Multi-sensor environmental mapping
AssigneeSz Dji Technology Co., Ltd.
InventorsAng Liu, Weiyu Mo, Yonggen Ling
Life of this patent
Estimating the term…
Abstract
A method for controlling a movable object in an environment includes in response to a loss of signal between the movable object and a terminal of the movable object, controlling the movable object to return, including: controlling the movable object to move from a current location to a first location, receiving, through at least one of a plurality of sensors, sensing data of the environment, and controlling the movable object to move from the first location to a second location based on the sensing data. The first location is previously traveled by the movable object. A movement path from the current location to the first location is associated with a movement path from the first location to the current location.
Claims19
A method for controlling a movable object in an environment, comprising:
- in response to a loss of signal between the movable object and a terminal of the movable object, controlling the movable object to return, including:
- controlling the movable object to move from a current location to a first location, the first location being previously traveled by the movable object, a movement path from the current location to the first location being same as a movement path from the first location to the current location, and the movement path from the current location to the first location being same as the movement path from the first location to the current location including that a position and/or an orientation of the movable object on the movement path from the current location to the first location is same as a position and/or an orientation of the movable object on the movement path from the first location to the current location;
- receiving, through at least one of a plurality of sensors, sensing data of the environment;
- and
- controlling the movable object to move from the first location to a second location based on the sensing data.
A method for controlling a movable object in an environment, comprising:
- in response to a loss of signal between the movable object and a terminal of the movable object, controlling the movable object to return, including:
- controlling the movable object to move from a current location to a first location, the first location being previously traveled by the movable object, a movement path from the current location to the first location being associated with a movement path from the first location to the current location;
- receiving, through at least one of a plurality of sensors, sensing data of the environment;
- and
- controlling the movable object to move from the first location to a second location based on the sensing data, including:
- generating at least a portion of an environment map according to the sensing data, including:
- generating a first portion of the environmental map according to a first sensing signal and generating a second portion of the environmental map according to a second sensing signal, wherein the first sensing signal is more suitable than the second sensing signal for generating the first portion of the environmental map, the second sensing signal is more suitable than the first sensing signal for generating the second portion of the environmental map, and the first portion is different from the second portion;
- and
- controlling the movable object to move in the environment according to the environment map.
A method for controlling a movable object in an environment, comprising:
- in response to a loss of signal between the movable object and a terminal of the movable object, controlling the movable object to return, including:
- controlling the movable object to move from a current location to a first location, the first location being previously traveled by the movable object, a movement path from the current location to the first location being associated with a movement path from the first location to the current location;
- receiving, through at least one of a plurality of sensors, sensing data of the environment;
- and
- controlling the movable object to move from the first location to a second location based on the sensing data, including:
- generating at least a portion of an environment map according to the sensing data;
- and
- controlling the movable object to move in the environment according to the environment map, including:
- determining obstacle information in the environment based on the environmental map, the obstacle information including number, density, geometry, or spatial disposition of obstacles;
- and
- controlling the movable object to move based on the obstacle information to avoid the obstacles, including:
- determining a modified flight path based on the obstacle information, the modified flight path navigating the movable object to fly above an obstacle, fly below the obstacle, fly to a side of the obstacle, fly away from the obstacle, or maintain a specified distance from the obstacle.
Dependencies are inferred from the claim text.