UNMANNED AERIAL VEHICLE AND METHOD FOR CONTROLLING SAME

An UAV according to an embodiment may include housing, a tactile sensor disposed on at least a partial surface of the housing, at least one motor, a propeller connected the at least one motor, and a processor electrically connected to the tactile sensor and the at least one motor and controlling the at least one motor. Moreover, various embodiment grasped through the disclosure are possible.

BACKGROUND

The disclosure relates to an unmanned aerial vehicle (UAV) and a method for controlling the UAV.

2. Description of Related Art

A UAV may fly in three-dimensional space by having its own lift source. The UAV referred to as a drone, an unmanned aircraft system (UAS), or the like may fly through remote control even though humans do not directly ride on the UAV.

In recent years, the low-priced UAV has been widely distributed to people with the development of technologies, and the UAV has been used in various fields such as military, agriculture, logistics, leisure, and the like. For example, the UAV may perform functions such as aerial photography, logistics delivery, or spraying pesticide.

The UAV may be remotely controlled through an electronic device such as a dedicated controller, a smartphone, or the like. For example, a user may control not only the location, altitude, or the like of the UAV using the dedicated controller, the smart phone, or the like, but also various modules (e.g., a camera, a pesticide sprayer, or the like) included in the payload of the UAV.

The skilled techniques are required to utilize such the above-described UAV. Accordingly, it is not easy for a user, which lacks experience, to control the UAV.

Various embodiments of the disclosure may provide a method of moving a UAV, which is hovering, to a location desired by a user without using a separate controller, and the UAV to which the method is applied.

SUMMARY

According to an embodiment disclosed in the disclosure, a UAV may include housing, a tactile sensor disposed on at least a partial surface of the housing, at least one motor, a propeller connected the at least one motor, and a processor electrically connected to the tactile sensor and the at least one motor and controlling the at least one motor. The tactile sensor may include a first tactile sensor disposed on an upper surface of the housing, a second tactile sensor disposed on a lower surface of the housing, and a third tactile sensor disposed on a side surface of the housing. The processor may be configured to control the at least one motor such that the UAV performs a hovering operation at a first location, to release limitation of vertical movement when a touch is sensed by the first tactile sensor or the second tactile sensor, and release limitation of horizontal movement when a touch is detected by the third tactile sensor, to determine a second location different from the first location, based on the sensed touch, and to control the at least one motor such that the UAV performs a hovering operation at the second location.

According to an embodiment disclosed in the disclosure, a UAV may include housing, a tactile sensor disposed on at least a partial surface of the housing, an accelerometer disposed inside the housing, at least one motor, a propeller connected the at least one motor, and a processor electrically connected to the tactile sensor and the at least one motor and controlling the at least one motor. The processor may be configured to control the at least one motor such that the UAV performs a hovering operation at a first location, to release limitation of vertical movement and horizontal movement when a specified touch is sensed by the tactile sensor, to reduce an output of the at least one motor to a specified output value or less, and to increase the output of the at least one motor to the specified output value or more to perform a hovering operation at a second location when an acceleration value detected by the accelerometer is reduced to a specified value or less. The second location may correspond to a location of the UAV at a point in time when an acceleration value is reduced to a specified value or less.

According to embodiments disclosed in the disclosure, even non-skilled persons may intuitively change the location of the UAV, without a separate controller. In this way, when an image or video is captured using the camera attached to the UAV, it is possible to easily obtain the view desired by a user. Besides, a variety of effects directly or indirectly understood through the disclosure may be provided.

With regard to description of drawings, similar components may be marked by similar reference numerals.

DETAILED DESCRIPTION

Hereinafter, various embodiments of the disclosure will be described with reference to accompanying drawings. However, it should be understood that the disclosure is not intended to be limited to a specific embodiment, but intended to include various modifications, equivalents, and/or alternatives of the corresponding embodiment.

Various embodiments of the disclosure and terms used herein are not intended to limit the technologies described in the disclosure to specific embodiments, and it should be understood that the embodiments and the terms include modification, equivalent, and/or alternative on the corresponding embodiments described herein. With regard to description of drawings, similar components may be marked by similar reference numerals. The terms of a singular form may include plural forms unless otherwise specified. In the disclosure disclosed herein, the expressions “A or B”, “at least one of A and/or B”, “A, B, or C”, or “at least one of A, B, and/or C”, and the like used herein may include any and all combinations of one or more of the associated listed items. Expressions such as “first,” or “second,” and the like, may express their components regardless of their priority or importance and may be used to distinguish one component from another component but is not limited to these components. When a (e.g., first) component is referred to as being “(operatively or communicatively) coupled with/to” or “connected to” another (e.g., second) component, it may be directly coupled with/to or connected to the other component or an intervening component (e.g., a third component) may be present.

FIG. 1illustrates a perspective view and an exploded perspective view of a UAV, according to an embodiment.

According to an embodiment, a UAV101according to an embodiment may include a propeller110, a motor120, a battery130, a circuit board140, a camera150, and housing160. According to various embodiments, the UAV101may further include components not illustrated inFIG. 1or may not include a part of the components illustrated inFIG. 1.

According to an embodiment, the propeller110may be connected to the motor120and may rotate in synchronization with the rotation of the motor120to generate lift force. The UAV101may float in the air by the lift force. The UAV101may fly in a horizontal direction and/or a vertical direction with respect to the ground, under the control of the rotation of the motor120.

According to an embodiment, the battery130may supply power to various circuits, a module, or the like included in the UAV101, as well as the motor120, the circuit board140, and the camera150. According to an embodiment, various circuits, such as a processor, a memory, a sensor, and the like, a module, or the like may be mounted on the circuit board140.

According to an embodiment, the camera150may be electrically connected to the circuit board140to capture an image (still image) and/or a video. According to various embodiments, an actuator (e.g., a gimbal motor) for controlling the field of view (FoV) of the camera150may be coupled with the camera150.

According to an embodiment, the housing160may protect each component included in the UAV101from dust, water, and external impact, and may physically support each of the components. For example, the housing160may be formed of metal, plastic, a polymeric material, or a combination thereof.

According to an embodiment, the housing160may include an upper housing160u, a lower housing1601, a side housing160s, and a frame160f. However, the configuration of the housing160is not limited to an example illustrated inFIG. 1. For example, as illustrated inFIG. 2, the UAV may include the housing having various shapes.

According to an embodiment of the disclosure, a tactile sensor for recognizing the touch from a user may be disposed on the surface of at least part of the housing160. The tactile sensor may be configured to detect whether the touch is present, a location at which the touch is made, the pressure of the touch, or the like.

FIGS. 2A to 2Cillustrate a top view, a bottom view, and a side view of a UAV, according to various embodiments.

The top view, bottom view, and side view of UAVs201a,201b, and201caccording to various embodiments are displayed inFIGS. 2A to 2C, respectively. The appearances of UAVs201a,201b, and201cillustrated inFIGS. 2A to 2Care exemplary; various embodiments of the disclosure are not limited to the illustration ofFIGS. 2A to 2C. For example, as in the UAV101illustrated inFIG. 1, there are UAVs with a wide variety of appearances. The description the same as that described with reference toFIGS. 2A to 2Cis omitted.

According to the top view of the UAV201aillustrated inFIG. 2A, four propellers210a, housing220a, and various hardware components230amay be exposed in the top view. Each of the four propellers210amay be coupled with the rotor axis of the corresponding motor. The housing220amay include protection rims respectively surrounding the four propellers210aand body housing. The tactile sensor according to various embodiments of the disclosure may be disposed on the exterior surface of the housing220a. For example, the first tactile sensor may be disposed on the exterior surface of the housing220a, that is, at least part of the upper surface. For example, a power button, a hovering start button, and/or a distance measurement sensor for measuring the distance to an external object may be disposed in the various hardware components230a.

According to the bottom view of the UAV201aillustrated inFIG. 2A, the four propellers210a, the housing220a, and the various hardware components240amay be exposed in the bottom view. The second tactile sensor according to various embodiments of the disclosure may be disposed on at least part of the lower surface of the housing220a. A camera, a distance measurement sensor (e.g., infrared, ultrasonic) for measuring the distance to the ground, and the like may be disposed in the various hardware components240a. According to various embodiments, modules with specific purposes disposed under the UAV201amay be referred to as “payload”.

According to the side view of the UAV201aillustrated inFIG. 2A, the four propellers210a, the housing220a, and the various hardware components230and240amay be exposed in the side view. The third tactile sensor according to various embodiments of the disclosure may be disposed on at least part of the side surface of the housing220a. A distance measurement sensor for measuring a distance to an external object may be disposed on the side surface of the housing220a.

According to the top view of the UAV201billustrated inFIG. 2B, four propellers210b, housing220b, and various hardware components230bmay be exposed in the top view. The housing220bmay surround the four propellers210a. The tactile sensor according to various embodiments of the disclosure may be disposed on the exterior surface of the housing220b. For example, the first tactile sensor may be disposed in the form of a ring on at least part of the upper surface of the housing220b.

According to the bottom view of the UAV201b, the four propellers210b, the housing220b, and the various hardware components240bmay be exposed in the bottom view. The second tactile sensor according to various embodiments of the disclosure may be disposed in the form of a ring on the part of the lower surface of the housing220b.

According to the side view of the UAV201b, the housing220bmay be exposed in the side view. The third tactile sensor according to various embodiments of the disclosure may be disposed on at least part of the side surface of the housing220b.

A UAV201cillustrated inFIG. 2cmay include propellers210c, housing220c, and various hardware components230cand240c. The top view, bottom view, and side view of the UAV201cmay correspond to the top view, bottom view, and side view illustrated inFIG. 2B, respectively. However, the pattern layout of the tactile sensor of the housing220cillustrated inFIG. 2Cmay be different from that ofFIG. 2B. The tactile sensors disposed on most of the upper surface, the lower surface, and the side surface of the housing220cmay have vertical patterns.

FIG. 3illustrates a configuration of a UAV, according to an aspect.

Referring toFIG. 3, a UAV301according to an embodiment may include a bus310, a peripheral interface315, a flight driver320, a camera330, a sensor340, a global navigation satellite system (GNSS) module350, a communication module360, a power manager module370, a battery375, a memory380, and a processor390. The UAV301may further include components not illustrated inFIG. 3or may not include a part of the components illustrated inFIG. 3.

For example, the bus310may interconnect the components included in the UAV301and may include a circuit for conveying communication (e.g., a control message and/or data) among the components.

The peripheral interface (peripheral I/F)315may be connected to the bus310to be electrically connected to the flight driver320, the camera330, and the sensor340. In addition to the camera330and the sensor340, various modules (so-called payload) may be connected to the peripheral interface315depending on the usage purpose of the UAV301.

The flight driver320may include electronic speed controls (ESCs)321-1,321-2,321-3, and321-4(collectively referred to as321), motors322-1,322-2,322-3, and322-4(collectively referred to as322), and propellers323-1,323-2,323-3, and323-4(collectively referred to as323). A control command (e.g., a pulse width modulation (PWM) signal) generated by the processor390may be transmitted to the ESC321via the bus310and the peripheral interface315, and the ESC321may control the drive and rotation speed of the motor322depending on the control command. The propeller323may generate lift force by rotating in synchronization with the rotation of the motor322.

The camera330may capture the image (a still image) and video of a subject. According to an embodiment, the camera module330may include one or more lenses, an image sensor, an image signal processor, or a flash (e.g., a light emitting diode, a xenon lamp, or the like). According to an embodiment, the camera330may include an optical flow sensor (OFS). The OFS may detect the flight flow (movement) of the UAV301, using the relative motion patterns of the recognized object, surface, corner, and the like.

An actuator335may control the FoV of the camera330under the control of the processor390. For example, the actuator335may include a 3-axis gimbal motor.

The sensor module340may include a tactile sensor341, an accelerometer342, a distance measurement sensor343, a posture sensor344, an altimeter345, an e-compass346, and a barometer347. The various sensors341to347inFIG. 3are exemplary and are not limited thereto. In addition to the sensors illustrated inFIG. 3, various sensors may be included in the sensor module340.

The tactile sensor341may include may include a touch sensor341tand a pressure sensor341p. The tactile sensor341may detect whether the touch from a user is present, a location at which the touch is made, the pressure of the touch, or the like. According to an embodiment, the tactile sensor341may be disposed on at least part of the surface of the housing. For example, the tactile sensor341may be disposed on the upper surface of the housing (hereinafter referred to as a “first tactile sensor”), may be disposed on the lower surface of the housing (hereinafter referred to as a “second tactile sensor”), and may be disposed on the side surface of the housing (hereinafter referred to as a “third tactile sensor”).

The distance measurement sensor343may measure the distance to an external object (e.g., a wall, an obstacle, or a ceiling) at a periphery (up-side, down-side, left-side, and right-side) of the UAV301. The distance measurement sensor343may use ultrasonic waves or infrared rays as the medium (or parameter) for measuring the distance.

The posture sensor344may detect the posture in the three-dimensional space of the UAV. The posture sensor344may include a 3-axis geomagnetic sensor344mand/or a 3-axis gyroscope sensor344g.

The altimeter344may measure the altitude of the UAV301. The altimeter344may measure the altitude using the radar or may measure the altitude, at which the UAV301is located, using the barometric pressure measured by the barometer347. The e-compass347may measure the orientation to support the flight of the UAV301.

The GNSS module350may communicate with a satellite to obtain information about the latitude and longitude at which the UAV301is located. For example, the GNSS may include a global positioning system (GPS), a global navigation satellite system (Glonass), Beidou Navigation Satellite System (hereinafter referred to as “Beidou”), or the European global satellite-based navigation system (Galileo). In this specification, “GPS” and “GNSS” may be used interchangeably.

For example, the communication module360may support the communication channel establishment between the UAV301and an external device and the execution of wired or wireless communication through the established communication channel. According to an embodiment, for example, the communication module360may support cellular communication or short range wireless communication.

The cellular communication may include, for example, long-term evolution (LTE), LTE Advance (LTE-A), code division multiple access (CMA), wideband CDMA (WCDMA), universal mobile telecommunications system (UMTS), wireless broadband (WiBro), or global system for mobile communications (GSM). The short range wireless communication may include, for example, wireless fidelity (Wi-Fi), Wi-Fi Direct, light fidelity (Li-Fi), Bluetooth, infrared data association (IrDA), Bluetooth low energy (BLE), ZigBee, near field communication (NFC), magnetic secure transmission (MST), radio frequency (RF), or body area network (BAN).

The power manager module370may be a module for managing the power of the UAV301and may include, for example, a power management integrated circuit (PMIC). The power manager module370may manage the charging and discharging of the battery.

The battery375may convert chemical energy and electrical energy bidirectionally. For example, the battery375may convert chemical energy into electrical energy and may supply the converted electrical energy to various components or modules mounted in the UAV301. The battery375may convert and store electrical energy from the outside into chemical energy.

The memory380may include a volatile and/or nonvolatile memory. For example, the memory380may store commands or data associated with components included in the UAV301.

The processor390may include one or more of a central processing unit (CPU), an application processor (AP), a communication processor (CP), and a graphic processing unit (GPU). For example, the processor390may be electrically connected to at least one of other components of the UAV301to perform data processing or an operation associated with control or communication.

According to an aspect of the disclosure, the processor390may move the reference location of a hovering operation by the UAV301from a first location to a second location, based on whether a touch from a user is present, or the pressure of the touch.

According to an embodiment, the processor390may control the at least one motor322such that the UAV301performs the hovering operation at the first location. The hovering operation may mean an operation in which the UAV301is hovering at a specified location (or altitude) in consideration with the effect by the external force (e.g., wind, or the like). For example, the UAV301performing the hovering operation may limit the substantially horizontal and vertical movements (with respect to the ground) so as to hover at the specified location despite the external force. The first location may be specified in advance, as an example of the specified location.

According to an embodiment, when the touch is sensed by the tactile sensor341, the processor390may release the limitation of one of horizontal movement or vertical movement of the UAV301. For example, when the touch is sensed by the tactile sensor341(the first tactile sensor) disposed on the upper surface of the housing or the tactile sensor341(the second tactile sensor) disposed on the lower surface of the housing, the processor390may release the limitation of the vertical movement (altitude change). For still another example, when the touch is sensed by the tactile sensor341(the third tactile sensor) disposed on the side surface of the housing, the limitation of horizontal movement may be released. The location where the hovering operation was performed previously, i.e., the first location may be changed to the second location through the release of the movement limitation.

According to an embodiment, the processor390may determine the second location different from the first location, based on the touch sensed by the tactile sensor341.

For example, when the touch is sensed by the first tactile sensor, the processor390may determine a location having an altitude lower than an altitude of the first location, as the second location. For another example, when the touch is sensed by the second tactile sensor, the processor may determine a location having an altitude higher than an altitude of the first location, as the second location. That is, when the touch is sensed by the first tactile sensor or the second tactile sensor, the altitude of the reference location of the hovering operation may be changed.

For still another example, when the touch is sensed by the third tactile sensor, the processor390may determine another location having an altitude the same as the first location, as the second location. At this time, the direction from the first location to the second location may correspond to a horizontal component of a direction to which the touch is applied. That is, when the touch is sensed by the third tactile sensor, the reference location of the hovering operation may be changed in a horizontal direction.

According to an embodiment, the distance “D” between the first location and the second location may be set in advance by the processor390. For example, the hovering location of the UAV301may be changed in proportion to the number of times that the touch is sensed by the tactile sensor341. For example, while the UAV301performs the hovering operation at the first location, when the touch is sensed four times by the tactile sensor341, the changed reference location (the second location) of the hovering operation may be spaced from the first location by 4D.

According to an embodiment, the processor390may determine the distance between the first location and the second location, depending on the pressure of the touch sensed by the tactile sensor341. According to an embodiment, the tactile sensor341may include the pressure sensor341p. When the pressure sensed by the pressure sensor341pis high, the processor390may determine that the distance between the first location and the second location is long. On the other hand, when the sensed pressure is low, the processor390may determine that the distance between the first location and the second location is short. According to various embodiments, the sensed pressure is excessively high, the distance between the first location and the second location may be limited to a specific level.

According to an embodiment, the processor390may control the at least one motor322such that the UAV301performs the hovering operation at the determined second location.

According to various embodiments, the processor390may control at least one motor322such that the distance between the second location and the external object is not less than a specified value, based on the distance to an external object (e.g., a wall, an obstacle, or a ceiling), which is measured by the distance measurement sensor343. The specified value may correspond to the size of the UAV301. In this way, even though the touch with the strong pressure is detected, the UAV301may not collide with an external object.

According to various embodiments, while the UAV301moves from the first location to the second location, the processor390may control the camera330and/or actuator335. For example, while the UAV301moves from the first location to the second location, the processor390may allow the camera330and/or actuator335to track the recognized subject. Furthermore, the processor390may control the actuator335such that the camera330captures an image and or video focusing on the subject.

According to another aspect of the disclosure, the processor390may move the reference location of a hovering operation by the UAV301from a first location to a second location intended by the user, based on a specified touch gesture (e.g., grab or grip) from the user.

According to an embodiment, the processor390may control the at least one motor322such that the UAV301performs the hovering operation at the first location. For example, the UAV301performing the hovering operation may limit the substantially horizontal and vertical movements so as to hover at the first location despite the external force. The first location may be specified in advance, as an example of the specified location.

According to an embodiment, when the specified touch (e.g., grab) is sensed by the tactile sensor341, the processor390may release the limitation of both the vertical movement and horizontal movement of the UAV301and may reduce the output (e.g., the rotational speed of a rotor) of the at least one motor322to be less than or equal to a specified output value (e.g., 70% of the existing output value). For example, when the specified touch of the user grabbing the UAV301is sensed, the processor390may stop the hovering operation at the first location (i.e., may release the limitation of both the vertical movement and horizontal movement). The processor390may reduce the output (e.g., the rotational speed of a rotor) of the motor322to be less than or equal to a specified output value such that the user easily moves the UAV301to another location.

According to an embodiment, whether the specified touch (e.g., grab) is sensed may be determined in various manners. For example, when the touch including the contact of a specified area or more is sensed by the tactile sensor341, the processor390may determine whether the specified touch is sensed. For still another example, when the touch including the contact during a specified time or longer is sensed by the tactile sensor341, the processor390may determine whether the specified touch is sensed. For still another example, when the touch is sensed substantially simultaneously by two or more of the tactile sensor341(the first tactile sensor) disposed on the upper surface of the housing, the tactile sensor341(the second tactile sensor) disposed on the lower surface of the housing, and the tactile sensor341(the third tactile sensor) disposed on the side surface of the housing, the processor341may determine whether the specified touch is sensed. The sensing method of the specified touch is exemplary and is not limited thereto. For example, the tactile sensor341may include a dedicated sensor for sensing the specified touch.

According to an embodiment, when the acceleration value detected by the accelerometer342is reduced to a specified value or less, the processor390may increase the output of the at least one motor322to the specified output value or more, to perform the hovering operation at the second location. The second location may correspond to a location in a space of the UAV301at a point in time when the acceleration value is reduced to a specified value or less (substantially ‘0’).

For example, for the purpose of allowing the UAV301performing the hovering operation at the first location to perform the hovering operation at the second location, the user may grab the UAV301and then may put the UAV301at the second location. The acceleration value of the accelerometer342included in the UAV301may fluctuate greatly due to the grab and movement by the user. Accordingly, when the acceleration value is reduced to the specified value or less (substantially ‘0’), the UAV301may be regarded as being put at the second location intended by the user.

According to various embodiments, the processor390may initiate the hovering operation at the second location, additionally in consideration of posture in the space of the UAV301in addition to the acceleration value. For example, when the acceleration value sensed by the accelerometer342is reduced to the specified value or less and the posture of the UAV301measured by the posture sensor344is horizontal with respect to the ground, the processor390may increase the output of the motor322so as to perform the hovering operation at the second location. In this way, when the UAV301is put in the posture not suitable for the hovering operation, the hovering operation may not be initiated.

According to various embodiments, after the acceleration value sensed by the accelerometer342is reduced to the specified value or less and then a specified time elapses, the processor390may initiate the hovering operation at the second location. Because the hovering operation (the rise in the motor output) is initiated after the specified time (e.g., 2-3 seconds) has elapsed, the processor390may accurately determine whether the current location of the UAV301is the hovering reference location intended by the user.

According to various embodiments, while the UAV301moves from the first location to the second location, the processor390may control the camera330and/or actuator335.

For example, while the UAV301performs the hovering operation at the first location, the camera330may capture an image and/or video. While the UAV301moves from the first location to the second location, the processor390may allow the camera330to hold or pause the capture.

Afterward, when the hovering operation is initiated at the second location, the processor390may resume the capture. When the UAV301moves to the second location, after the processor390allows the camera330to initiate the image capture and to initiate the track for subject, the processor390may allow the camera330to apply the specified image processing effect (e.g., close-up, a Selfie filter, or the like).

The above-described operations of the processor390are, but are not limited to, an example. For example, any other operations of a processor described in this specification should be understood as operations of the processor390. Also, in this specification, at least part of operations described as operations of an “electronic device” should be understood as operations of the processor390. Moreover, according to various embodiments, all or part of the operations of the processor390may be performed by a separately provided controller for controlling the flight state.

FIG. 4illustrates a configuration of a UAV, according to another aspect.

Referring toFIG. 4, a UAV400according to an aspect may include software401and hardware402. The software401may be implemented in a (volatile) memory by the computing resources of the processor. Accordingly, the operation of the software401described below may be understood as the operation of the processor. For example, the hardware402may include the various components illustrated inFIG. 3.

According to an embodiment, the software401may include a status manager410, a sensor manager420, a content processing manager430, a control manager440, and an operating system (OS)450.

The status manager410may determine the state transition condition based on the values provided from the sensor manager420and may change the operating state of the UAV400depending on the determination result.

According to an embodiment, the status manager410may include a condition determination unit411, a state display unit412, and a state command unit413. The condition determination unit411may determine whether a specified state transition condition is satisfied, based on the values provided from the sensor manager420. When the operating state of the UAV400is changed depending on the determination result of the condition determination unit411, the state display unit412may notify the user of the changed operating state through a speaker, an LED, a display, or the like. The state command unit413may generate commands, signals, data, or information defined in the current operating state and may transmit the commands, the signals, the data, or the information to other components.

The sensor manager420may process sensing values received from various sensors to provide the sensing values to other components. For example, the sensor manager420may include a touch processing unit421, a pressure processing unit422, a posture recognition unit423, and an object recognition unit424.

According to an embodiment, the touch processing unit421may provide the status manager410with the touch data (a touch location, a touch type, or the like) sensed by the touch sensor included in the tactile sensor. The pressure processing unit422may provide the status manager410with the pressure value (the intensity of pressure, or the like) sensed by the pressure sensor included in the tactile sensor. The posture recognition unit423may obtain sensing data (the slope of UAV, the height from the ground, absolute altitude, GPS location information, or the like) associated with the location and/or posture of the UAV400from a posture detection module, a GPS (GNSS) module, an altimeter, or the like to provide the sensing data to the status manager410. The object recognition unit424may distinguish a user's palm from the general object to recognize the user's palm. The recognition data of the palm may be provided to the status manager410. The recognition data of the palm may be used to determine the condition for reaching the “Palm Landing Try” state described below.

The content processing manager430may include a capture setting unit431, a content generation unit432, and a content transmission unit433. The content processing manager430may manage the capture condition of a camera, data generation of the image and/or video obtained from the camera, and the transmission of the generating data.

According to an embodiment, the capture setting unit431may manage the setting of the capture condition of a camera. For example, the capture setting unit431may adjust the brightness, sensitivity, focal distance, or the like of the image and/or video or may change the capture mode (e.g., Selfie, Fly Out, or the like) depending on the flight state of the UAV400. For example, the content generation unit432may generate or correct data (file) of the captured image and/or video using an image signal processor (ISP). The content transmission unit433may store the data (file) of the image and/or video generated by the content generation unit432, in the memory of the UAV400or may transmit the data (file) to another electronic device via a communication module (e.g., Bluetooth, Wi-Fi Direct, or the like). The content transmission unit433may stream images obtained from the camera in real time, to an electronic device via the communication module (so called, a live view).

The control manager440may perform power control associated with the flight of the UAV400. According to an embodiment, the control manager440may include a motor control unit441, an LED control unit442, and a posture control unit443.

According to an embodiment, the motor control unit441may control the rotational speeds of a plurality of motors, based on the state determined by the status manager410. For example, the motor control unit441may control the flight state (rotational states and/or translational states) of the UAV400, by controlling the rotational speeds of the plurality of motors. The LED control unit442may receive state information from the state display unit412of the status manager410to control the color and blink speed of an LED. The posture control unit443may obtain the posture information of the UAV400from the posture recognition unit424of the sensor manager420and may perform the overall posture control of the UAV400.

The kernel of the OS450may provide an interface for controlling or managing system resources (e.g., the hardware402) used to execute the operations or functions implemented in the managers410to440. The kernel may manage access to system resources (e.g., the hardware402) of the managers410to440. To this end, the kernel may include, for example, a device driver451and a hardware abstraction layer (HAL)452.

FIG. 5illustrates a state diagram of a UAV, according to an embodiment.

Referring toFIG. 5, the operating state of the UAV according to an embodiment may include an Off state51, a Standby-Normal state52, a Standby-Release state53, a Hovering state54, a Unlock Hovering-Push state55, a Unlock Hovering-Grab state56, and a Palm Landing Try state57. Each of the states51to57may be transitioned to another state when specific conditions described below are satisfied.

The Off state51may indicate the state where the UAV is powered off. For example, when a power button is pressed, the Standby-Normal state52may be transitioned (condition501); when the power button is pressed again in the Standby-Normal state52, the Off state51may be transitioned (condition502).

The Standby-Normal state52may indicate the state where the UAV is powered on. In the Standby-Normal state52, the propeller of the UAV may not rotate. For example, when a Hover button is pressed, the Standby-Release state53may be transitioned (condition503); when the Hover button is pressed again in the Standby-Release state53, the Standby-Normal state52may be transitioned (condition504).

In the Standby-Release state53, the UAV may increase the rotational speed (e.g., 300 RPM) of a propeller so as to perform a hovering operation. The Standby-Release state53may indicate the state until the UAV reaches the specified location (the first location). At this time, the UAV may turn on an LED indicating a self-operating mode (so-called a standalone mode). In the Standby-Release state53, the UAV may continuously monitor the Release Conditions (condition505); when the Release Conditions (condition505) are satisfied, the hovering state54may be transitioned. The Release Conditions (condition505) may include whether the posture, movement, and altitude, which are suitable such that the UAV performs a stable hovering operation, are maintained, and whether the stable posture, movement, or altitude is maintained during a specified time or longer.

The Hovering state54may indicate the state where the UAV flies while maintaining the specified location (and altitude). According to an embodiment, the UAV may automatically capture the image and/or video while remaining in the Hovering state without user's manipulation command. According to an embodiment, in the Hovering state54, the UAV may monitor Push Conditions (condition506), Grab Conditions (condition508), or Palm Landing Conditions (511).

For example, when the Push Conditions (condition506) are satisfied, the Unlock Hovering-Push state55may be transitioned from the Hovering state54. The Push Conditions (condition506) may include whether the touch and/or the pressure of the touch is sensed by the tactile sensor disposed in the housing of the UAV.

For still another example, when the Grab Conditions (condition508) are satisfied, the Unlock Hovering-Grab state56may be transitioned from the Hovering state54. The Grab Conditions (condition508) may determine whether the grab (the specified touch) is sensed by the tactile sensor disposed in the housing of the UAV. For example, when the touch having the specified area or more in the tactile sensor, the touch during a specified time or longer or the touch on two or more surface is sensed, the UAV may determine whether the grab is sensed.

For still another example, when the Palm Landing Conditions (condition511) are satisfied, the Palm Landing Try state57may be transitioned from the Hovering state54. The Palm Landing Conditions (condition511) may include whether an object (e.g., a user's palm) is recognized during a specified time or longer.

After the touch and/or the pressure of the touch is sensed by the tactile sensor disposed in the housing of the UAV, i.e., after the Push Conditions (condition506) are satisfied, the Unlock Hovering-Push state55may indicate the state of moving to the second location determined based on the touch and/or the pressure of the touch.

According to an embodiment, in the Unlock Hovering-Push state55, the UAV may release the limitation of one of horizontal movement or vertical movement, depending on the location at which the touch is made. For example, when the touch is sensed by the tactile sensor (the first tactile sensor) disposed on the upper surface of the housing or the tactile sensor (the second tactile sensor) disposed on the lower surface of the housing, the UAV may release the limitation of the vertical movement (altitude change). For still another example, when the touch is sensed by the tactile sensor (the third tactile sensor) disposed on the side surface of the housing, the limitation of horizontal movement may be released.

In the Unlock Hovering-Push state55, the UAV may move to the second location corresponding to the sensed touch and/or the sensed pressure of the touch. Afterward, the UAV may determine whether the posture, movement, and altitude, which are suitable to perform a stable hovering operation, are maintained and whether the stable posture, movement, or altitude is maintained during a specified time or longer (Release Conditions (condition507)); when the Release Conditions (condition507) are satisfied, the Hovering state54may be transitioned again.

According to various embodiments, in the Unlock Hovering-Push state55, the UAV may continuously monitor whether the grab is sensed by the tactile sensor disposed in the housing of the UAV, i.e., the Grab Conditions (condition510) are satisfied. For example, when the Grab Conditions (condition510) are satisfied in the Unlock Hovering-Push state55after the touch is sensed, the Unlock Hovering-Grab state56may be transitioned.

According to various embodiments, when the user presses a Hover button in the Unlock Hovering-Push state55(condition514), the Standby-Normal state52may be transitioned.

When the grab is sensed by the tactile sensor, i.e., the Grab Conditions (condition510) are satisfied, the Unlock Hovering-Grab state56may indicate a state of reducing the output (e.g., the rotational speed of a rotor) of a motor to a specified output value or less such that the user easily moves the UAV to another location.

According to an embodiment, in the Unlock Hovering-Grab state56, the limitation of both the vertical movement and horizontal movement of the UAV may be released. Afterward, the UAV may determine whether the posture, movement, and altitude, which are suitable to perform a stable hovering operation, are maintained and whether the stable posture, movement, or altitude is maintained during a specified time or longer (Release Conditions (condition509)). When the Release Conditions (condition509) are satisfied, the UAV may increase the output of a motor to the specified output value or more, and then the Hovering state54may be transitioned again.

The Palm Landing Try state57may indicate a state where the UAV recognizing an object (e.g., the user's palm) attempts to land on the object. In the Palm Landing Try state57, the UAV may monitor whether the UAV stably lands on the object or whether the landing of the UAV is successful.

According to an embodiment, in the Palm Landing Try state57, the UAV may determine that the landing on the object is successful, when the distance to the object is not greater than a specified distance (substantially ‘0’) (Palm Landing Completion (condition513). According to another embodiment in the Palm Landing Try state57, the UAV has attempted to land on the object the number of times. However, when the Palm Landing Completion (condition513) is not satisfied (Palm Landing Fail (condition512)), the Hovering state54may be transitioned again.

FIGS. 6A and 6Bare views for describing a flight controlling method, according to an embodiment.

Referring toFIG. 6A, a UAV601performing a hovering operation at a location ‘A’ (altitude ‘HA’ from the ground) is illustrated. For example, at the location ‘A’, the UAV601may be in the Hovering state54illustrated inFIG. 5.

According to an embodiment, a user6amay provide a user input61(e.g., touch) to a second tactile sensor disposed on the lower surface of the UAV601. Because a user input, for example, the touch and the pressure of the touch, is sensed by the second tactile sensor (because Push Conditions (condition506) illustrated inFIG. 5are satisfied), the UAV601may release the limitation of the vertical movement and then may move to location ‘B’ (the Unlock Hovering-Push state55illustrated inFIG. 5).

According to an embodiment, the UAV601may determine a location ‘B’, based on the sensed touch. For example, the location ‘B’ (altitude ‘HB’ from the ground) may be determined as a location higher than the height ‘HA’ of the location ‘A’ by ΔHAB. For example, the ΔHAB may correspond to (e.g., may be proportional to) the intensity of the pressure of the touch61from the user6a. For still another example, the ΔHAB may be determined in proportion to the number of sensed touches. In this case, the UAV601may be configured to move by a predefined distance in response to one touch. For example, when three touches are sensed, the ΔHAB may correspond to three times the predefined distance.

According to an embodiment, when the posture, movement, and altitude, which are suitable to perform a stable hovering operation, are maintained during a specified time or longer (the Release Conditions (condition507) illustrated inFIG. 5are satisfied), the UAV601moving to the location ‘B’ may perform the hovering operation at the location ‘B’ (the Hovering state54illustrated inFIG. 5).

An embodiment is exemplified inFIG. 6Aas the user6atouches (61) the second tactile sensor disposed on the lower surface of the UAV601. However, an embodiment is not limited thereto. For example, the user6amay change the hovering location of the UAV601to a location lower than the location ‘A’, by touching (62) the first tactile sensor disposed on the upper surface of the UAV601.

Referring toFIG. 6B, a UAV602performing a hovering operation at the location ‘A’ (altitude ‘HA’ from the ground) is illustrated. For example, at the location ‘A’, the UAV602may be in the Hovering state54illustrated inFIG. 5.

According to an embodiment, a user6bmay provide a user input63(e.g., touch) to a third tactile sensor disposed on the side surface of the UAV602. Because a user input, for example, the touch and the pressure of the touch, is sensed by the third tactile sensor (because Push Conditions (condition506) illustrated inFIG. 5are satisfied), the UAV602may release the limitation of the horizontal movement and then may move to location ‘B’ (the Unlock Hovering-Push state55illustrated inFIG. 5).

According to an embodiment, the UAV602may determine the location ‘B’, based on the sensed touch. For example, the location ‘B’ (altitude ‘HB’ from the ground) may be determined as a location, which is the same as the height ‘HA’ of the location ‘A’ (HA=HB) and is spaced by ΔDAB in the horizontal direction with respect to the ground. The direction from the location ‘A’ to the location ‘B’ may correspond to the horizontal direction component of the touch63. According to various embodiments, the ΔDAB may be specified in advance or may correspond to the pressure of the touch63from the user6b.

According to an embodiment, when the posture, movement, and altitude, which are suitable to perform a stable hovering operation, are maintained during a specified time or longer (the Release Conditions (condition507) illustrated inFIG. 5are satisfied), the UAV601moving to the location ‘B’ may perform the hovering operation at the location ‘B’ (the Hovering state54illustrated inFIG. 5).

FIG. 7is a flowchart illustrating a flight controlling method, according to an embodiment.

Referring toFIG. 7, the flight controlling method according to an embodiment may include operation701to operation712. For example, operation701to operation712may be performed by the UAV301illustrated inFIG. 3. For example, operation701to operation712may be implemented with instructions or hardware logic capable of being performed (or executed) by the processor390of the UAV301. Below, operation701to operation712will be described by using the reference numerals ofFIG. 3.

In operation701, the processor390of the UAV301may control the at least one motor322such that the UAV301performs a hovering operation at a first location (the Hovering state54ofFIG. 5). The processor390may limit the horizontal and vertical movements such that the UAV301hovers at the first location.

In operation703, the processor390may initiate the capturing of the image (still image) and/or video, using the camera330.

In operation705, the processor390may determine whether the touch is detected by the tactile sensor341disposed on the upper surface, the lower surface, and/or the side surface of housing. For example, the processor390may determine whether the Push Conditions (condition506) illustrated inFIG. 5are satisfied. The processor390may perform operation706when the touch is sensed by the tactile sensor341; otherwise, the processor390may monitor whether the touch is sensed, by repeating operation705.

In operation706, the processor390may temporarily pause the capturing of the image and/or video in response to the detection of the touch. According to various embodiments, operation706may be skipped. When operation706is skipped, the capture initiated in operation703may be performed continuously.

When the touch is sensed by the tactile sensor341, in operation707, the processor390may release the limitation of one of horizontal movement or vertical movement of the UAV301(transition to the Unlock Hovering-Push state55). For example, when the touch is sensed by the tactile sensor341(the first tactile sensor) disposed on the upper surface of the housing or the tactile sensor341(the second tactile sensor) disposed on the lower surface of the housing, the processor390may release the limitation of the vertical movement (altitude change). For still another example, when the touch is sensed by the tactile sensor341(the third tactile sensor) disposed on the side surface of the housing, the limitation of horizontal movement may be released.

In operation709, the processor390may determine the second location different from the first location, based on the touch sensed by the tactile sensor341.

For example, when the touch is sensed by the first tactile sensor, the processor390may determine a location having an altitude lower than an altitude of the first location, as the second location. For another example, when the touch is sensed by the second tactile sensor, the processor390may determine a location having an altitude higher than an altitude of the first location, as the second location. That is, when the touch is sensed by the first tactile sensor or the second tactile sensor, the altitude of the reference location of the hovering operation may be changed.

For still another example, when the touch is sensed by the third tactile sensor, the processor390may determine another location having an altitude the same as the first location, as the second location. At this time, the direction from the first location to the second location may correspond to a horizontal component of a direction to which the touch is applied. That is, when the touch is sensed by the third tactile sensor, the reference location of the hovering operation may be changed in a horizontal direction.

According to an embodiment, the distance between the first location and the second location may be determined in proportion to the number of times that the touch is sensed by the tactile sensor341. In this case, the processor390may move the UAV301by a predefined distance in response to one touch. For example, when three touches are detected, the processor390may move the UAV301by three times the predefined distance.

According to still another embodiment, the processor390may determine the distance between the first location and the second location, depending on the pressure of the touch sensed by the tactile sensor341. When the pressure sensed by the pressure sensor341pincluded in the tactile sensor341is high, the processor390may determine that the distance between the first location and the second location is long; when the sensed pressure is low, the processor390may determine that the distance between the first location and the second location is short.

According to various embodiments, the processor390may control at least one motor322such that the distance between the second location and the external object is not less than a specified value, based on the distance to an external object (e.g., a wall, an obstacle, or a ceiling), which is measured by the distance measurement sensor343.

In operation711, the processor390may control the at least one motor322such that the UAV301performs the hovering operation at the second location determined in operation709. For example, the processor390may determine whether Release Conditions (condition507) illustrated inFIG. 5are satisfied; when the Release Conditions (condition507) are satisfied, the processor390may return to the Hovering state54.

In operation712, the processor390may initiate the capturing of the image and/or video.

According to various embodiments, when operation706is skipped, operation712may be also skipped. That is, the capture initiated in operation703may be continued. For example, while the UAV301moves from the first location to the second location, the processor390may allow the camera330and/or actuator335to track the recognized subject. The processor390may control the actuator335such that the camera330captures an image and or video focusing on the subject. In this way, various capture effects may be achieved.

FIGS. 8A and 8Bare flowcharts illustrating obstacle collision avoidance, according to an embodiment.

Referring toFIG. 8A, a user8amay provide a user input (e.g., touch) to a third tactile sensor disposed on the side surface of a UAV801a. Because a user input, for example, the touch and the pressure of the touch, is sensed by the third tactile sensor (because Push Conditions (condition506) illustrated inFIG. 5are satisfied), the UAV801amay release the limitation of the horizontal movement and may determine a location ‘B’ to which the UAV801aneeds to move.

According to an embodiment, the location ‘B’ may be determined as a location, the altitude of which is the same as the altitude of a location ‘A’ and which is moved in the horizontal direction from the location ‘A’ by a distance corresponding to the pressure of the touch from the user8a. However, for example, because the location ‘B’ may be determined as a location inside a wall802wwhen the pressure of the touch is high, the UAV801amay collide with the wall802wwhen the UAV801amoves to the location ‘B’.

Accordingly, according to an embodiment, the UAV801amay measure the distance to the wall802w, using a distance measurement sensor (an ultrasonic sensor, an infrared sensor, or the like) and may change the location ‘B’ such that the distance from the wall802wis spaced by a specified value. For example, referring toFIG. 8A, the UAV801amay change the location ‘B’ to location L1so as to be spaced from the wall802wby ‘D1’.

Referring toFIG. 8B, a user8bmay provide a user input (e.g., touch) to a second tactile sensor disposed on the lower surface of a UAV801b. Because a user input, for example, the touch and the pressure of the touch, is sensed by the second tactile sensor (because Push Conditions (condition506) illustrated inFIG. 5are satisfied), the UAV801bmay release the limitation of the vertical movement and may determine the location ‘B’ to which the UAV801bneeds to move.

According to an embodiment, the location B may be determined as a location which rises in the vertical direction from the location ‘A’. For example, the location ‘B’ may be determined as a location which rises from the location ‘A’ by a distance corresponding to the pressure of the touch from the user8b. However, for example, because the location ‘B’ may be determined as a location inside a ceiling802cwhen the pressure of the touch is high, the UAV801bmay collide with the ceiling802cwhen the UAV801bmoves to the location ‘B’.

Accordingly, according to an embodiment, the UAV801bmay measure the distance to the ceiling802c, using a distance measurement sensor (an ultrasonic sensor, an infrared sensor, or the like) and may change the location ‘B’ such that the distance from the ceiling802cis spaced by a specified value. For example, referring toFIG. 8B, the UAV801bmay change the location ‘B’ to location L2so as to be spaced from the ceiling802cby ‘D2’.

According to various embodiments, when the pressure of the touch detected by the UAV is excessively high, the distance between the location ‘A’ and the location ‘B’ to which the UAV needs to move may be limited in advance to a specific level.

FIG. 9is a view for describing a flight controlling method, according to another embodiment.

Referring toFIG. 9, a UAV901performing a hovering operation at a location ‘A’ is illustrated. For example, at the location ‘A’, the UAV901may be in the Hovering state54illustrated inFIG. 5.

According to an embodiment, a user9may grab the housing of the UAV901, using his/her hand. When the touch of a specified area or more is sensed by the tactile sensor disposed in the housing, when the touch during a specified time or longer is sensed by the tactile sensor, or when the touch on two or more surfaces (e.g., the side surface and the lower surface) is sensed by the tactile sensor, the UAV901may determine that the grab by the user9is detected.

Because the grab by the user is detected (because the Grab Conditions (condition508) illustrated inFIG. 5are satisfied), the UAV901may release the limitation of vertical movement and horizontal movement and may reduce the output of a motor to a specified output value or less (the Unlock Hovering-Grab state56illustrated inFIG. 5).

According to an embodiment, after placing the UAV901at the location ‘B’, the user9may stand by for a while. When the posture, movement, and altitude, which are suitable to perform a stable hovering operation, are maintained during a specified time or longer (the Release Conditions (condition509) illustrated inFIG. 5are satisfied), the UAV901moving to the location13′ may resume the hovering operation at the location ‘B’ by increasing the output of a motor (the Hovering state54illustrated inFIG. 5).

FIG. 10is a flowchart illustrating a flight controlling method, according to another embodiment.

Referring toFIG. 10, the flight controlling method may include operation1001to operation1017. For example, operation1001to operation1017may be performed by the UAV301illustrated inFIG. 3. For example, operation1001to operation1017may be implemented with instructions or hardware logic capable of being performed (or executed) by the processor390of the UAV301. Hereinafter, operation1001to operation1017will be described by using the reference numerals ofFIG. 3.

In operation1001, the processor390of the UAV301may control the at least one motor322such that the UAV301performs a hovering operation at a first location (the Hovering state54ofFIG. 5). The processor390may limit the horizontal and vertical movements such that the UAV301hovers at the first location. According to various embodiments, the processor390may be in a state (the Unlock Hovering-Push state55ofFIG. 5) of moving by the (temporary) touch from a user in operation1001.

In operation1003, the processor390may initiate the capturing of the image (still image) and/or video, using the camera330.

In operation1005, the processor390may determine whether the specified touch (e.g., grab) is detected by the tactile sensor341disposed on the upper surface, the lower surface, and/or the side surface of housing. For example, the processor390may determine whether the Grab Conditions (condition508or510) illustrated inFIG. 5are satisfied. The processor390may perform operation1006when the touch is sensed by the tactile sensor341; otherwise, the processor390may monitor whether the touch is sensed, by repeating operation1005.

According to an embodiment, whether the specified touch (e.g., grab) is sensed may be determined in various manners. For example, when the touch including the contact of a specified area or more is sensed by the tactile sensor341, the processor390may determine whether the specified touch is sensed. For still another example, when the touch including the contact during a specified time or longer is sensed by the tactile sensor341, the processor390may determine whether the specified touch is sensed. For still another example, when the touch is sensed substantially simultaneously by two or more of the tactile sensor341(the first tactile sensor) disposed on the upper surface of the housing, the tactile sensor341(the second tactile sensor) disposed on the lower surface of the housing, and the tactile sensor341(the third tactile sensor) disposed on the side surface of the housing, the processor341may determine whether the specified touch is sensed. The sensing method of the specified touch is exemplary and is not limited thereto. For example, the tactile sensor341may sense the specified touch by including a dedicated sensor.

In operation1007, the processor390may temporarily pause the capturing of the image and/or video in response to the specified touch (e.g., grab) of the touch.

In operation1009, the processor390may release the limitation of both vertical movement and horizontal movement of the UAV301. As such, the hovering operation at the first location may be paused (transition to the Unlock Hovering-Grab state56).

In operation1011, the processor390may reduce the output (e.g., the rotational speed of a rotor) of the at least one motor322to a specified output value or less such that the user easily moves the UAV301to another location (the second location).

In operation1013, the processor390may determine whether the acceleration value detected by the accelerometer342is reduced to a specified value (substantially ‘0’) or less. For example, the processor390may determine whether the Release Conditions (condition509) illustrated inFIG. 5are satisfied. When the detected acceleration value is reduced to the specified value or less, the processor390may perform operation1015; otherwise, the processor390may monitor the acceleration value by repeating operation1013.

Because the acceleration value detected by the accelerometer342is reduced to the specified value or less, in operation1015, the processor390may determine that the UAV301is positioned at the second location intended by the user. Afterward, the processor390may increase the output of the at least one motor322to the specified output value or more such that the UAV301performs the hovering operation at the second location.

According to an embodiment, in operation1015, the processor390may initiate the hovering operation at the second location, additionally in consideration of posture in the space of the UAV301(the Hovering state54ofFIG. 5). For example, when the acceleration value sensed by the accelerometer342is reduced to the specified value or less and the posture of the UAV301measured by the posture sensor344is horizontal with respect to the ground, the processor390may increase the output of the motor322so as to perform the hovering operation at the second location.

In operation1017, when the hovering operation is initiated at the second location, the processor390may resume the capture. In this way, unnecessary operations such as a grab operation by the user may not be included in the image and/or video obtained through the camera330of the UAV301.

According to various embodiments, when the UAV301moves to the second location, in operation1017, after the processor390allows the camera330to initiate the image capture and to initiate the track for subject, the processor390may allow the camera330to apply the specified image processing effect.

InFIG. 10, the processor390may pause the capturing of the image and/or video in response to the detection of the grab by the user in operation1007; the processor390may resume the capturing of the image and/or video in operation1017. However, an embodiment is not limited thereto. According to various embodiments, operation1007and operation1017may be skipped. When operation1007and operation1017are skipped, the capture initiated in operation1003may be performed continuously.

FIG. 11is a graph illustrating a speed of a propeller in flight control, according to an embodiment.

Referring toFIG. 11, a graph1101illustrates the rotational speed change of the propeller for thrust control of a UAV according to one embodiment. InFIG. 11, the horizontal axis denotes time and the vertical axis denotes the rotational speed of a propeller. The description ofFIG. 11may be given using the reference numerals ofFIG. 5.

At time t0to time t1, the UAV may be in the Hovering state54or may be in the Unlock Hovering-Push state55in response to the touch from a user and/or the pressure of the touch. The rotational speed of the propeller for the thrust control may be maintained at w1.

For example, when the touch from the user and/or the touch pressure is detected in the Hovering state54, the Unlock Hovering-Push state55may be transitioned (Push conditions (condition506)). Alternatively, when the UAV maintains the stable posture, movement, and altitude in the Unlock Hovering-Push state55, the Hovering state54may be transitioned again (Release conditions (condition507)). In the Unlock Hovering-Push state55, the UAV may release the limitation of vertical movement or horizontal movement.

At time t1, the user may grab the UAV. When the UAV detects the grab (the Grab Conditions (condition508) are satisfied), the Unlock Hovering-Grab state56may be transitioned. The UAV may release the limitation of vertical movement and horizontal movement; from time t1to time t2, the UAV may reduce the rotational speed of the propeller for the thrust control to a specified output value or less. In the Unlock Hovering-Grab state56, the UAV may continuously monitor Release Conditions (condition509).

From time t2to time t3, while monitoring Release Conditions (condition509), the UAV may maintain the rotational speed of the propeller for the thrust control to a specified output value or less (w2).

At time t3, when the posture, movement, and altitude, which are suitable to perform a stable hovering operation, are maintained during a specified time or longer (the Release Conditions (condition509) are satisfied), the UAV may increase the rotational speed of the propeller for the thrust control to a specified output value or more from time t3to time t4.

When the rotational speed of the propeller for the thrust control reaches a specific rotational speed w1at time t4, the UAV may maintain the specific rotational speed w1. That is, the UAV may perform a hovering operation from time t4(the Hovering state54). Accordingly, the user may release the UAV at time t4.

FIGS. 12 and 13are views for describing camera control in flight control, according to an embodiment.

Referring toFIG. 12, a UAV1201including a camera for capturing the image or video for a subject is illustrated. According to an embodiment, the UAV1201may perform a hovering operation at a location ‘A’. For example, at the location ‘A’, the UAV1201may be in the Hovering state54illustrated inFIG. 5. While performing a hovering operation at the location ‘A’, the UAV1201may capture the image or video for a subject (e.g., a user12), using a camera.

According to an embodiment, the user12may provide a user input12t(e.g., touch) to a third tactile sensor disposed on the side surface of the UAV1201. Because a user input, for example, the touch and the pressure of the touch, is sensed by the third tactile sensor (because Push Conditions (condition506) illustrated inFIG. 5are satisfied), the UAV1201may release the limitation of the horizontal movement and then may move to location ‘B’ (the Unlock Hovering-Push state55illustrated inFIG. 5).

According to an embodiment, while the UAV1201moves from the location ‘A’ to the location ‘B’, the UAV1201may track the subject (e.g., the user12) and may control an actuator (e.g., a gimbal motor) connected to the camera such that a camera captures the image or video, focusing on the subject. According to various embodiments, while the UAV1201moves from the location ‘A’ to the location B, the UAV1201may apply ‘Fly Out’ capture mode automatically. Accordingly, for example, the subject may be captured in order of image12p-1, image12p-2, and image12p-3.

Referring toFIG. 13, a UAV1301including a camera for capturing the image or video for a subject is illustrated. According to an embodiment, the UAV1301may perform a hovering operation at a location ‘A’. For example, at the location ‘A’, the UAV1301may be in the Hovering state54illustrated inFIG. 5. While performing a hovering operation at the location ‘A’, the UAV1301may capture the image or video for a subject (e.g., a user13), using a camera.

According to an embodiment, a user13may grab the housing of the UAV1301. Because the grab by the user is detected (because the Grab Conditions (condition508) illustrated inFIG. 5are satisfied), the UAV1301may release the limitation of vertical movement and horizontal movement and may reduce the output of a motor to a specified output value or less (the Unlock Hovering-Grab state56illustrated inFIG. 5). At this time, the UAV1301may temporarily pause the capturing of the camera.

According to an embodiment, after placing the UAV1301at the location ‘B’, the user13may stand by for a while. When the posture, movement, and altitude, which are suitable to perform a stable hovering operation, are maintained during a specified time or longer (the Release Conditions (condition509) illustrated inFIG. 5are satisfied), the UAV1301moved to the location13′ may resume the hovering operation at the location ‘B’ by increasing the output of a motor (the Hovering state54illustrated inFIG. 5). The UAV1301may resume the capturing of the camera.

According to an embodiment, when the UAV1301resumes the hovering operation at the location ‘B’ after the UAV1301is moved to the location ‘B’, the UAV1301may allow the camera to initiate the capturing the image/video, to initiate the track for subject, and to apply the specified image processing effect (e.g., close-up, a Selfie filter, or the like).

According to various embodiments of the disclosure, even non-skilled persons may intuitively change the location of the UAV, without a separate controller. In this way, when an image or video is captured using the camera attached to the UAV, it is possible to easily obtain the view desired by a user.

According to an embodiment, a UAV may include housing, a tactile sensor disposed on at least a partial surface of the housing, at least one motor, a propeller connected the at least one motor, and a processor electrically connected to the tactile sensor and the at least one motor and controlling the at least one motor. The tactile sensor may include a first tactile sensor disposed on an upper surface of the housing, a second tactile sensor disposed on a lower surface of the housing, and a third tactile sensor disposed on a side surface of the housing. The processor may be configured to control the at least one motor such that the UAV performs a hovering operation at a first location, to release limitation of vertical movement when a touch is sensed by the first tactile sensor or the second tactile sensor, and release limitation of horizontal movement when a touch is detected by the third tactile sensor, to determine a second location different from the first location, based on the sensed touch, and to control the at least one motor such that the UAV performs a hovering operation at the second location.

According to an embodiment, the processor may be configured to determine a location having an altitude lower than an altitude of the first location, as the second location when the touch is sensed by the first tactile sensor and to determine a location having an altitude higher than the altitude of the first location, as the second location when the touch is sensed by the second tactile sensor.

According to an embodiment, a distance between the first location and the second location may be set in advance.

According to an embodiment, each of the first tactile sensor and the second tactile sensor may include a pressure sensor. The processor may be configured to determine a distance between the first location and the second location, depending on pressure of the touch.

According to an embodiment, the processor may be configured to determine a location having an altitude the same as the first location, as the second location when the touch is sensed by the third tactile sensor. A direction from the first location to the second location may correspond to a horizontal component of a direction to which the touch is applied.

According to an embodiment, a distance between the first location and the second location may be set in advance.

According to an embodiment, the third tactile sensor may include a pressure sensor. The processor may be configured to determine a distance between the first location and the second location, depending on pressure of the touch.

According to an embodiment, the UAV may further include a distance measurement sensor measuring a distance to an external object at a periphery of the UAV. The processor may be configured to control the at least one motor such that a distance between the second location and the external object is not less than a specified value.

According to an embodiment, a parameter used by the distance measurement sensor may include one of an ultrasonic wave and an infrared ray.

According to an embodiment, the UAV may further include a camera capturing a video for a subject and an actuator controlling a field of view (FoV) of the camera. The processor may be configured to track the subject while the UAV moves from the first location to the second location and to control the actuator such that the camera captures the video, focusing on the subject.

According to an embodiment, a UAV may include housing, a tactile sensor disposed on at least a partial surface of the housing, an accelerometer disposed inside the housing, at least one motor, a propeller connected the at least one motor, and a processor electrically connected to the tactile sensor and the at least one motor and controlling the at least one motor. The processor may be configured to control the at least one motor such that the UAV performs a hovering operation at a first location, to reduce an output of the at least one motor to a specified output value or less when a specified touch is sensed by the tactile sensor, and to increase the output of the at least one motor to the specified output value or more to perform a hovering operation at a second location when an acceleration value detected by the accelerometer is reduced to a specified value or less. The second location may correspond to a location of the UAV at a point in time when an acceleration value is reduced to a specified value or less.

According to an embodiment, the processor may be configured to determine that the specified touch is detected, when a touch including contact of a specified area or more is sensed by the tactile sensor.

According to an embodiment, the processor may be configured to determine that the specified touch is detected, when a touch including contact during a specified time or longer is sensed by the tactile sensor.

According to an embodiment, the tactile sensor may include a first tactile sensor disposed on an upper surface of the housing, a second tactile sensor disposed on a lower surface of the housing, and a third tactile sensor disposed on a side surface of the housing. The processor may be configured to determine that the specified touch is detected, when a touch is sensed by two or more tactile sensors of the first tactile sensor, the second tactile sensor, and the third tactile sensor.

According to an embodiment, the UAV may further include a posture sensor sensing a posture of the UAV. The processor may be configured to increase the output of the at least one motor to perform a hovering operation at the second location, when the detected acceleration value is reduced to the specified value or less and when the posture of the UAV is horizontal with respect to a ground.

According to an embodiment, the posture sensor may include at least one of a geomagnetic sensor or a gyroscope sensor.

According to an embodiment, the processor may be configured to initiate the hovering operation at the second location, after the sensed acceleration value is reduced to the specified value or less and then a specified time elapses.

According to an embodiment, the UAV may further include a camera capturing a video. The processor may be configured to allow the camera to stop the capturing of the video, while the UAV moves from the first location to the second location.

According to an embodiment, the UAV may further include a camera capturing an image of a subject. The processor may be configured to allow the camera to initiate the capturing of the image and to initiate the tracking of the subject, while the UAV moves to the second location.

According to an embodiment, the processor may be configured to allow the camera to apply a specified image processing effect while the UAV moves to the second location.

The term “module” used in this specification may include a unit implemented with hardware, software, or firmware. For example, the term “module” may be interchangeably used with the term “logic”, “logic block”, “component”, “circuit”, and the like. The “module” may be a minimum unit of an integrated part or a part thereof or may be a minimum unit for performing one or more functions or a part thereof. The “module” may be implemented mechanically or electronically and may include, for example, an application-specific IC (ASIC) chip, a field-programmable gate array (FPGA), and a programmable-logic device for performing some operations, which are known or will be developed.

According to various embodiments, at least a part of an apparatus (e.g., modules or functions thereof) or a method (e.g., operations) may be, for example, implemented by instructions stored in a computer-readable storage media in the form of a program module. The instruction, when executed by a processor (e.g., a processor20), may cause the processor to perform a function corresponding to the instruction. The computer-readable recording medium may include a hard disk, a floppy disk, a magnetic media (e.g., a magnetic tape), an optical media (e.g., a compact disc read only memory (CD-ROM) and a digital versatile disc (DVD), a magneto-optical media (e.g., a floptical disk)), an embedded memory, and the like. The one or more instructions may contain a code made by a compiler or a code executable by an interpreter.

Each element (e.g., a module or a program module) according to various embodiments may be composed of single entity or a plurality of entities; a part of the above-described sub-elements may be omitted or may further include other elements. Alternatively or additionally, after being integrated in one entity, some elements (e.g., a module or a program module) may identically or similarly perform the function executed by each corresponding element before integration. According to various embodiments, operations executed by modules, program modules, or other elements may be executed by a successive method, a parallel method, a repeated method, or a heuristic method, or at least one part of operations may be executed in different sequences or omitted. Alternatively, other operations may be added.