Systems and methods for controlling a movable object within an environment are provided. In one aspect, a method may comprise: determining, using at least one of a plurality of sensors carried by the movable object, an initial location of the movable object; generating a first signal to cause the movable object to navigate within the environment; receiving, using the at least one of the plurality of sensors, sensing data pertaining to the environment; generating, based on the sensing data, an environmental map representative of at least a portion of the environment; receiving an instruction to return to the initial location; and generating a second signal to cause the movable object to return to the initial location, based on the environmental map.

Multi-sensor environmental mapping

Systems, methods, and devices are provided for providing flight response to flight-restricted regions. The location of an unmanned aerial vehicle (UAV) may be compared with a location of a flight-restricted region. If needed a flight-response measure may be taken by the UAV to prevent the UAV from flying in a no-fly zone. Different flight-response measures may be taken based on the distance between the UAV and the flight-restricted region and the rules of a jurisdiction within which the UAV falls.

Flight control for flight-restricted regions

The present invention provides methods and apparatus for unmanned aerial vehicles (UAVs) with improved reliability. According to one aspect of the invention, interference experienced by onboard sensors from onboard electrical components is reduced. According to another aspect of the invention, user-configuration or assembly of electrical components is minimized to reduce user errors.

Unmanned aerial vehicle and operations thereof

Methods, systems, and devices are disclosed for providing conditional access for a drone for accessing a restricted area. Conditional access information associated with conditional access restrictions for the restricted area may be received by the drone. The drone may compare the received conditional access information to one or more access parameters for the drone. The drone may access the restricted area based on the comparison of the received conditional access information and the access parameter. A drone may take corrective action when the received conditional access information does not permit access to the restricted area based on the access parameter for the drone.

Systems and methods for restricting drone airspace access

Systems and methods for controlling an unmanned aerial vehicle within an environment are provided. In one aspect, a system comprises one or more sensors carried by the unmanned aerial vehicle and configured to provide sensor data and one or more processors. The one or more processors can be individually or collectively configured to: determine, based on the sensor data, an environment type for the environment; select a flight mode from a plurality of different flight modes based on the environment type, wherein each of the plurality of different flight mode is associated with a different set of operating rules for the unmanned aerial vehicle; and cause the unmanned aerial vehicle to operate within the environment while conforming to the set of operating rules of the selected flight mode.

Context-based flight mode selection

The invention discloses a multi-rotor unmanned aerial vehicle, and relates to the field of flying robots. The multi-rotor unmanned aerial vehicle can grab a relatively heavy target object in the situation that the unmanned aerial vehicle is relatively far from the target object, thereby bringing less interference to the flight of the unmanned aerial vehicle. The multi-rotor unmanned aerial vehiclecomprises an aircraft body, a controller, an image processor, and a telescopic manipulator driven by a single motor wire; a first sleeve of the telescopic manipulator is connected with the aircraft body and is provided with a motor and a first switch sensor; a second sleeve is connected with the first sleeve, the second sleeve is provided with a first magnetic block, and can slide axially in thefirst sleeve; a third sleeve is connected with the second sleeve, the third sleeve is provided with a second magnetic block and can slide axially in the second sleeve; a robotic gripper assembly is connected with the third sleeve through a structure piece and is provided with a second switch sensor, and the robotic gripper assembly can slide axially in the third sleeve; a first rod piece group ofthe robotic gripper assembly is movably connected with the third sleeve, a second rod piece group is movably connected with the structure piece, and a third rod piece group is movably connected with the first rod piece group and the second rod piece group.

Multi-rotor unmanned aerial vehicle

The invention discloses an unmanned aerial vehicle obstacle avoidance controlling method. An unmanned aerial vehicle subsystem and a ground station subsystem are arranged, the unmanned aerial vehicle subsystem comprises an embedded flight controller and an airborne terminal of a wireless data chain, a satellite positioning receiver and a height sensor are arranged in the embedded flight controller, the ground subsystem comprises an embedded monitoring computer and a ground terminal of the wireless data chain, and an electronic map containing geographic information of obstacles is arranged in the embedded monitoring computer. On the electronic map in the embedded monitoring computer of the ground station subsystem, the geographic information of the obstacles in a flight area is determined, virtual obstacle polygonal cylinders are established, shape data of the virtual obstacle polygonal cylinders are downloaded in the embedded flight controller which obtains the current position of the unmanned aerial vehicle and calculates space correlation between the unmanned aerial vehicle and the obstacle polygonal cylinders, track-shifting instruction of the unmanned aerial vehicle is generated, and automatic obstacle avoidance of the unmanned aerial vehicle is realized.

Unmanned aerial vehicle obstacle avoidance controlling method

Multiple obstacle-avoidance control method of unmanned plane used for electric wire inspection

The invention discloses a transmission line inspection system based on a multi-rotor unmanned aircraft, which comprises the multi-rotor unmanned aircraft and a ground support system, wherein the multi-rotor unmanned aircraft comprises an aircraft body, an airborne flight control system, an airborne task system and an airborne power supply for supplying power to all the electronic devices; the aircraft body comprises a body, an undercarriage fixedly connected below the body, and a plurality of rotor components which are symmetrically distributed on the periphery of the body; the airborne flight control system comprises a flight navigation and control part, a transmission line anti-collision warning and control part, and an airborne end used for remotely controlling a telemetry data chain; the airborne task system comprises a damping nacelle, an image acquiring device arranged on the damping nacelle, and the airborne end for a wireless image transmission chain; and the ground support system comprises a ground end for remotely controlling the telemetry data chain, a flight monitoring system, the ground end for a wireless image transmission chain, and an image monitoring system. The transmission line inspection system has a reasonable structure, is easily realized, and has high engineering application value.

Transmission line inspection system based on multi-rotor unmanned aircraft

The invention discloses a four-rotor aircraft fault-tolerant control method and belongs to the field of aerocraft control. According to the method, first, based on a mathematical model of an aircraft, an attitude model under the condition of system faults of the aircraft is established; then, according to the attitude model, an adaptive law of fault estimation of an aircraft system is brought out, and a transfer function of loss of actuator effectiveness of the aircraft is also established; an adaptive law of fault estimation of loss of actuator effectiveness is put forward based on the loss of actuator effectiveness; and at last, based on the fault estimation of the system and the fault estimation of loss of actuator effectiveness, a fault-tolerant controller of an aircraft attitude system is designed. Thus, fault-tolerant control of four-rotor aircrafts is realized. By means of the method, probability of air crashes of four-rotor aircrafts is remarkably reduced, and flying reliability and safety of aircrafts are improved.

Liang Kun

Papers

Multi-rotor unmanned aerial vehicle

Unmanned aerial vehicle obstacle avoidance controlling method

Multiple obstacle-avoidance control method of unmanned plane used for electric wire inspection

Transmission line inspection system based on multi-rotor unmanned aircraft

Four-rotor aircraft fault-tolerant control method