U.S. patent application number 17/461448 was filed with the patent office on 2021-12-16 for verification method and apparatus.
The applicant listed for this patent is SZ DJI TECHNOLOGY CO., LTD.. Invention is credited to Renli SHI, Yun YU, Guofang ZHANG.
Application Number | 20210387725 17/461448 |
Document ID | / |
Family ID | 1000005811449 |
Filed Date | 2021-12-16 |
United States Patent
Application |
20210387725 |
Kind Code |
A1 |
ZHANG; Guofang ; et
al. |
December 16, 2021 |
VERIFICATION METHOD AND APPARATUS
Abstract
A method includes performing a flight suitability verification
on an unmanned aerial vehicle (UAV) system, determining a handling
measure of the UAV system according to a verification result, and
controlling the UAV system to follow the handling measure to
satisfy safety requirements and obtain safe operations of the UAV.
The UAV system includes a UAV and a ground station. The flight
suitability verification is performed on at least one of a
plurality of verification items. The verification items includes an
operator-independent setting of the UAV system and an
operator-independent setting of data associated with safe
operations.
Inventors: |
ZHANG; Guofang; (Shenzhen,
CN) ; YU; Yun; (Shenzhen, CN) ; SHI;
Renli; (Shenzhen, CN) |
|
Applicant: |
Name |
City |
State |
Country |
Type |
SZ DJI TECHNOLOGY CO., LTD. |
Shenzhen |
|
CN |
|
|
Family ID: |
1000005811449 |
Appl. No.: |
17/461448 |
Filed: |
August 30, 2021 |
Related U.S. Patent Documents
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Application
Number |
Filing Date |
Patent Number |
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16241149 |
Jan 7, 2019 |
11104435 |
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17461448 |
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PCT/CN2016/088561 |
Jul 5, 2016 |
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16241149 |
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Current U.S.
Class: |
1/1 |
Current CPC
Class: |
G06F 8/65 20130101; H04L
63/12 20130101; H04L 63/123 20130101; G08G 5/0013 20130101; G08G
5/006 20130101; G06F 21/00 20130101; B64C 39/024 20130101; H04L
63/302 20130101; G08G 5/0069 20130101; G07C 5/008 20130101 |
International
Class: |
B64C 39/02 20060101
B64C039/02; G08G 5/00 20060101 G08G005/00; G06F 21/00 20060101
G06F021/00; H04L 29/06 20060101 H04L029/06; G06F 8/65 20060101
G06F008/65 |
Claims
1. A method comprising: performing a flight suitability
verification on an unmanned aerial vehicle (UAV) system including a
UAV and a ground station, the flight suitability verification being
performed on at least one of a plurality of verification items, and
the verification items including an operator-independent setting of
the UAV system and an operator-independent setting of data
associated with safe operations; determining a handling measure of
the UAV system according to a verification result; and controlling
the UAV system to follow the handling measure to satisfy safety
requirements and obtain safe operations of the UAV.
2. The method of claim 1, wherein the flight suitability
verification is performed on the plurality of verification
items.
3. The method of claim 2, wherein at least two of the plurality of
verification items correspond to different handling measures.
4. The method of claim 1, wherein performing the flight suitability
verification includes performing a periodic flight suitability
verification on the UAV system.
5. The method of claim 1, wherein performing the flight suitability
verification includes performing the flight suitability
verification on the UAV system based on: a latest verification
time, and at least one of real-time time information or real-time
position information, the at least one of real-time time
information or real-time position information being captured via a
sensor.
6. The method of claim 5, wherein performing the flight suitability
verification includes: obtaining the real-time time information of
the UAV system; comparing the real-time time information with the
latest verification time; and performing the flight suitability
verification on the UAV system in response to a difference between
the real-time time information and the latest verification time
being longer than a preset time interval.
7. The method of claim 6, wherein performing the flight suitability
verification on the UAV system in response to the difference
between the real-time time information and the latest verification
time being longer than the preset time interval includes:
allocating a first preset time interval for one of the verification
items, and performing the flight suitability verification on the
one of the verification items in response to a difference between
the real-time time information and a latest verification time of
the one of the verification items being longer than the first
preset time interval; or allocating a second preset time interval
for two or more of the verification items, and performing the
flight suitability verification on the two or more of the
verification items in response to a difference between the
real-time time information and a latest verification time of the
two or more of the verification items being longer than the second
preset time interval.
8. The method of claim 5, wherein performing the flight suitability
verification includes: obtaining the real-time time information and
the real-time position information of the UAV system; obtaining a
time interval between the real-time time information and the latest
verification time; determining a verification-needed item from the
verification items based on the time interval and the real-time
position information; and performing the flight suitability
verification on the verification-needed item.
9. The method of claim 1, wherein the operator-independent setting
of the UAV system includes at least one of a UAV firmware version,
a ground station firmware version, a remote controller firmware
version, or a UAV operation parameter setting.
10. The method of claim 1, wherein: the operator-independent
setting of the data associated with safe operations includes a
setting of at least one of a long-term flight restriction database,
a temporary flight restriction database, a navigation database, or
a flight management database; or the at least one of the
verification items further includes at least one of a UAV
configuration, a UAV model, whether the UAV system is in a system
blacklist, or whether a UAV operator is in an operator
blacklist.
11. The method of claim 1, further comprising: determining a
redundancy verification item of the UAV and the ground station
according to the verification items; and comparing a latest
verification time of the redundancy verification item corresponding
to the UAV with a latest verification time of the redundancy
verification item corresponding to the ground station to determine
a latest verification result of the redundancy verification
item.
12. The method of claim 1, wherein: determining the handling
measure of the UAV system according to the verification result
includes performing at least one of a flight restriction, a flight
prohibition, a warning, a mandatory firmware upgrade, a mandatory
database upgrade, a mandatory hardware upgrade, an operator
restriction, a user type restriction, or a mandatory return to
factory to the UAV system.
13. The method of claim 1, further comprising: notifying, according
to the verification result, an operator of whether a current UAV
system status is suitable for flight through at least one of a
status indicator light, a sound, a voice, a touch, or a user
warning and indication circuit in the ground station.
14. A system comprising: a processor; and a memory storing
instructions that, when executed by the processor, cause the
processor to: perform a flight suitability verification on an
unmanned aerial vehicle (UAV) system including a UAV and a ground
station, the flight suitability verification being performed on at
least one of a plurality of verification items, and the
verification items including an operator-independent setting of the
UAV system and an operator-independent setting of data associated
with safe operations; determine a handling measure of the UAV
system according to a verification result; and cause the UAV system
to follow the handling measure to satisfy safety requirements and
obtain safe operations of the UAV.
15. The system of claim 14, wherein the flight suitability
verification is performed on the plurality of verification
items.
16. The system of claim 15, wherein at least two of the plurality
of verification items correspond to different handling
measures.
17. The system of claim 14, wherein the instructions further cause
the processor to perform the flight suitability verification on the
UAV system based on: a latest verification time, and at least one
of real-time time information or real-time position information,
the at least one of real-time time information or real-time
position information being captured via a sensor.
18. The system of claim 18, wherein the instructions further cause
the processor to: obtain the real-time time information of the UAV
system; compare the real-time time information with the latest
verification time; and perform the flight suitability verification
on the UAV system in response to a difference between the real-time
time information and the latest verification time being longer than
a preset time interval.
19. The system of claim 18, wherein the instructions further cause
the processor to: obtain the real-time time information and the
real-time position information of the UAV system; obtain a time
interval between the real-time time information and the latest
verification time; determine a verification-needed item from the
verification items based on the time interval and the real-time
position information; and perform the flight suitability
verification on the verification-needed item.
20. An unmanned aerial vehicle (UAV) system comprising: a UAV; a
ground station; and a system arranged at the UAV, the ground
station, or a server, the online verification system including: a
processor; and a memory storing instructions that, when executed by
the processor, cause the processor to: perform a flight suitability
verification on the UAV system, the flight suitability verification
being performed on at least one of a plurality of verification
items, and the verification items including an operator-independent
setting of the UAV system and an operator-independent setting of
data associated with safe operations; determine a handling measure
of the UAV system according to a verification result; and cause the
UAV system to follow the handling measure to satisfy safety
requirements and obtain safe operations of the UAV.
Description
CROSS-REFERENCE TO RELATED APPLICATIONS
[0001] This application is a continuation of application Ser. No.
16/241,149, filed on Jan. 7, 2019, which is a continuation of
International Application No. PCT/CN2016/088561, filed on Jul. 5,
2016, the entire contents of both of which are incorporated herein
by reference.
TECHNICAL FIELD
[0002] The present disclosure relates to the field of verification
and, more particularly, to a verification method and a verification
apparatus.
BACKGROUND
[0003] Because the number of safety incidents or accidents caused
by unmanned aerial vehicles (UAVs) has increased, various countries
have issued relevant UAV management policies and requirements to
regulate operation activities and design activities of UAVs.
However, a plurality of UAV systems cannot satisfy the established
safety requirements and cannot guarantee safe operations at an
acceptable low-risk status.
SUMMARY
[0004] In accordance with the disclosure, there is provided an
online verification method including performing a flight
suitability verification on an unmanned aerial vehicle (UAV) system
and determining a handling measure of the UAV system according to a
verification result. The UAV system includes a UAV and a ground
station. The flight suitability verification is performed on at
least one of a plurality of verification items. The verification
items includes a setting of the UAV system and a setting of data
associated with safe operations.
[0005] Also in accordance with the disclosure, there is provided an
online verification system including a processor and a memory
storing instructions that, when executed by the processor, cause
the processor to perform a flight suitability verification on an
unmanned aerial vehicle (UAV) system and determine a handling
measure of the UAV system according to a verification result. The
UAV system includes a UAV and a ground station. The flight
suitability verification is performed on at least one of a
plurality of verification items. The verification items includes a
setting of the UAV system and a setting of data associated with
safe operations.
[0006] Also in accordance with the disclosure, there is provided an
unmanned aerial vehicle (UAV) system including a UAV, a ground
station, and an online verification system arranged at the UAV, the
ground station, or a server. The online verification system
includes a processor and a memory storing instructions that, when
executed by the processor, cause the processor to perform a flight
suitability verification on an unmanned aerial vehicle (UAV) system
and determine a handling measure of the UAV system according to a
verification result. The UAV system includes a UAV and a ground
station. The flight suitability verification is performed on at
least one of a plurality of verification items. The verification
items includes a setting of the UAV system and a setting of data
associated with safe operations.
BRIEF DESCRIPTION OF THE DRAWINGS
[0007] FIG. 1 is a schematic view of an exemplary movable object
consistent with various disclosed embodiments of the present
disclosure.
[0008] FIG. 2 illustrates a schematic view of verifying flight
suitability consistent with various disclosed embodiments of the
present disclosure.
[0009] FIG. 3 illustrates another schematic view of verifying
flight suitability consistent with various disclosed embodiments of
the present disclosure.
[0010] FIG. 4 is a flow chart of an exemplary flight suitability
verification method consistent with various disclosed embodiments
of the present disclosure.
[0011] FIG. 5 is a block diagram of an exemplary apparatus for
verifying flight suitability consistent with various disclosed
embodiments of the present disclosure.
[0012] FIG. 6 is a block diagram of another exemplary apparatus for
verifying flight suitability consistent with various disclosed
embodiments of the present disclosure.
[0013] FIG. 7 is a block diagram of another exemplary apparatus for
verifying flight suitability consistent with various disclosed
embodiments of the present disclosure.
DETAILED DESCRIPTION OF THE EMBODIMENTS
[0014] Technical solutions of the present disclosure will be
described with reference to the drawings. It will be appreciated
that the described embodiments are some rather than all of the
embodiments of the present disclosure. Other embodiments conceived
by those having ordinary skills in the art on the basis of the
described embodiments without inventive efforts should fall within
the scope of the present disclosure.
[0015] Exemplary embodiments will be described with reference to
the accompanying drawings, in which the same numbers refer to the
same or similar elements unless otherwise specified.
[0016] As used herein, when a first component is referred to as
"fixed to" a second component, it is intended that the first
component may be directly attached to the second component or may
be indirectly attached to the second component via another
component. When a first component is referred to as "connecting" to
a second component, it is intended that the first component may be
directly connected to the second component or may be indirectly
connected to the second component via a third component between
them. The terms "perpendicular," "horizontal," "left," "right," and
similar expressions used herein are merely intended for
description.
[0017] Unless otherwise defined, all the technical and scientific
terms used herein have the same or similar meanings as generally
understood by one of ordinary skill in the art. As described
herein, the terms used in the specification of the present
disclosure are intended to describe exemplary embodiments, instead
of limiting the present disclosure. The term "and/or" used herein
includes any suitable combination of one or more related items
listed.
[0018] Further, in the present disclosure, the disclosed
embodiments and the features of the disclosed embodiments may be
combined when there are no conflicts.
[0019] The present disclosure provides a method and an apparatus
for verification to realize connection of an unmanned aerial
vehicle (UAV) to network and verification of the UAV, thereby
ensuring that the UAV is at an acceptable safety level.
Hereinafter, connecting the UAV to a network and verifying the UAV
is also referred to as an "online verification" of the UAV
system.
[0020] In descriptions of embodiments of the present disclosure, a
UAV is taken as an example of movable object merely for
illustrative purposes. The movable object can include, but is not
limited to, a UAV, while another type of movable object may be
chosen according to various application scenarios.
[0021] FIG. 1 is a schematic view of an exemplary movable object
100 consistent with various disclosed embodiments of the present
disclosure. As shown in FIG. 1, the movable object 100 includes a
supporting body 102 and a load 104. Although the movable object 100
is described as an aerial vehicle, the movable object is not
limited to an aerial vehicle. Various types of movable object may
be chosen according to actual application scenarios. The
embodiments described herein with respect to an aerial vehicle
system can be suitable for any suitable movable object such as a
UAV, where appropriate. In some embodiments, the load 104 may be
attached directly to the movable object 100 without a need for the
supporting body 102. The movable object 100 includes a power
mechanism 106, a sensing system 108, and a communication system
110.
[0022] In some embodiments, the power mechanism 106 may include one
or more rotating bodies, propellers, blades, engines, motors,
wheels, bearings, magnets, and/or nozzles. For example, a rotating
body of the power mechanism may include a self-tightening rotating
body, a rotating body assembly, or another rotating body power
component. The movable object can include one or more power
mechanisms. In some embodiments, the one or more power mechanisms
may be of a same type. In some other embodiments, the one or more
power mechanisms may be of different types. The power mechanism 106
may be attached to the movable object by various suitable means,
e.g., a support component such as a drive shaft. The power
mechanism 106 may be attached to any suitable location of the
movable object 100, such as a top end, a lower end, a front end, a
back end, a side, or any combination thereof.
[0023] In some embodiments, the power mechanism 106 can cause the
movable object to take off vertically from a surface or to land
vertically on the surface without a need for the movable object 100
to make a horizontal movement, e.g., without a need to slide on a
track. In some embodiments, the power mechanism 106 may cause the
movable object 100 to hover in a preset position and/or a preset
direction in the air. One or more power mechanisms 100 may be
independent of other power mechanisms when being controlled. In
some embodiments, one or more power mechanisms 100 can be
controlled at a same time. For example, the movable object 100 may
have a plurality of horizontally oriented rotating bodies to track
lifting and/or pushing of a target. The horizontally oriented
rotating bodies may be actuated to cause the movable object 100 to
take off vertically, descend vertically, and/or hover. In some
embodiments, some of the horizontally oriented rotating bodies may
rotate clockwise, and some other of the horizontally oriented
rotating bodies may rotate counterclockwise. For example, the
number of rotating bodies that rotate clockwise may be equal to the
number of rotating bodies that rotate counterclockwise. A rotation
rate of each horizontally oriented rotating body can be
independently changed to achieve lifting and/or pushing
operation(s) caused by each rotating body, thereby adjusting a
spatial orientation, a velocity and/or an acceleration of the
movable object 100, e.g., rotations and translations with respect
to three degrees of freedom.
[0024] The sensing system 108 may include one or more sensors to
sense a spatial orientation, a velocity, and/or an acceleration,
e.g., rotations and translations with respect to three degrees of
freedom. The one or more sensors may include any above-described
sensor, e.g., at least one of a global position system (GPS)
sensor, a motion sensor, an inertial sensor, a proximity sensor, or
an image sensor. Sensing data provided by the sensing system 108
may be used for tracking the spatial orientation, the velocity,
and/or the acceleration of a target, e.g., the movable object 100,
by using suitable processing circuits and/or control circuits as
described below. In some embodiments, the sensing system 108 may be
configured to collect data of an environment of the movable object,
such as weather conditions, potential obstacles to be approached,
locations of geographic features, locations of man-made structures,
and/or the like.
[0025] The communication system 110 can communicate with a terminal
112 having a communication system 114 through wireless signals 116.
Each of the communications systems 110 and 114 may include one or
more transmitters, receivers, and/or transceivers for wireless
communications. The communication can include a one-way
communication, such that data can be sent in one direction. For
example, the one-way communication may include only the movable
object 100 transmitting data to the terminal 112, or vice versa.
One or more transmitters of the communication system 110 may send
data to one or more receivers of the communication system 114, or
vice versa. In some embodiments, the communication may include a
two-way communication, such that data can be transmitted between
the movable object 100 and the terminal 112 in two directions. The
bi-directional communication, i.e., the two-way communication, may
include one or more transmitters of the communication system 110
sending data to one or more receivers of the communication system
114, and vice versa.
[0026] In some embodiments, the terminal 112 may provide control
data to at least one of the movable object 100, the supporting body
102, or the load 104, and may receive information from at least one
of the movable object 100, the supporting body 102, or the load
104, where the information may include position information and/or
motion information of the movable object, the supporting body
and/or the load, and/or data sensed by the load such as image data
captured by a camera. In some embodiments, the control data of the
terminal may include instructions associated with a position, a
motion, and/or an actuation, and/or control of the movable object,
the supporting body, and/or the load. For example, the control data
may cause a change in the position and/or direction of the movable
object, e.g., by controlling the power mechanism 106, and/or may
cause a movement of the supporting body relative to the movable
object, e.g., through control of the supporting body 102. The
control data of the terminal can cause the load to control an
operation of, for example, a camera or another image capturing
device. The operation may include, for example, capturing still or
moving images, zooming, turning on or off, switching imaging modes,
changing an image resolution, changing a focus, changing a depth of
field, changing an exposure time, and/or changing a viewable angle
or field of view. In some embodiments, the communication with the
movable object, the supporting body, and/or the load may include
information sent by one or more sensors, such as the sensor system
108 and/or the load 104. The communication may include sensed
information transmitted from one or more different types of
sensors, e.g., a GPS sensor, a motion sensor, an inertial sensor, a
proximity sensor, and/or an image sensor. The sensed information
may be associated with a pose (such as orientation and/or
location), a motion, and/or an acceleration of the movable object,
the supporting body, and/or the load. Sensed information
transmitted from the load may include data captured by the load or
a status of the load. The control data transmitted from the
terminal 112 may be used for tracking status of, e.g., at least one
of the movable object 100, the supporting body 102, or the load
104. In some embodiments, the supporting body 102 and the load 104
each may include a communication circuit configured to communicate
with the terminal 112, such that the terminal can individually
communicate with or track the movable object 100, the supporting
body 102, and/or the load 104.
[0027] In some embodiments, the movable object 100 may communicate
with a remote device other than the terminal 112, and the terminal
112 may communicate with a remote device other than the movable
object 100. For example, the movable object 100 and/or the terminal
112 may communicate with another movable object, a supporting body
of another movable object, and/or a load of another movable object.
When needed, the above-described additional remote device may
include a second terminal or another computing device, such as a
computer, a desktop computer, a tablet computer, a smart phone,
and/or another mobile device. The additional remote device may
transmit data to the movable object 100, receive data from the
movable object 100, transmit data to the terminal 112, and/or
receive data from the terminal 112. In some embodiments, the remote
device may be connected to the Internet or other telecommunication
network to upload data received from the movable object 100 and/or
the terminal 112 to a website or a server.
[0028] In some embodiments, a movement of the movable object, a
movement of the supporting body, and a movement of the load
relative to a fixed reference such as an external environment,
and/or movement between each other may be controlled by the
terminal. The terminal may include a remote control terminal
arranged at a position away from the movable object, the supporting
body, and/or the load. The terminal can be arranged at or attached
to a support platform. In some embodiments, the terminal may be
handheld or wearable. For example, the terminal may include a smart
phone, a tablet computer, a desktop computer, a computer, glasses,
gloves, a helmet, a microphone, or any combination thereof. In some
embodiments, the terminal may include a user interface such as a
keyboard, a mouse, a joystick, a touch screen, and/or display. Any
suitable user input may interact with the terminal, such as
manually inputting an instruction, sound control, gesture control,
and/or position control, e.g., through a motion, a position, and/or
a tilt of the terminal.
[0029] The term "upgrade" or similar expressions described in the
embodiments of the present disclosure may include firmware
upgrades, all or some of database upgrades associated with safe
operations, hardware upgrades, and/or model upgrades.
[0030] In some embodiments, real-time time information and/or
real-time position information may be obtained through an external
network. Further, the real-time time information and/or the
real-time position information may be compared with time
information and/or position information of a latest upgrade or
online verification, respectively. That is, the real-time time
information may be compared with the time information of the latest
upgrade or online verification, and/or the real-time position
information may be compared with the position information of the
latest upgrade or online verification. In response to a time
interval between the real-time time information and the time
information of a latest, i.e., last, upgrade or online verification
exceeding a preset time interval, the UAV system may take measures
such as a flight restriction, a flight prohibition, a warning,
and/or a mandatory upgrade. There are various scenarios that the
UAV are not suitable for a flight. Some of the scenarios are
described below.
[0031] In some scenarios, the UAV system is not connected to the
Internet for a long time. Accordingly, a suitability verification
cannot be performed on a UAV firmware version, a ground control
station firmware version, a model, and/or a database associated
with safe operations in a UAV or a ground station, such as a flight
restriction database, a navigation database, and/or the like.
[0032] In some scenarios, the UAV firmware is not upgraded for a
long time. Thus, there is no guarantee that the UAV is at a safe
operation status.
[0033] In some scenarios, a firmware of the ground station is not
upgraded for a long time. Thus, it cannot be guaranteed that a
suitability of the database (such as a flight restriction database,
a navigation database, and/or the like) associated with safe
operations in the ground station, corresponding warning and
indication functions, a flight restriction function, and/or a
safety design are at a safe status.
[0034] In some scenarios, mistakes in design or fabrication of the
UAV cannot be corrected in time.
[0035] In some scenarios, a newly unveiled UAV airworthiness and
safety requirements cannot be applied to each UAV system in a
timely manner, thus causing the UAV system to be at an unsafe
status.
[0036] In some scenarios, new designs that increase safety and
reliability of aircraft, e.g., UAV, cannot be timely implanted into
the UAV system.
[0037] The present disclosure provides a method for verifying
flight suitability to ensure that a UAV system is at an acceptable
level of safety and/or at an airworthiness status to achieve the
statuses described below.
[0038] It may be ensured that the UAV system can verify flight
safety and suitability through a network within a preset time
period.
[0039] In may be ensured that unsuitable and unsafe model,
configurations, firmware versions of UAV and/or ground station, a
flight restriction database, and other safety-associated data
configurations can be handled in a timely manner, such as mandatory
upgrades, recalls, and etc.
[0040] It may be ensured that irregularities or unsafe flight
behaviors of flight personnel, e.g., flight operator, can be
noticed and handled in a timely manner.
[0041] It may be ensured that new airworthiness or safety
requirements, and safety and reliability designs can be timely
implanted into the UAV system.
[0042] As the safe operation and airworthiness of the UAV are
satisfied, an usability of the UAV may be improved.
[0043] FIG. 2 illustrates a block diagram of an exemplary scheme
for verifying flight suitability. The scheme includes a flight
suitability verification circuit 251 of a server 205, a flight
suitability management circuit 231 of a ground station 202, a user
warning and indication circuit 234 of the ground station 202, a
flight suitability management circuit 241 of a remote controller
204, and a flight suitability management circuit 211, a flight
controller 215, a status indicator light 216, a sensor 213 such as
a global position system (GPS), and an identity management circuit
214 of a UAV 201, to realize an online verification of the UAV
system.
[0044] The sensor 213 for providing time and/or position
information in FIG. 2 may include a receiving sensor of a satellite
positioning and navigation system. The satellite positioning and
navigation system may include at least one of a GPS, Beidou (i.e.,
the Beidou navigation satellite system), or Galileo (i.e., the
Galileo satellite navigation system). The sensor 213 may further
include a mobile phone communication network receiving sensor, such
as a subscriber identification module (SIM) card; or an Internet
receiving sensor such as a wireless network card; and/or a public
Wi-Fi receiving sensor. Other methods can also be used to obtain
needed time and/or position information. For example, a timer using
an independent power supply device may be arranged in a UAV or a
ground station to provide time information for a periodicity
restriction, and time information, position information and/or the
like provided in a communication network of a mobile phone and/or
Internet may be obtained. The status indicator light can be
replaced by sound and/or by a manner that a sound and an indicator
light are fused. The ground station can include a stand-alone
visualization ground station, such as a smart phone, a tablet
computer, or the like, and/or a manual control apparatus, such as a
remote controller, and/or an integrated control station of a
visualization ground station and a manual control apparatus.
[0045] Verification contents may include at least one of: a UAV
system firmware version suitability; a suitability of long-term
and/or temporary flight restriction database in a ground station
and/or a UAV; a suitability of database associated with safe
operations in a ground station and/or a UAV; a suitability of UAV
configuration; a suitability of UAV model; and/or whether the UAV
system or personnel is on a black list or a list of restricted
managers.
[0046] For the above-described verification items, e.g.,
verification contents, a preset time interval may be defined as a
time interval at which the online verification needs to be
performed for all items. In some other embodiments, one time
interval may be defined for each item individually or a plurality
of items as the time interval for online verification. In some
embodiments, the UAV and the ground station may perform online
verification separately. If the UAV includes a network
communication receiving circuit, such as a wireless network
circuit, a Wi-Fi circuit, a SIM card, and/or other mobile network
circuit, a separate online verification can also be achieved. Thus,
online verification time of the UAV and the ground station may be
different from each other. For a plurality of UAV systems, UAVs and
grounds station may not be one-on-one match for flights. In order
to ensure the safety of UAV operation, online verification before a
flight may be realized through the flight suitability management
circuit 211 of the UAV 201.
[0047] For the safe operation of UAV, the UAV and the ground
station that includes the manual control apparatus and the
visualization ground station may perform different roles and
functions on ensuring the safe operation of the UAV, according to
different designs. Thus, when performing online verifications, the
online verification items of the ground station and the UAV may be
different. But for an entire UAV system, the online verification
items may have close relations.
[0048] As shown in FIG. 3, when the latest online verification time
of the UAV and the ground station is same, the UAV system can
perform the flight suitability verification according to
verification rules fixedly matched by the UAV system supplier.
[0049] A storage circuit 314 of a UAV 301 may include a record of
the latest online verification of the UAV, UAV upgrade and version
records, and/or a UAV maintenance record. The storage circuit 314
may further include a latest online verification record of the
ground station, ground station upgrade and version records, and/or
a ground station maintenance record. The storage circuit 314 may
further include a long-term or temporary flight restriction
database, other databases associated with safe operations, such as
navigation databases. The storage circuit 314 may further include
UAV system and personnel identification information for verifying
whether the UAV system or operator is in a blacklist or restriction
list.
[0050] A storage circuit 331 of a visualization ground station 303
may include: a latest online verification record of the
visualization ground station 303, and/or latest upgrade and version
records of the visualization ground station 303. The storage
circuit 331 may further include a long-term or temporary flight
restriction database, and/or other databases associated with safe
operations, such as navigation databases. The storage circuit 331
may further include upgrade and verification records of long-term
or temporary flight restriction database and/or other upgrade and
verification records of databases associated with safe
operations.
[0051] A storage circuit 341 of a ground manual control apparatus
304 may include a latest online verification record of the ground
manual control apparatus 304, and/or latest upgrade and version
records of the ground manual control apparatus 304. The storage
circuit 341 may further include some or all of data stored in the
storage circuit 331 of the visualization ground station 303. In
some embodiments, the ground manual control apparatus 304 may
include a remote controller.
[0052] A verification circuit 311 of the UAV 301 may obtain
real-time time information (and real-time position information in
certain scenarios) through a sensor 315; may obtain, from a storage
circuit of the system, at least one of the latest verification time
of the UAV, a UAV firmware version, latest verification time of the
ground station, a firmware version of the ground station, model
suitability information, configuration suitability information, a
long-term or temporary flight restriction database version, other
safe-operation associated database version, or whether the UAV
system or operator is in a blacklist or in a restriction list. The
verification circuit 311 may obtain other information stored in the
storage circuit of the system. The storage circuit of the system
may include at least one of the storage circuit 314 of the UAV 301,
the storage unit 331 of the visualization ground station 303, or
the storage circuit 341 of the ground manual control apparatus 304.
The verification circuit 311 may perform flight suitability
verification on the verification items obtained from the storage
unit of the system according to the obtained real-time time
information (and real-time position information in certain
scenarios) and a preset verification rule of the system. In
response to a verification result indicating that the UAV system is
at an airworthy status, information indicating that the flight is
safe may be sent to a flight controller. In the present disclosure,
information contents are not restricted. In response to a
verification result indicating that at least one verification item
of the UAV system needs an upgrade, flight prohibition and/or
flight restriction information may be sent to the flight
controller. Further, warning information may be sent to a status
indicator light. Further, information indicating a need for upgrade
may be sent to the ground station 302 through a wireless link.
[0053] In some embodiments, the UAV may further include a latest
online verification record circuit configured to obtain a
verification item from the storage circuit of the system, and send
the verification item to the verification circuit 311.
[0054] In the scenarios that latest online verification time of the
UAV and the ground station is different, it may be needed to
determine a redundancy or replacement relationship between
verification items of the UAV and the ground station, according to
the verification items of the UAV and the ground station that need
verification, and to compare and analyze versions, verification
time, and/or upgrade time of redundancy or replacement items to
determine a relatively new item, and to perform flight suitability
verification according to a preset verification rule of the system.
In some embodiments, a latest verification rule used in scenarios
that the UAV and the ground station have consistent online
verification time may be adopted.
[0055] In some embodiments, the verification item may include at
least one of the items shown in Table 1.
TABLE-US-00001 TABLE 1 Verification items Verification item
Parameter UAV firmware Current Suitable Version Longest Acceptable
Verification Time Interval Firmware of Current Suitable Version
Manual Control Longest Acceptable Verification Time Interval
Apparatus Firmware of Current Suitable Version Visualization
Longest Acceptable Verification Time Interval Ground Station UAV
Model Suitable or Not Longest Acceptable Verification Time Interval
Flight Restriction Current Suitable Version Database Update Time of
Long-term and/or Temporary Flight Restriction Data for Flight
Region Longest Acceptable Verification Time Interval Other Database
Current Suitable Version associated with Longest Acceptable
Verification Time Interval Safety Flight Restriction Current
Suitable Version Database in A Update Time of Temporary Flight
Restriction Data Ground Station for Flight Region Longest
Acceptable Verification Time Interval Operator In A Blacklist or
Not Longest Acceptable Verification Time Interval UAV and/or Each
In A Blacklist or Not Identity Circuit Longest Acceptable
Verification Time Interval Thereof UAV UAV Operation Type
Configuration Setting Configuration Longest Acceptable Verification
Time Interval UAV System Each Hardware Circuit Suitable or Not
Hardware Circuit Longest Acceptable Verification Time Interval
[0056] In some embodiments, an online verification may be performed
in response to a UAV, a manual control apparatus, a ground station,
and/or another component/device being used for a first time.
[0057] In some embodiments, for the UAV verification items and
parameters, a configurable method may be provided to a manager or a
user, and the manager or the user may add, delete, and change
verifiable items and parameters as needed.
[0058] In some embodiments, configuring corresponding verifiable
items and parameters according to a model, an operation type, an
operation approval status, an aircraft, and/or a user may be
supported.
[0059] In some embodiments, a multi-level management and a
multi-management authority level management process may be
supported.
[0060] In some embodiments, for the verification result of the UAV
system, the flight operator may be notified of whether a current
status of the UAV system is suitable for a flight, through a status
indicator light, a sound/voice prompt, a tactile design prompt, a
user warning and indication circuit in the visualization ground
station, and/or the like. In response to the online verification
confirming that a UAV firmware, a ground station firmware,
long-term or temporary flight restriction databases, other safety
associated data setting, a configuration, a model, certain UAV, an
operator, and/or the like are not suitable for a current flight, a
flight operator may be notified through a status indicator light, a
sound/voice, a visualization warning information prompt, and/or the
like, and the flight of the UAV may be restricted or even
prohibited. In some embodiments, regarding a post-verification
handling method, a configurable method may be provided, and the
manager and/or the user may automatically or manually configure and
select corresponding restriction and handling measures according to
actual needs. Restriction and treatment measures can include at
least one of: a flight restriction; a flight prohibition; a
warning; a mandatory online verification; mandatory upgrade of
firmware, database, and/or hardware; operator restriction or
operator type restriction; mandatory return to factory or
maintenance; or others. The flight restriction may include a height
restriction and/or a range restriction, additional flight
restriction of certain areas, a speed restriction, a flight time
restriction and/or a flight trip number restriction that supports
display of remaining flight time or remaining flight trip number in
the visualization ground station, a control mode restriction, a
configuration setting restriction, and/or other restriction.
[0061] In some embodiments, if a manufacturer or a UAV regulation
agency confirms that one or more models fail to ensure a safe
flight by means of an upgrade, the manufacturer or the UAV
regulation agency may prohibit or restrict flights of UAV
corresponding to such models, or request hardware upgrades being
performed or repair being performed by return to the factory or at
a designated repair site. If it is confirmed that the current
safety requirements are satisfied after the repair, the aircraft
model, e.g., the UAV model, may be changed to an upgraded model
number, or changed to an operational status or a status that a
flight is permitted. Accordingly, usability of UAV that satisfies
safety requirements may be ensured.
[0062] FIG. 4 is a flow chart of an exemplary online verification
method consistent with various disclosed embodiments of the present
disclosure. With reference to FIG. 4, the method is described
below.
[0063] At S401, a flight suitability verification on the UAV system
is performed.
[0064] In some embodiments, verification items that perform the
flight suitability verification on the UAV system may include at
least one of performing a flight suitability verification on a
setting of the UAV system or performing a flight suitability
verification on a setting of data associated with safe
operations.
[0065] In some embodiments, the UAV system firmware version may
include at least one of a UAV firmware version, a ground station
firmware version, a remote controller firmware version, or an
operation parameter setting.
[0066] In some embodiments, a setting of data associated with safe
operations may include at least one of a long-term flight
restriction database, a temporary flight restriction database, a
navigation database, or a flight management database.
[0067] Further, the verification item(s) may further include at
least one of a UAV configuration, a UAV model, whether the UAV
system is in a blacklist, or whether the operator is in a
blacklist.
[0068] In some embodiments, performing the flight suitability
verification on the UAV system may include performing periodically
the flight suitability verification on the UAV system.
[0069] In some embodiments, performing periodically the flight
suitability verification on the UAV system may include obtaining
real-time time information of the UAV system, comparing the
obtained real-time time information with a latest verification
time, and performing the flight suitability verification on the UAV
system in response to a time interval between the real-time time
information and the latest verification time being longer than a
preset time interval.
[0070] In some embodiments, real-time time information of the UAV
system may be obtained by using at least one of a satellite
positioning and navigation system, a mobile phone communication
base station, Wi-Fi, a public network, or a timer in the UAV
system.
[0071] In some embodiments, the satellite positioning and
navigation system may include at least one of a global position
system (GPS), a Beidou navigation system, a global navigation
satellite system (GLONASS), an Indian regional navigation system,
or a Galileo navigation system.
[0072] In some embodiments, each verification item may correspond
to one preset time interval, and in response to a time interval
between the real-time time information and the latest verification
time being longer than the preset time interval of the verification
item, the verification item may be verified.
[0073] In some embodiments, N verification items may correspond to
one preset time interval, and in response to a time interval
between the real-time time information and the latest verification
time being longer than the preset time interval of the N
verification items, the N verification items may be verified, where
N is an integer larger than or equal to 2.
[0074] In some embodiments, performing periodically the flight
suitability verification of the UAV may include obtaining real-time
time information and real-time position information of the UAV
system; comparing the real-time time information with a latest
verification time to obtain a time interval between the real-time
time information and the latest verification time; determining a
verification item that needs verification according to the time
interval and the real-time position information; and performing the
flight suitability verification on the determined verification item
that needs verification.
[0075] At S402, a handling measure of the UAV system is determined
according to a verification result.
[0076] In some embodiments, according to the verification result,
at least one measure can be taken on the UAV system. The measure
may include at least one of a flight restriction, a flight
prohibition, a warning, a mandatory firmware upgrade, a mandatory
database upgrade, a mandatory hardware upgrade, an operator
restriction or a user type restriction, or a mandatory return to
factory.
[0077] In some embodiments, the flight restriction may include at
least one of a height restriction, a range restriction, an
additional flight restriction in certain area, a speed restriction,
a flight time restriction or a flight trip number restriction, a
control mode restriction, or a configuration setting
restriction.
[0078] In some embodiments, the flight time restriction or the
flight trip number restriction, i.e., restricting flight time or
flight trip number, may include displaying remaining flight time or
remaining flight trip number in the visualization ground
station.
[0079] In some embodiments, the online verification method may
further include notifying a flight personnel of whether a current
UAV system status is suitable for the flight according to the
verification result, through at least one of a status indicator
light, a sound, a voice, a touch, or a user warning and indication
circuit in the visualization ground station.
[0080] In some embodiments, the online verification method may
further include determining a redundancy verification item of the
UAV and the ground station according to the items of the UAV and
the ground station that need verification; comparing a latest
verification time of redundancy verification item corresponding to
the UAV with a latest verification time of redundancy verification
item corresponding to the ground station to determine a latest
verification result of the redundant verification item.
[0081] FIG. 5 is a block diagram of an exemplary online
verification apparatus 500 consistent with various disclosed
embodiments of the present disclosure. As shown in FIG. 5, the
online verification apparatus 500 includes a verification circuit
510 and a handling circuit 502.
[0082] The verification circuit 501 is configured to perform a
flight suitability verification on the UAV system, and verification
item(s) include at least one of a UAV system setting or a setting
of data associated with safe operations.
[0083] The handling circuit 502 is configured to determine a
handling measure of the UAV system according to a verification
result.
[0084] In some embodiments, a UAV system firmware version may
include at least one of a UAV firmware version, a ground station
firmware version, a remote controller firmware version, or an
operating parameter setting.
[0085] In some embodiments, the setting of data associated with
safe operations may include at least one of a long-term flight
restriction database, a temporary flight restriction database, a
navigation database, or a flight management database.
[0086] Further, the verification item(s) may also include at least
one of a UAV configuration, a UAV model, whether the UAV system is
in a blacklist, or whether the operator is in a blacklist.
[0087] In some embodiments, the verification circuit may be further
configured to perform periodically the flight suitability
verification on the UAV system.
[0088] In some embodiments, as shown in FIG. 6, the verification
circuit 501 includes an obtaining sub-circuit 511 and a
verification sub-circuit 512.
[0089] In some embodiments, the obtaining sub-circuit 511 may be
configured to obtain real-time time information of the UAV system.
The verification sub-circuit 512 may be configured to compare the
obtained real-time time information with a latest verification
time; and to perform the flight suitability verification on the UAV
system, in response to a time interval between the obtained
real-time time information and the latest verification time being
longer than a preset time interval.
[0090] In some embodiments, the obtaining sub-circuit 511 can
obtain the real-time time information of the UAV system by using at
least one of a satellite positioning and navigation system, a
mobile phone communication base station, Wi-Fi, a public network,
or a timer in the UAV system.
[0091] In some embodiments, the satellite positioning and
navigation system may include at least one of a global position
system (GPS), a Beidou navigation system, a global navigation
satellite system (GLONASS), an Indian regional navigation system,
or a Galileo navigation system.
[0092] In some embodiments, each verification item may correspond
to one preset time interval, and in response to a time interval
between the obtained real-time time information and the latest
verification time of the varication item being longer than the
preset time interval of the verification item, the verification
item may be verified.
[0093] In some embodiments, N verification items may correspond to
one preset time interval, and in response to a time interval
between the obtained real-time time information and the latest
verification time of the N verification items being longer than the
preset time interval of the N verification items, the N
verification items may be verified, where N is larger than or equal
to 2.
[0094] In some embodiments, the obtaining sub-circuit 511 may be
further configured to obtain real-time time information and
real-time position information of the UAV system. The verification
sub-circuit 512 may be configured to compare the obtained real-time
time information with a latest verification time to obtain a time
interval between the real-time time information and the latest
verification time; to determine a verification item that needs
verification according to the time interval and the real-time
position information; and to perform the flight suitability
verification on the verification item that needs verification.
[0095] In some embodiments, the handling circuit 502 may be
configured to perform at least one measure on the UAV according to
a verification result. The measure may include at least one of a
flight restriction, a flight prohibition, a warning, a mandatory
firmware upgrade, a mandatory database upgrade, a mandatory
hardware upgrade, an operator restriction or a user type
restriction, or a mandatory return to factory.
[0096] In some embodiments, the flight restriction may include at
least one of a height restriction, a range restriction, an
additional flight restriction in certain area, a speed restriction,
a flight time restriction or a flight trip number restriction, a
control mode restriction, or a configuration setting
restriction.
[0097] In some embodiments, the flight time restriction or the
flight trip number restriction, i.e., restricting flight time or
flight trip number, may include displaying remaining flight time or
remaining flight trip number in the visualization ground
station.
[0098] In some embodiments, as shown in FIG. 7, the online
verification apparatus 500 further includes a notification circuit
503. The notification circuit 503 may be configured to inform a
flight personnel of whether a current UAV system status is suitable
for the flight according to the verification result, through at
least one of a status indicator light, sound and/or voice
prompt(s), a tactile design prompt, or a user warning and
indication circuit in the visualization ground station.
[0099] In some embodiments, as shown in FIG. 7, the online
verification apparatus 500 further includes a redundancy removing
circuit 504. The redundancy removing circuit 504 may be configured
to determine a redundancy verification item of the UAV and the
ground station according to the items of the UAV and the ground
station that need verification; to compare a latest verification
time of redundancy verification item corresponding to the UAV with
a latest verification time of redundancy verification item
corresponding to the ground station to determine a latest
verification result of the redundant verification item.
[0100] The present disclosure further provides a UAV system
including a UAV, a ground station, and an online verification
apparatus such as one of the above-described online verification
apparatuses. The online verification apparatus may be deployed on a
UAV, a ground station, or a third-party device.
[0101] In some embodiments, the third-party device may include a
server.
[0102] The present disclosure also provides a storage medium for
storing instructions thereon. The instructions are configured to
execute processes of an online verification method consistent with
the present disclosure, such as any one of the above-described
online verification methods.
[0103] The present disclosure provides an online verification
method and apparatus. The online verification method may include
performing a flight suitability verification on a UAV system.
Verification items may include at least one of performing a flight
suitability verification on a UAV system setting or performing a
flight suitability verification on a setting of data associated
with safe operations; and determining a handling measure of the UAV
system according to a verification result. Accordingly, a UAV
online verification may be realized to ensure that the UAV is at an
acceptable safety level.
[0104] Embodiments in this disclosure are described in a
progressive manner, and descriptions are made with focuses on
differences of the embodiments. For same or similar portions,
reference can be made to each other among the embodiments. The
apparatuses of the disclosure correspond to the methods of the
disclosure. For apparatuses of the disclosure, reference can be
made to relevant descriptions of the above-described method
embodiments.
[0105] The foregoing describes online verification method and
apparatus, a UAV system, and a storage medium consistent with the
present disclosure.
[0106] Those of ordinary skill in the art will appreciate that the
exemplary elements and algorithm steps described above can be
implemented in electronic hardware, or in a combination of computer
software and electronic hardware. Whether these functions are
implemented in hardware or software depends on the specific
application and design constraints of the technical solution. One
of ordinary skill in the art can use different methods to implement
the described functions for different application scenarios, but
such implementations should not be considered as beyond the scope
of the present disclosure.
[0107] For simplification purposes, detailed descriptions of the
operations of exemplary systems, devices, and units may be omitted
and references can be made to the descriptions of the exemplary
methods.
[0108] The disclosed systems, apparatuses, and methods may be
implemented in other manners not described here. For example, the
devices described above are merely illustrative. For example, the
division of units may only be a logical function division, and
there may be other ways of dividing the units. For example,
multiple units or components may be combined or may be integrated
into another system, or some features may be ignored, or not
executed. Further, the coupling or direct coupling or communication
connection shown or discussed may include a direct connection or an
indirect connection or communication connection through one or more
interfaces, devices, or units, which may be electrical, mechanical,
or in other form.
[0109] The units described as separate components may or may not be
physically separate, and a component shown as a unit may or may not
be a physical unit. That is, the units may be located in one place
or may be distributed over a plurality of network elements. Some or
all of the components may be selected according to the actual needs
to achieve the object of the present disclosure.
[0110] In addition, the functional units in the various embodiments
of the present disclosure may be integrated in one processing unit,
or each unit may be an individual physically unit, or two or more
units may be integrated in one unit.
[0111] A method consistent with the disclosure can be implemented
in the form of computer program stored in a non-transitory
computer-readable storage medium, which can be sold or used as a
standalone product. The computer program can include instructions
that enable a computing device, such as a processor, a personal
computer, a server, or a network device, to perform part or all of
a method consistent with the disclosure, such as one of the
exemplary methods described above. The storage medium can be any
medium that can store program codes, for example, a memory, a USB
disk, a hard disk, a mobile hard disk, a read-only memory (ROM), an
electrically programmable ROM, an electrically erasable
programmable ROM, a register, a random access memory (RAM), a
magnetic disk, an optical disk, a CD-ROM, or a storage medium in
any other form. A system consistent with the disclosure can include
a processor and a non-transitory computer-readable storage medium
storing instructions that, when executed, cause the processor to
perform a method consistent with the disclosure, such as one of the
above-described example methods.
[0112] Other embodiments of the disclosure will be apparent to
those skilled in the art from consideration of the specification
and practice of the embodiments disclosed herein. It is intended
that the specification and examples be considered as exemplary only
and not to limit the scope of the disclosure, with a true scope and
spirit of the invention being indicated by the following
claims.
* * * * *