Unmanned aerial vehicle modular command priority determination and filtering system
원문보기
IPC분류정보
국가/구분
United States(US) Patent
등록
국제특허분류(IPC7판)
G05D-001/00
G08G-005/00
B64C-039/02
출원번호
US-0132106
(2016-04-18)
등록번호
US-9658619
(2017-05-23)
발명자
/ 주소
Bethke, Brett Michael
Michini, Bernard J.
Lovegren, Jonathan Anders
Bouffard, Patrick Michael
출원인 / 주소
UNMANNED INNOVATION, INC.
대리인 / 주소
Knobbe Martens Olson & Bear LLP
인용정보
피인용 횟수 :
7인용 특허 :
13
초록▼
Methods, systems, and apparatus, including computer programs encoded on computer storage media, for unmanned aerial vehicle modular command priority determination and filtering system. One of the methods includes enabling control of the UAV by a first control source that provides modular commands to
Methods, systems, and apparatus, including computer programs encoded on computer storage media, for unmanned aerial vehicle modular command priority determination and filtering system. One of the methods includes enabling control of the UAV by a first control source that provides modular commands to the UAV, each modular command being a command associated with performance of one or more actions by the UAV. Modular commands from a second control source requesting control of the UAV are received. The second control source is determined to be in control of the UAV based on priority information associated with each control source. Control of the UAV is enabled by the second control source, and modular commands are implemented.
대표청구항▼
1. A method implemented by an unmanned aerial vehicle (UAV) comprising one or more processors, the method comprising: receiving, by a source determination system and from a first control source that provides modular commands to the UAV, one or more first modular commands, the first modular commands
1. A method implemented by an unmanned aerial vehicle (UAV) comprising one or more processors, the method comprising: receiving, by a source determination system and from a first control source that provides modular commands to the UAV, one or more first modular commands, the first modular commands associated with performance of one or more actions by the UAV;receiving, by the source determination system and from a second control source that provides modular commands to the UAV, one or more second modular commands, the second modular commands associated with performance of one or more actions by the UAV;maintaining, by the source determination system, the first modular commands and second modular commands in a queue of modular commands, the queue being in an order based, at least in part, on priority information associated with each control source; andenabling, by the source determination system, control of the UAV by the control sources according to the queue, and implementing modular commands from the queue of modular commands. 2. The method of claim 1, wherein each modular command is validated for the UAV to implement, and wherein the validation is based on configuration information of the UAV. 3. The method of claim 1, wherein the second control source is associated with handling contingencies, and wherein a contingency comprises the UAV exceeding a speed threshold, the UAV traveling outside of a geofence envelope, the UAV having less than a threshold quantity of fuel, or a battery of the UAV being at less than a threshold charge. 4. The method of claim 1, wherein the second control source is a user device in wireless communication with the UAV, and wherein a user of the user device indicates, on the user device, modular commands to directly control the UAV, and wherein the method further comprises: determining, by the UAV, that due to direct control of the UAV, the UAV is experiencing, or about to experience, a contingency, andenabling control of the UAV by a third control source associated with handling the contingency to return the UAV to a safe state. 5. The method of claim 1, further comprising: filtering one or more first modular commands received from the first control source that the first control source is not authorized to provide. 6. The method of claim 5, wherein a threshold number of first modular commands are filtered, and wherein the method further comprises: discarding the first modular commands from the queue, and/orblocking the first control source from being in control of the UAV. 7. The method of claim 1, further comprising: comparing the priority information associated with each control source, and determining that the second control source is associated with a higher priority, wherein the UAV implements the second modular commands from the queue; andsetting a time limit associated with implementing the first modular commands. 8. The method of claim 7, wherein the first modular commands, subsequent to being included in the queue, expire after the time limit. 9. The method of claim 1, wherein the first control source is associated with implementing a flight plan describing a job for the UAV to perform, and wherein the order is further based on state information associated with the UAV, wherein state information indicates location information of the UAV, one or more modular commands being implemented by the UAV, or speeds of the UAV. 10. The method of claim 9, wherein the second control source is associated with a higher priority than the first control source, and wherein the method further comprises: while implementing one or more first modular commands associated with the UAV being at a particular location, receiving the one or more second modular commands and implementing the second modular commands, wherein the second modular commands cause the UAV to navigate to a different location; andreordering the first modular commands in the queue of modular commands based on the state information, wherein first modular commands associated with the different location are ordered ahead of the one or more first modular commands associated with the particular location. 11. The method of claim 9, wherein the second control source is associated with particular functionality, and wherein a third control source that provides third modular commands is associated with functionality similar to the particular functionality, and wherein the method further comprises: grouping the second modular commands and third modular commands together, such that the grouped modular commands remain ordered as a group. 12. The method of claim 11, wherein the second control source is associated with activating one or more sensors while the UAV is at a waypoint identified in the flight plan, and wherein the third control source is associated with activating one or more different sensors while the UAV is at the waypoint. 13. A non-transitory computer storage medium storing instructions, that when executed by an unmanned aerial vehicle (UAV) comprising one or more processors, cause the UAV to perform operations comprising: receiving, by a source determination system and from a first control source that provides modular commands to the UAV, one or more first modular commands the first modular being a commands associated with performance of one or more actions by the UAV;receiving, by the source determination system and from a second control source that provides modular commands to the UAV, one or more second modular commands, the second modular commands associated with performance of one or more actions by the UAV;maintaining, by the source determination system, the first modular commands and second modular commands in a queue of modular commands, the queue being in an order based, at least in part, on priority information associated with each control source; andenabling, by the source determination system, control of the UAV by the control sources according to the queue, and implementing modular commands from the queue of modular commands. 14. The computer storage medium of claim 13, wherein each modular command is validated for the UAV to implement, and wherein the validation is based on configuration information of the UAV. 15. The computer storage medium of claim 13, wherein the second control source is associated with handling contingencies, and wherein a contingency comprises the UAV exceeding a speed threshold, the UAV traveling outside of a geofence envelope, the UAV having less than a threshold quantity of fuel, or a battery of the UAV being at less than a threshold charge. 16. The computer storage medium of claim 13, wherein the second control source is a user device in wireless communication with the UAV, and wherein a user of the user device indicates, on the user device, modular commands to directly control the UAV, and wherein the operations further comprise: determining, by the UAV, that due to direct control of the UAV, the UAV is experiencing, or about to experience, a contingency, andenabling control of the UAV by a third control source associated with handling the contingency to return the UAV to a safe state. 17. The computer storage medium of claim 13, wherein the operations further comprise: filtering one or more first modular commands received from the first control source that the first control source is not authorized to provide. 18. The computer storage medium of claim 17, wherein a threshold number of first modular commands are filtered, and wherein the operations further comprises: discarding the first modular commands from the queue, and/orblocking the first control source from being in control of the UAV. 19. The computer storage medium of claim 13, wherein the operations further comprise: comparing the priority information associated with each control source, and determining that the second control source is associated with a higher priority, wherein the UAV implements the second modular commands from the queue; andsetting a time limit associated with implementation of the first modular commands, wherein each first modular command expires subsequent to the time limit. 20. The computer storage medium of claim 13, wherein the first control source is associated with implementing a flight plan describing a job for the UAV to perform, and wherein the order is further based on state information associated with the UAV, wherein state information indicates location information of the UAV, one or more modular commands being implemented by the UAV, or speeds of the UAV. 21. The computer storage medium of claim 20, wherein the first control source is associated with implementing a flight plan describing a job for the UAV to perform wherein the second control source is associated with a higher priority than the first control source, and wherein the operations further comprise: while implementing one or more first modular commands associated with the UAV being at a particular location, receiving the one or more second modular commands and implementing the second modular commands, wherein the second modular commands cause the UAV to navigate to a different location; andreordering the first modular commands in the queue of modular commands based on the state information, wherein first modular commands associated with the different location are ordered ahead of the one or more first modular commands associated with the particular location. 22. An unmanned aerial vehicle (UAV) system comprising one or more processors and one or more computer storage media storing instructions, that when executed by the one or more processors, cause the one or more processors to perform operations comprising: receiving, by a source determination system and from a first control source that provides modular commands to the UAV, one or more first modular commands, the first modular commands associated with performance of one or more actions by the UAV;receiving, by the source determination system and from a second control source that provides modular commands to the UAV, one or more second modular commands, the second modular commands associated with performance of one or more actions by the UAV;maintaining, by the source determination system, the first modular commands and second modular commands in a queue of modular commands, the queue being in an order based, at least in part, on priority information associated with each control source; andenabling, by the source determination system, control of the UAV by the control sources according to the queue, and implementing modular commands from the queue of modular commands. 23. The system of claim 22, wherein each modular command is validated for the UAV to implement, and wherein the validation is based on configuration information of the UAV. 24. The system of claim 22, wherein the second control source is associated with handling contingencies, and wherein a contingency comprises the UAV exceeding a speed threshold, the UAV traveling outside of a geofence envelope, the UAV having less than a threshold quantity of fuel, or a battery of the UAV being at less than a threshold charge. 25. The system of claim 22, wherein the second control source is a user device in wireless communication with the UAV, and wherein a user of the user device indicates, on the user device, modular commands to directly control the UAV, and wherein the operations further comprise: determining, by the UAV, that due to direct control of the UAV, the UAV is experiencing, or about to experience, a contingency, andenabling control of the UAV by a third control source associated with handling the contingency to return the UAV to a safe state. 26. The system of claim 22, wherein the operations further comprise: filtering one or more first modular commands received from the first control source that the first control source is not authorized to provide. 27. The system of claim 26, wherein a threshold number of first modular commands are filtered, and wherein the operations further comprise: discarding the first modular commands from the queue, and/orblocking the first control source from being in control of the UAV. 28. The system of claim 22, wherein the operations further comprise: comparing the priority information associated with each control source, and determining that the second control source is associated with a higher priority, wherein the UAV implements the second modular commands from the queue; andsetting a time limit associated with implementation of the first modular commands, wherein each first modular command expires subsequent to the time limit. 29. The system of claim 22, wherein the first control source is associated with implementing a flight plan describing a job for the UAV to perform, and wherein the order is further based on state information associated with the UAV, wherein state information indicates location information of the UAV, one or more modular commands being implemented by the UAV, or speeds of the UAV. 30. A method implemented by an unmanned aerial vehicle (UAV) comprising one or more processors, the method comprising: enabling control of the UAV by a first control source that provides modular commands to the UAV, each modular command being a command associated with performance of one or more actions by the UAV, the first control source being an application executing on the UAV that implements a flight plan describing a job for the UAV to perform;receiving, from a second control source requesting control of the UAV, one or more modular commands;determining that the second control source is to be in control of the UAV based, at least in part, on priority information associated with each control source;enabling control of the UAV by the second control source, and implementing the one or more modular commands,wherein the method further comprises: providing, to the first control source, information identifying a loss of control by the first control source, andcausing the first control source to stop providing modular commands;determining that the first control source is to take control of the UAV, and providing information to the first control source indicating that the first control source is to resume providing modular commands; andcausing the first control source to resume providing modular commands to the UAV, wherein prior to the second control source being in control of the UAV, a modular command provided to the UAV by the first control source was associated with actions to travel to an initial waypoint identified in the flight plan, wherein a modular command provided to the UAV by the second control source was associated with actions to handle a determined contingency, and wherein causing the first control source to resume providing modular commands comprises:causing the UAV to be placed in a state in which the first control source can resume control, wherein the state identifies at least, a location of the UAV at which the first control source can resume control, andenabling control of the UAV by the first control source to resume traveling to the initial waypoint.
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이 특허에 인용된 특허 (13)
Duggan, David S.; Felio, David A.; Pate, Billy B.; Longhi, Vince R.; Petersen, Jerry L.; Bergee, Mark J., Autonomous control of unmanned aerial vehicles.
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