UAVs that accidentally reach the flight-restricted area may be forced to land or to fly out of the flight-restricted area. In some embodiments, the flight response action may include allowing the UAV to remain in the flight restriction area, but imposing certain limits on the UAV's operation within the flight restriction area. The UAV may be forced to remain within the flight-restricted area. Various types and examples of flight response measures are described above.
FIG. 3 illustrates a workflow of data for implementing flight response measures according to an embodiment. The database 301, the remote control 303, and/or the UAV 305, etc. may be used to implement flight response measures for the UAV. As described above, the database may be hosted on an online server. Alternatively, the database may utilize a peer-to-peer communication protocol, and/or may be hosted on the cloud. In some examples, the database may be in communication with the UAV and/or a remote control, e.g., via a wired or wireless communication module. In some instances, the database may send information regarding restricted flight zones (e.g., zone information) to the UAV and/or a remote control. For example, the database may send information regarding parameters associated with limiting the flight zone. Each of the UAV and/or the remote control may also include its own database for storing information about restricted flight zones. In some examples, the UAV and/or the remote control may include a memory for storing information regarding restricted flight zones. Alternatively, the memory may be located on the UAV.
As used herein, a remote control may individually or collectively refer to a device configured to affect operation of a UAV. For example, the remote control may include a display, such as an iPad or tablet, for viewing operations related to the UAV. Alternatively or additionally, the remote control may include a physical control having a control stick that affects operation of the UAV. In some instances, the remote control may be configured to store information related to the display of the restricted flight zone. In some instances, the remote control may store information related to the display of the restricted flight zone. Alternatively, the remote control may store a full version of the display database. Alternatively, the display database may include zone information regarding the restricted flight zone without including a simplified representation of the restricted flight zone. In some instances, a database of remote controls may be optimized for storing information related to the display of restricted flight zones. Accordingly, data stored in the remote controller database may be accessed so that information about the restricted flight zone may be quickly rendered and displayed on the remote controller.
In some instances, the UAV may store a full version of the database 301. Optionally, the UAV database may be optimized for processing the restricted flight logic. As discussed herein, each of the remote control and/or UAV databases may be generated by a database 301 (e.g., a server). The database 301 may include release versions, and may release versions to each of the remote control and the UAV. In some instances, the remote control and UAV may version match the database to verify whether the database is the same or up-to-date.
Alternatively, the database for each of the remote control and UAV may be upgraded independently. For example, the database of the UAV may be updated independently of the remote control. When considering a restricted flight zone, only the database of UAVs may be used. For example, a database on the remote control end may be utilized for purposes of displaying a restricted flight zone to the user, but may not be utilized when actually considering the restricted flight zone of the UAV or implementing flight response measures. For example, if there is a conflict in the database, the UAV will operate according to the UAV database. When flight response measures are actually implemented, only the database of UAVs may be utilized.
In some examples, the UAV may include one or more processing modules. The processing module may be disposed on the UAV. Alternatively or additionally, some processing modules may not be provided on the UAV, for example at a ground terminal. The one or more processing modules of the UAV may include an application processing module 307 described herein. Alternatively or additionally, the one or more processing modules may include a flight control module 309 or other modules described herein.
An application processing module may be provided as a central piece for managing flight or operations in connection with the aircraft. The application processing module may include one or more processors. For example, an application processing module may include one, two, three, four, five, six, seven, eight, nine, ten, or more processors. Each processor may be a single core processor or a multi-core processor. The application processing module may also be referred to herein as an application processor.
In some instances, the application processing module may be configured to run an operating system. The operating system may be a general-purpose operating system configured to run a number of other programs and applications in accordance with task requirements or user preferences. In some instances, an application that may be run on the application processing module may relate to flight and/or control of the UAV. In some instances, an external device coupled to the application processing module (e.g., via various interfaces provided) may load programs or applications that may run on the application processing module. For example, an application related to processing information related to a restricted flight zone may be run on the application processing module. Thus, the application processing module may enable processing of increased amounts of data related to restricted flight zones that include complex parameters (e.g., complex shapes, flight response measures, etc.). In some instances, applications that may be run on the UAV may be user configurable and/or updateable. Thus, the operating system may provide a method of updating and/or adding functionality to the UAV. In some instances, the operational capabilities of the UAV may be updated or increased without hardware upgrades. In some instances, the operational capabilities of the UAV may be updated or increased with only software updates via the operating system. In some instances, the operating system may be a non-real-time operating system. Alternatively, the operating system may be a real-time operating system. The real-time operating system may be configured to respond to input (e.g., input data) on the fly or in real-time. The non-real-time operating system may respond to the input with some delay. Examples of non-real-time operating systems may include, but are not limited to, Android, Linux, Windows, and the like.
In some instances, the application processing module may provide a plurality of interfaces for coupling or connecting to peripheral devices. The interface may be any type of interface and may include, but is not limited to, USB, UART, I2C, GPI0, I2S, SPI, MIPI, HPI, HDMI, LVDS, and the like. The interface may include a number of features. For example, an interface may include features such as bandwidth, latency, and/or throughput. In some instances, the peripheral device may include additional sensors and/or modules. The peripheral devices may be coupled to the application processing module via a particular interface as needed (e.g., bandwidth or throughput requirements). In some instances, a high bandwidth interface (e.g., MIPI) may be utilized where high bandwidth is needed (e.g., image data transfer). In some instances, a low bandwidth interface (e.g., UART) may be utilized where low bandwidth is required (e.g., control signal communications). As an example, MIPI may be used to transfer data between an application processing module and an image processing module. As an example, HPI may be used to transfer data between an application processing module and an image transfer module. By way of example, the USB may be used to transfer data between the application processing module and the real-time sensing module, or between the application processing module and the flight control module. As an example, a UART may be used to transmit control signals between, for example, a flight control module and an image transmission module.
The interface may provide modularity to the UAV so that the user may update the peripherals according to task requirements or preferences. For example, depending on the needs of the user and the mission goals, peripherals may be added or swapped in and out to achieve a modular configuration that best suits the UAV goals. Peripheral devices may include, but are not limited to, imaging devices, hearing devices, projectile devices, mechanical devices, memory, batteries, and the like. In some instances, a user may easily access multiple interfaces. In some examples, the plurality of interfaces may be located within a housing of the UAV. Alternatively or additionally, the plurality of interfaces may be located partially external to the UAV.
The application processing module may communicate with the flight control module 309 for efficient processing of data and implementation of UAV features. The flight control module or flight controller may optionally include a microcontroller unit (MCU). The flight control module can be coupled to one or more ESC controllers. For example, the flight control module may be electrically coupled or connected to one or more ESC controllers. In some examples, the flight control module may communicate directly with the ESC controller and may be responsible for final flight control of the UAV.
In some instances, the application processing module may obtain data or information from the database 301 and further process the data to generate useful information for UAV flight (e.g., grid map building). In some instances, the application processing module may obtain data or information from the database 301 and further process the data to generate useful information to the flight controller for UAV flight. For example, the application processing module may obtain regional information about the restricted flight region and further divide the restricted flight region into sub-regions that are easier to process and analyze. As described above, the partitioning may be based on altitude limitations, flight response measures, shape of the base portion, and the like. As another example, the application processing module may obtain region information about the restricted flight region from the database and process the region information of the restricted flight region (or sub-region) to obtain location information of the restricted flight region (or sub-region), as described further below. The location information may relate to location information of the UAV to each restricted flight area (or sub-area) near the UAV. Alternatively or additionally, the application processing module may retrieve zone information about the restricted flight zone from a database and process the zone information to obtain flight information for the restricted flight zone (or sub-zone), as described further below. The flight information may relate to final flight instructions for the UAV relative to all restricted flight zones near the UAV. In some instances, an operating system running on the application processing module, and various interfaces that enable an operator of the UAV to configure the UAV to operate with updated applications and/or devices (e.g., peripherals), may provide better modularity and configurability to the UAV so that it can operate under conditions best suited for a given mission objective.
The flight control module may include one or more processors. For example, the flight control module may include one, two, three, four, five, six, seven, eight, nine, ten, or more processors. Each processor may be a single core processor or a multi-core processor. In some examples, the flight control module may include an embedded processor, such as a Reduced Instruction Set Computer (RISC). RISC can operate at high speed, executing Millions of Instructions Per Second (MIPS). The flight control module may be configured to process data in real time and with high reliability.
In some examples, the flight control module may be configured to implement functions or features of the UAV, e.g., by controlling movement of one or more propulsion units on the UAV. For example, the flight control module may affect movement of the UAV such that the feature is enabled according to instructions or information received from other processing modules. In some examples, the flight control module may be configured to maintain stable flight of the UAV. The flight control module may be configured to process information (e.g., information received from sensors coupled to the flight control module) such that stable flight of the UAV is maintained. In some instances, the flight control module may be sufficient to maintain the UAV in flight in the air, e.g., without the application of the role of the processing module.
In some examples, the flight control module may obtain position information about the restricted flight zone from the application processing module and process the position information to obtain flight information for the restricted flight zone (or sub-zone), as described further below. The flight information may relate to final flight instructions for the UAV relative to all restricted flight zones near the UAV. Alternatively or additionally, the flight control module may receive the final flight information from the application processor and implement only the appropriate flight response measures. If the UAV is near (on one side of) the restricted flight area, the flight information may include a flight direction (e.g., direction vector) and a distance. If the UAV is below the restricted flight zone, the flight information may include an upper altitude boundary based on an altitude limit for the restricted flight zone. FIG. 14 illustrates obtaining flight information based on position information, according to an embodiment. As shown on the left side of fig. 4, for a flight restriction area (or sub-area, basic area, etc.), a plurality of direction vectors may be provided as part of the position information. Multiple direction vectors may be processed or added and the resulting vector may be the direction of flight. In some examples, based on the flight direction, a resolver may be made to resolve the instructions to guide the UAV. For example, if an instruction (e.g., a speed instruction) is made to guide the UAV that indicates a direction toward the restricted flight zone and that has a component related to the unrestricted zone, the instruction may be decomposed in a manner that obtains a maximum norm of the component related to the unrestricted zone, while the component directed toward the restricted flight zone may be eliminated, e.g., as described below with reference to fig. 5 and 15.
The application processing module and the flight control module may include different processing modules configured to manage different operational aspects of the aircraft. Providing different processing modules may enable efficient use of resources on the UAV, as the application processing module may act as a module of the UAV that processes large amounts of data, while the flight control module may ensure optimal operation (e.g., stable operation) of the UAV by processing some data (e.g., some data received from the application processing module) in real-time, if necessary or beneficial.
For example, an application processing module may process applications or tasks that require a large amount of processing power. The flight control module may process information from the sensors in order to maintain stable flight of the UAV, and may affect direct and/or passive automatic flight, for example, by instructing the ESC controller to affect motion of one or more propulsion units.
Different processing modules may include different processing capabilities, e.g., as necessary by their different functions. Processing power, as used herein, may be measured by the clock speed and/or floating point operations per second that different processing modules are capable of achieving. In some examples, the processing power of the application processing module may be equal to or about 10%, 15%, 20%, 25%, 40%, 60%, 80%, 100%, 125%, 150%, 175%, 200%, 250%, 300% or more greater than the processing power of the flight control module.
In some instances, the application processing module may obtain the location of the UAV, e.g., via a GPS coupled to the module. The application processing module may further process (e.g., calculate) a relationship between the UAV and a restricted flight zone (e.g., restricted flight area or sub-zone). In some examples, the application processing module may process location information relative to a restricted flight area of the UAV. Optionally, the application processing module may process position information relative to a sub-region (of the restricted flight zone) of the UAV. Although primarily described herein with respect to limiting the location information of the flight zone, it should be understood that any location information described with respect to limiting the flight zone is equally applicable to limiting the sub-region of the flight zone. Alternatively, because the sub-regions may be simplified, the position information relative to a given sub-region may be more simplified and/or may include less data or information than the position information relative to the restricted flight region. The location information may include information about the identity of the restricted flight zone or sub-zone. The location information may include information about how many restricted flight areas or sub-areas are near or around the UAV. In some examples, the location information may include a distance between the UAV and the restricted flight area or sub-area. The distance may be the shortest distance in the horizontal direction between the UAV and one edge of the restricted flight area or sub-area to the side of the UAV. The distance may be negative or invalid if the UAV is inside a restricted flight zone. Optionally, the distance may not be utilized to enable flight of the UAV when the UAV is below a restricted flight area or sub-area. Alternatively or additionally, the distance may be the shortest distance in the vertical direction between the UAV and an upper or lower flight boundary of a restricted flight area or sub-area above or below the UAV. The distance may be negative or invalid if the UAV is on one side of the restricted flight area or sub-area in the horizontal direction.
Alternatively or additionally, the location information may comprise a direction vector. Fig. 13 illustrates an example of direction vectors generated for the restricted flight zone 1301, according to an embodiment. Each arrow shown in the figures may represent a direction vector. To determine a line, a line may be drawn from the position of the UAV to each edge (e.g., side) of the restricted flight area (represented by the polygon in fig. 13). Lines may also be drawn from the position of the UAV to the vertices that limit the flight area. The length of each line can then be calculated. The shortest of the calculated lines may then be determined. If the shortest line is to one side, the direction vector may point from that side to the UAV. If the shortest line is to the vertex, the direction vector may point from the vertex to the UAV. The directional vector of the UAV relative to the restricted flight area or sub-area may include a unit vector extending horizontally from the restricted flight area or sub-area to the UAV on a side of the UAV. For example, the direction vector (e.g., arrow) shown in fig. 13 may represent a direction vector. In fig. 13, the UAV may be outside the restricted flight zone when the directional vector points outward from the restricted flight zone 1301. The direction of the directional vector may be reversed (e.g., directed inward) if the UAV is within a restricted flight area. Alternatively, when the UAV is below a restricted flight area or sub-area, the UAV's flight may not be achieved with a directional vector, or the directional vector may be null. Alternatively or additionally, the location information may include a plurality of directional vectors (or distances) of the UAV relative to a plurality of restricted flight areas or sub-areas.
The location information may also include whether the UAV is below a restricted flight zone having an altitude limit (e.g., an altitude upper or lower boundary). Alternatively or additionally, the location information may include an altitude at which the UAV is allowed to fly based on current coordinates of the UAV. For example, if the UAV is within a restricted flight area having altitude bounds, the altitude may represent an altitude that the UAV may currently reach, and may be valid when the UAV flies below that altitude. In some examples, the flight controller may be configured to determine whether to handle a distance or direction vector to a restricted flight zone located to one side (e.g., horizontally) relative to the UAV, or to handle altitude limitations experienced by the UAV based on whether the UAV is below the restricted flight zone with altitude limitations. Thus, for a given restricted flight zone (or sub-zone), only the direction vector and distance or altitude restrictions can be determined. Optionally, the location information described herein may be processed for each restricted flight area or sub-area located near (e.g., on one side or above, enclosed, etc.) the UAV.
In some examples, the application processing module may send location information (e.g., a relationship of the UAV to the restricted flight area) to the flight control module. As used herein, position information received by a flight control module may refer to the position information described above and/or further processed position information (e.g., flight information). The flight control module may utilize the location information to affect the flight of the UAV. The flight control module may further process the position information relative to two dimensions (e.g., horizontal and vertical) to affect the flight of the UAV. The flight control module may process the location information and determine that limiting the flight area may support the altitude of the UAV. In some examples, the received location information (e.g., whether or not further processed by the flight controller) may prevent the UAV from entering the restricted flight area. In some examples, the received location information may force the UAV to land when the UAV is not within a predetermined distance from an outer edge of the restricted flight area or sub-area. In some examples, the received location information may force the UAV to leave a restricted flight area or sub-area when the UAV is within the area. For example, the received location information may force the UAV to land when the UAV does not leave the restricted flight area or sub-area within a predetermined period of time. In some examples, the received location information may provide a warning to a user of the UAV to land the UAV when the UAV is within the restricted flight area or sub-area. The application processor and/or flight controller may be located on the UAV. Alternatively, the application processor and/or flight controller may be located outside the UAV.
Fig. 4 shows a
The location information may include an identity (id) of the restricted flight zone. Each restricted flight zone may have a unique id. For example, restricted
With the above-described position information, the flight control module may affect the operation of the UAV in order to prevent the UAV from flying into the restricted flight area and/or to prevent the UAV from flying within the restricted flight area. In some instances, the UAV may be prevented from flying into the restricted flight area by constraining the speed of the UAV (e.g., in a horizontal direction and/or a vertical direction). In some examples, a buffer may be provided in an area near or between the restricted flight area and the UAV such that at the buffer, the UAV is not allowed to continue in a direction toward the restricted flight area. Alternatively, the UAV may be forced to gradually slow down while flying within the buffer and towards the restricted flight zone.
In some examples, the UAV may be located within a restricted flight area. For example, a UAV may fly without GPS signals and may suddenly acquire GPS signals (e.g., when reaching a certain altitude). As another example, a UAV may fly in an indoor environment (e.g., with poor GPS signals) and to an outdoor area that is a restricted flight zone. Thus, the UAV may find itself located within the restricted flight area. In such an example, the UAV may be stopped from flying within the restricted flight area. In some instances, the UAV may stop flying within the restricted flight area immediately, and may be forced to land. Alternatively, the UAV may be given a predetermined period of time to land and/or move out of the restricted flight zone. The predetermined period of time may be equal to or less than about 3 seconds, 5 seconds, 10 seconds, 15 seconds, 20 seconds, 25 seconds, 30 seconds, 35 seconds, 40 seconds, 45 seconds, 50 seconds, 55 seconds, or 60 seconds. Alternatively, the UAV may be forced to land if the distance between the UAV and the outer edge of the restricted flight zone is greater than a predetermined value. In some examples, the predetermined value may be equal to or less than about 5, 10, 15, 20, 25, 30, 35, 40, 45, 50, 55, 60, 65, 70, 75, 80, 85, 90, 95, or 100 meters. Alternatively, if the UAV finds itself located within the restricted flight zone, the UAV may implement flight response measures that restrict the flight zone immediately or after a given period of time.
Fig. 5 illustrates the behavior of a
Figure 15 illustrates other various UAV behaviors in the vicinity of the restricted flight zone, according to embodiments. In
FIG. 6 illustrates a method for managing a restricted flight zone of an unmanned aerial vehicle, according to an embodiment. The method may comprise a
In some examples,
In some examples, the restricted flight zone may include a combination of sub-zones. The combination of different restricted flight zones may include a basic portion that is polygonal, circular or elliptical in shape. Alternatively, the combination of different restricted flight zones may include different flight restriction heights. Alternatively or additionally, the combination of different restricted flight zones (or sub-zones) may overlap.
In some instances, a system for implementing the
FIG. 7 illustrates a
In some instances, information regarding the simplified restricted flight zone may not be directly utilized to affect the behavior of the UAV. For example, if the UAV is located within an area encompassed by the simplified representation of the restricted flight zone but outside the actual restricted flight zone, the behavior of the UAV will not be affected. Thus, the simplified representation of the restricted flight zone may be used for other purposes, for example, other purposes besides affecting the behavior of the UAV. For example, the simplified representation may allow for a fast search for nearby restricted flight zones without having to process parameters related to the actual restricted flight zone (which may require large processing resources and/or may require large data storage requirements).
In some instances, a system for implementing the
Fig. 8 illustrates a
In some instances, a system for implementing the
Fig. 9 provides a
Alternatively, applying for flight in the restricted flight zone may include applying for an allowed flight time. The allowed time of flight may be temporary or indefinite. For example, the allowed time of flight may be about or less than 1 minute, 2 minutes, 5 minutes, 10 minutes, 15 minutes, 30 minutes, 60 minutes, 120 minutes, 180 minutes, 6 hours, 12 hours, 1 day, 1 week, 1 month, or indefinitely. Applying for flight in the restricted flight zone may include applying for an allowed flight zone. The allowed flight area may be defined by a three-dimensional shape. The allowed flight zone may be equal to the entire restricted flight zone. The allowed flight zone may be a subset of the restricted flight zone (e.g., less than the restricted flight zone). For example, the area within the restricted flight zone may be defined according to how the complex restricted flight zone is partitioned (e.g., by an application processor of the UAV). For example, the restricted flight zone may be partitioned based on altitude, etc., substantially as described herein.
Alternatively, applying for flight in the restricted flight zone may include applying for allowable flight response measures. For example, when within a restricted flight zone, the UAV operator may suggest allowable flight measures to comply with. The allowable flight response measure may be selected from a list of flight response measures. The allowable flight response measures may be automatically selected by means of one or more processors without user input. In some instances, some user input may be provided, but the one or more processors may ultimately determine the flight response measure. For example, when in a restricted flight area, the UAV operator may propose flying above a certain altitude (height). For example, the UAV operator may propose to turn off sensors on the UAV while in a restricted flight zone.
In
Optionally, the approval area and the approval time may be determined by means of one or more processors. For example, the one or more processors may determine that the approved area is equal to the allowed flight area (via a user terminal application or a flight area provided by a third party). For example, if there is no approved area requested or provided by a third party, the one or more processors may determine an approved area (e.g., determine approved areas from a predetermined list according to a preset configuration, according to conditions, etc.). The approval area may be defined by a three-dimensional shape. The approved area may be a sub-interval of the restricted flight area (e.g., less than the restricted flight area). For example, the one or more processors may determine that the approval time is equal to the allowed flight time (via a user terminal application or a flight zone provided by a third party). For example, if there is no approval time applied or provided by a third party, the one or more processors may determine the approval time (e.g., determine the approval time from a predetermined list according to a preset configuration, according to conditions, etc.). The approved time may be about or less than 1 minute, 2 minutes, 5 minutes, 10 minutes, 15 minutes, 30 minutes, 60 minutes, 120 minutes, 180 minutes, 6 hours, 12 hours, 1 day, 1 week, 1 month, or indefinite. Optionally, once the restricted flight zone is approved, a database (e.g., a local database of UAVs located on a server, etc.) may be updated to update the zone information about the restricted flight zone.
In
Fig. 12 illustrates a method for partitioning a restricted flight zone of an Unmanned Aerial Vehicle (UAV), according to an embodiment. In
In
Optionally, the
In some instances, a system for implementing the
The systems, devices, and methods described herein may be applied to a variety of movable objects. As previously mentioned, any description herein of an aircraft may apply and be used for any movable object. The movable object of the present invention may be configured to move in any suitable environment, such as in the air (e.g., a fixed wing aircraft, a rotary wing aircraft, or an aircraft without fixed wings or rotary wings); in water (e.g., ships or submarines); on the ground (e.g., automobiles such as cars, trucks, buses, vans, motorcycles; movable structures or frames such as rods, fishing poles; or trains); under the ground (e.g., subway); in space (e.g., a space ship, satellite, or probe), or any combination of these environments. The movable object may be a vehicle, such as the vehicles described elsewhere herein. In some embodiments, the movable object may be mounted on a living body such as a human or animal. Suitable animals may include avians, canines, felines, equines, bovines, ovines, porcines, dolphins, rodents, or insects.
The movable object may be free to move within the environment with respect to six degrees of freedom (e.g., three translational degrees of freedom and three rotational degrees of freedom). Alternatively, the movement of the movable object may be limited with respect to one or more degrees of freedom (e.g., through a predetermined path, trajectory, or orientation). The movement may be driven by any suitable actuating mechanism, such as a motor or an electric motor. The actuating mechanism of the movable object may be powered by any suitable energy source (e.g., electrical, magnetic, solar, wind, gravitational, chemical, nuclear, or any suitable combination thereof). The movable object may be self-propelled via a propulsion system, as described elsewhere herein. The propulsion system may optionally operate on an energy source (e.g., electrical, magnetic, solar, wind, gravitational, chemical, nuclear, or any suitable combination thereof). Alternatively, the movable object may be carried by a living being.
In some examples, the movable object may be a vehicle. Suitable vehicles may include water vehicles, aircraft, spacecraft, or ground vehicles. For example, the aircraft may be a fixed wing aircraft (e.g., airplane, glider), a rotary wing aircraft (e.g., helicopter, rotorcraft), an aircraft having both fixed wings and rotary wings, or an aircraft without both fixed wings and rotary wings (e.g., airship, hot air balloon). The vehicle may be self-propelled, for example through the air, over or in water, in space, or on or under the ground. The self-propelled vehicle may utilize a propulsion system, such as a propulsion system including one or more engines, motors, wheels, shafts, magnets, rotors, propellers, blades, nozzles, or any suitable combination thereof. In some instances, the propulsion system may be used to take off the movable object from the surface, land on the surface, maintain its current position and/or orientation (e.g., hover), change orientation, and/or change position.
The movable object may be controlled remotely by a user or locally by an occupant within or on the movable object. In some embodiments, the movable object is an unmanned movable object such as UA V. An unmanned movable object, such as a UAV, may have no occupants on the movable object. The movable object may be controlled by a person or an autonomous control system (e.g., a computer control system), or any suitable combination thereof. The movable object may be an autonomous or 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 of a size and/or dimension to accommodate a human occupant within or on the vehicle. Alternatively, the size and/or dimensions of the moveable object may be smaller than the size and/or dimensions capable of accommodating a human occupant within or on the vehicle. The movable object may be of a size and/or dimension suitable for being lifted or carried by a person. Alternatively, the movable object may be larger than a size and/or dimension suitable for being lifted or carried by a person. In some examples, the movable object may have a maximum dimension (e.g., length, width, height, diameter, diagonal) that is less than or equal to about: 2cm, 5cm, 10cm, 50cm, 1m, 2m, 5m or 10 m. The maximum dimension may be greater than or equal to about: 2cm, 5cm, 10cm, 50cm, 1m, 2m, 5m or 10 m. For example, the distance between the axes of the opposing rotors of the movable object may be less than or equal to about: 2cm, 5cm, 10cm, 50cm, 1m, 2m, 5m or 10 m. Alternatively, the distance between the shafts of the opposing rotors may be greater than or equal to about: 2cm, 5cm, 10cm, 50cm, 1m, 2m, 5m or 10 m.
In some embodiments, the volume of the movable object may be less than 100cm by 100cm, less than 50cm by 30cm, or less than 5cm by 3 cm. The total volume of the movable object may be less than or equal to about: 1cm3、2cm3、5cm3、10cm3、20cm3、30cm3、40cm3、50cm3、60cm3、70cm3、80cm3、90cm3、100cm3、150cm3、200cm3、300cm3、500cm3、750cm3、1000cm3、5000cm3、10,000cm3、100,000cm3、1m3Or 10m3. Conversely, the total volume of the movable object may be greater than or equal to about: 1cm3、2cm3、5cm3、10cm3、20cm3、30cm3、40cm3、50cm3、60cm3、70cm3、80cm3、90cm3、10()cm3、150cm3、200cm3、30()cm3、500cm3、750cm3、1000cm3、5000cm3、10,000cm3、100,000cm3、1m3Or 10m3。
In some embodiments, the movable object may have a footprint (which may refer to a lateral cross-sectional area enclosed by the movable object) that is less than or equal to about: 32,000cm2、20,000cm2、10,000cm2、1,000cm2、500cm2、100cm2、50cm2、10cm2Or 5cm2. Conversely, the footprint may be greater than or equal to about: 32,000cm2、20,000cm2、10,000cm2、1,000cm2、500cm2、100cm2、50cm2、10cm2Or 5cm2。
In some examples, the weight of the movable object may not exceed 1000 kg. The weight of the movable object may be less than or equal to about: 1000kg, 750kg, 500kg, 200kg, 150kg, 100kg, 80kg, 70kg, 60kg, 50kg, 45kg, 40kg, 35kg, 30kg, 25kg, 20kg, 15kg, 12kg, 10kg, 9kg, 8kg, 7kg, 6kg, 5kg, 4kg, 3kg, 2kg, 1kg, 0.5kg, 0.1kg, 0.05kg, or 0.01 kg. Conversely, the weight may be greater than or equal to about: 1000kg, 750kg, 500kg, 200kg, 150kg, 100kg, 80kg, 70kg, 60kg, 50kg, 45kg, 40kg, 35kg, 30kg, 25kg, 20kg, 15kg, 12kg, 10kg, 9kg, 8kg, 7kg, 6kg, 5kg, 4kg, 3kg, 2kg, 1kg, 0.5kg, 0.1kg, 0.05kg, or 0.01 kg.
In some embodiments, the movable object may be small relative to the load carried by the movable object. The payload may include a payload and/or a carrier, as described in further detail below. In some examples, the ratio of the movable object weight to the load weight may be greater than, less than, or equal to about 1: 1. In some examples, the ratio of the weight of the movable object to the weight of the load may be greater than, less than, or equal to about 1: 1. Alternatively, the ratio of carrier weight to load weight can be greater than, less than, or equal to about 1: 1. When desired, the ratio of the weight of the movable object to the weight of the load may be less than or equal to: 1: 2, 1: 3, 1: 4, 1: 5, 1: 10, or even less. Conversely, the ratio of the weight of the movable object to the weight of the load may also be greater than or equal to: 2: 1, 3: 1, 4: 1, 5: 1, 10: 1, or even greater.
In some embodiments, the movable object may have low energy consumption. For example, the movable object may use less than about: 5W/h, 4W/h, 3W/h, 2W/h, 1W/h or less. In some instances, the carrier of the movable object may have low energy consumption. For example, the carrier may use less than about: 5W/h, 4W/h, 3W/h, 2W/h, 1W/h or less. Alternatively, the payload of the movable object may have a low energy consumption, for example less than about: 5W/h, 4W/h, 3W/h, 2W/h, 1W/h or less.
Fig. 10 shows an Unmanned Aerial Vehicle (UAV)1000 in accordance with an embodiment. UAVs may be examples of movable objects as described herein to which the methods and apparatus of discharging a battery assembly may be applied.
Fig. 11 is a schematic illustration, with the aid of a block diagram, of a
The
The
In some embodiments, the
The
The components of
As used herein, a and/or B includes one or more of a or B and combinations thereof (e.g., a and B). It will be understood that, although the terms first, second, third, etc. may be used herein to describe various elements, components, regions and/or sections, these elements, components, regions and/or sections should not be limited by these terms. These terms are only used to distinguish one element, component, region or section from another element, component, region or section. Thus, a first element, component, region or section discussed below could be termed a second element, component, region or section without departing from the teachings of the present invention.
The terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. As used herein, the singular forms "a", "an" and "the" are intended to include the plural forms as well, unless the context clearly indicates otherwise. It will be further understood that the terms "comprises" and/or "comprising," or "includes" and/or "including," when used in this specification, specify the presence of stated features, regions, integers, steps, operations, elements, and/or components, but do not preclude the presence or addition of one or more other features, regions, integers, steps, operations, elements, components, and/or groups thereof.
Furthermore, relative terms, such as "lower" or "bottom" and "upper" or "top," may be used herein to describe one element's relationship to another element as illustrated. It will be understood that relative terms are intended to encompass different orientations of the elements in addition to the orientation depicted in the figures. For example, if an element in one of the figures is turned over, elements described as being on the "lower" side of other elements would then be oriented on "upper" sides of the other elements. Thus, the exemplary term "lower" can encompass an orientation of "lower" and "upper," depending on the particular orientation of the figure. Similarly, if an element in one of the figures is turned over, elements described as being "below" or "under" other elements would then be oriented "above" the other elements. Thus, exemplary terms of "down" or "beneath" may encompass both an up-down orientation.
While preferred embodiments of the present invention have been shown and described herein, it will be obvious to those skilled in the art that such embodiments are provided by way of example only. Numerous variations, changes, and alternatives 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 may be employed in practicing the invention. Many different combinations of the embodiments described herein are possible and such combinations are considered part of the present disclosure. Furthermore, all features discussed in connection with any one embodiment herein may be readily adapted for use with other embodiments herein. It is intended that the following claims define the scope of the invention and that methods and structures within the scope of these claims and their equivalents be covered thereby.