Unlocking autonomous drone for takeoff

Abstract

Systems, computer readable media, and methods for unlocking an autonomous drone are disclosed. An example method includes receiving an indication of a selection of a flight instruction; capturing an image using an image capture device of the autonomous drone; processing the image to determine whether a face is present in the image; and takeoff if the face is present in the image. The face must be within a predetermined distance of the autonomous drone. This ensures that the face is likely to come from a person who selects a flight command, and that the autonomous drone is far enough from the face so that the autonomous drone does not strike the face when takeoff. In some examples, the autonomous drone determines whether the autonomous drone is on a hand prior to takeoff. The autonomous drone uses the position of the face to determine an initial flight plan.

Description

[0001] Priority Claim

[0002] This application claims the benefit of priority to U.S. Provisional Application Serial No. 63 / 335,396 filed on April 27, 2022 and U.S. Patent Application Serial No. 17 / 983,062 filed on November 8, 2022, each of which is incorporated herein by reference in its entirety. Technical Field

[0003] Examples of the present disclosure generally relate to unlocking an autonomous drone for takeoff and determining an initial flight plan for the autonomous drone. More specifically, but not by way of limitation, the present disclosure provides systems and methods for unlocking an autonomous drone based on a user selection of a user interface item (e.g., by pressing a button) by a user of the autonomous drone to allow the autonomous drone to takeoff, wherein a human face is correctly positioned within a field of view of a camera device that is part of the autonomous drone. Background Art

[0004] Autonomous drones that provide photography services to users are becoming increasingly popular. But autonomous drone designs are limited by size and power constraints. And autonomous drone users are constantly demanding more and more services from autonomous drones. Furthermore, autonomous drones need to be used safely. BRIEF DESCRIPTION OF THE DRAWINGS

[0005] In the drawings, which are not necessarily drawn to scale, similar reference numerals may describe similar components in different views. To easily identify the discussion of any particular element or action, the most significant digit or digits in the reference numeral refer to the figure number in which the element is first introduced. Some non-limiting examples are shown in the figures of the accompanying drawings, in which:

[0006] Figure 1 is a diagrammatic representation of a networked environment in which the present disclosure may be deployed, according to some examples.

[0007] Figure 2 is a diagrammatic representation of a messaging system having both client-side and server-side functionality according to some examples.

[0008] Figure 3 is a diagrammatic representation of data structures as maintained in a database according to some examples.

[0009] Figure 4 is a graphical representation of messages according to some examples.

[0010] Figure 5 is a flow chart of an access restriction process according to some examples.

[0011] Figure 6 Examples of components for an autonomous drone are shown according to some examples.

[0012] Figure 7 is a schematic diagram illustrating an autonomous drone system according to some examples.

[0013] Figure 8 An autonomous drone is shown according to some examples.

[0014] Fig. 9 A system for excess wind detection in an autonomous drone is shown according to some examples.

[0015] Fig.10 An unlocked autonomous drone is shown according to some embodiments.

[0016] Fig.11 Determining the distance of a face within an image captured from an autonomous drone according to some examples is shown.

[0017] Fig.12 Tilt and rotation of the head are shown according to some embodiments.

[0018] Fig.13 An autonomous drone takeoff is shown in accordance with some embodiments.

[0019] Fig.14 A method for unlocking an autonomous drone according to some examples is shown.

[0020] Fig.15 is a diagrammatic representation of a machine in the form of a computer system according to some examples within which a set of instructions may be executed for causing the machine to perform any one or more of the methodologies discussed herein.

[0021] Fig.16 is a block diagram illustrating a software architecture in which examples may be implemented.

[0022] Fig.17 is a diagrammatic representation of a processing environment according to some examples. DETAILED DESCRIPTION

[0023] The following description includes systems, methods, techniques, instruction sequences and computing machine program products that embody the illustrative examples of the present disclosure. In the following description, for the purpose of illustration, many specific details are set forth to provide an understanding of the various examples of the subject matter of the present invention. However, it will be apparent to those skilled in the art that the examples of the subject matter of the present invention can be put into practice without these specific details. Typically, known instruction instances, protocols, structures and techniques are not necessarily shown in detail.

[0024] Systems, computer-readable media, and methods for navigation correction for excess wind in an autonomous drone are disclosed. Excess wind can be a particular problem for small autonomous drones because the safety and retrieval of the autonomous drone are important and autonomous drones typically have limited thrust and batteries. An autonomous drone is disclosed that detects and corrects a flight plan when excess wind is detected. The autonomous drone determines whether to return to a starting location (which is typically the location of a user of the autonomous drone) or to land in an appropriate location based on the severity of the excess wind. If the excess wind subsides, the autonomous drone returns to its original flight plan at the point where the autonomous drone was blown off course by the excess wind. The autonomous drone detects excess wind directly through sensor data or inferred through unexpected movement of the autonomous drone.

[0025] Examples herein describe systems, methods, and computer-readable media for unlocking an autonomous drone for takeoff. Designing a personal autonomous drone that meets various design specifications and constraints can be challenging. One challenge is balancing battery life with power usage, which is often further compounded by the form factor. It is desirable that the autonomous drone be lightweight and portable. For example, a user may want to take the autonomous drone hiking or take the autonomous drone on a beach vacation in another country. In some examples, the autonomous drone is about the size of a hand. Autonomous drones typically include a battery for powering themselves and a camera for recording photos and videos. It is desirable that the autonomous drone be ready to capture an event at any second.

[0026] In addition, the autonomous drone 710 needs to be safe to use and easy to recover. For example, the autonomous drone 710 may not hit a person or object. The autonomous drone 710 determines a flight plan according to a predetermined flight plan. For example, the predetermined flight plan is to make the autonomous drone 710 take off and fly three feet from the person's head in a 360-degree circle around the person's head while taking a video. In some examples, the flight plan includes flying upward, and in some examples, away from the person's head after taking off. A technical problem is how to prevent the accidental takeoff of the autonomous drone 710. In some examples, the technical problem is solved by having a two-stage process, in which the user of the autonomous drone 710 places the autonomous drone 710 in their hands and points the camera of the autonomous drone 710 to their face. The autonomous drone 710 determines the distance between the face and the autonomous drone 710 to ensure that the face and the hand are from the same person. Additionally, the autonomous drone 710 ensures that the face is not too close to the autonomous drone 710, so that the autonomous drone 710 can take off without the risk of hitting the face.

[0027] Another technical problem is how to start the flight plan of the autonomous drone 710 without hitting an object. The autonomous drone 710 has limited visibility at the beginning of the flight plan due to limited resources such as a camera device. The autonomous drone 710 needs a path along which the autonomous drone can rise one or more feet into the air without the risk of hitting an object. Some examples solve this problem by unlocking the autonomous drone 710 for flight when the autonomous drone 710 is in a person's hand at a distance from the autonomous drone 710 with the person's face. Then, the autonomous drone 710 has air space above the person's hand and between the person's hand and face for takeoff. This provides enough air space for the autonomous drone 710 to determine its surroundings, for example, by rotating, and reach an altitude where a collision is unlikely. According to some examples, the autonomous drone 710 may be referred to as an autonomous drone, a personal autonomous drone, a semi-autonomous drone, or another term.

[0028] Networked computing environment

[0029] Figure 1 1 is a block diagram illustrating an example of a messaging system 100 for exchanging data (e.g., messages and associated content) over a network. The messaging system 100 includes multiple instances of a client device 102, each instance hosting several applications, including a messaging client 104 and other applications 106. Each messaging client 104 is communicatively coupled to other instances of the messaging client 104 (e.g., hosted on respective other client devices 102), a messaging server system 108, and a third-party server 110 via a network 112 (e.g., the Internet). The messaging client 104 may also communicate with the local host application 106 using an application program interface (API).

[0030] The messaging clients 104 are able to communicate and exchange data with other messaging clients 104 and messaging server systems 108 via the network 112. The data exchanged between the messaging clients 104 and between the messaging clients 104 and messaging server systems 108 include functions (e.g., commands for activating functions) and payload data (e.g., text, audio, video, or other multimedia data).

[0031] The messaging server system 108 provides server-side functionality to certain messaging clients 104 via the network 112. Although certain functions of the messaging system 100 are described herein as being performed by the messaging client 104 or by the messaging server system 108, it may be a design choice whether certain functions are located within the messaging client 104 or within the messaging server system 108. For example, it may be technically preferable to initially deploy certain technologies and functions within the messaging server system 108, but later migrate the technologies and functions to the messaging client 104 where the client device 102 has sufficient processing power.

[0032] The messaging server system 108 supports various services and operations provided to the messaging clients 104. Such operations include sending data to the messaging clients 104, receiving data from the messaging clients 104, and processing data generated by the messaging clients 104. As examples, the data may include message content, client device information, geolocation information, media enhancements and overlays, message content persistence conditions, social network information, and live event information. The data exchange within the messaging system 100 is stimulated and controlled by functions available via the user interface (UI) of the messaging client 104.

[0033] Turning now specifically to the messaging server system 108, an application program interface (API) server 116 is coupled to the application server 114 and provides a programming interface to the application server 114. The application server 114 is communicatively coupled to a database server 120, which facilitates access to a database 126 that stores data associated with messages processed by the application server 114. Similarly, a web server 128 is coupled to the application server 114 and provides a web-based interface to the application server 114. To this end, the web server 128 processes incoming network requests via the Hypertext Transfer Protocol (HTTP) and several other related protocols.

[0034] The application program interface (API) server 116 receives and sends message data (e.g., commands and message payloads) between the client device 102 and the application server 114. Specifically, the application program interface (API) server 116 provides a set of interfaces (e.g., routines and protocols) that can be called or queried by the messaging client 104 to activate the functions of the application server 114. An application program interface (API) server 116 exposes various functions supported by the application server 114, including: account registration; login functionality; sending messages from a particular messaging client 104 to another messaging client 104 via the application server 114; sending media files (e.g., images or videos) from a messaging client 104 to a messaging server 118 and for possible access by another messaging client 104; setting up of a collection of media data (e.g., a story); retrieving a friend list of a user of a client device 102; retrieving such a collection; retrieving messages and content; adding and removing entities (e.g., friends) from an entity graph (e.g., a social graph); locating friends in a social graph; and opening application events (e.g., related to a messaging client 104).

[0035] The application server 114 hosts several server applications and subsystems, including, for example, a messaging server 118, an image processing server 122, and a social network server 124. The messaging server 118 implements several message processing technologies and functions, particularly those related to the aggregation and other processing of content (e.g., text and multimedia content) included in messages received from multiple instances of the messaging client 104. As will be described in more detail, text and media content from multiple sources can be aggregated into collections of content (e.g., referred to as stories or galleries). These collections are then made available to the messaging client 104. In view of the hardware requirements for other processor and memory intensive data processing, other processor and memory intensive data processing can also be performed on the server side by the messaging server 118.

[0036] The application server 114 also includes an image processing server 122 that is dedicated to performing various image processing operations, typically with respect to images or videos within the payload of messages sent from or received at the messaging server 118 .

[0037] The social network server 124 supports various social networking functions and services and makes them available to the messaging server 118. To this end, the social network server 124 maintains and accesses an entity graph 308 (e.g., Figure 3). Examples of functions and services supported by the social network server 124 include identifying other users in the messaging system 100 that have a relationship with a particular user or that the particular user is "following," and identifying interests and other entities of a particular user.

[0038] Returning to the messaging client 104, the features and functions of the external resource (e.g., application 106 or applet) are available to the user via the interface of the messaging client 104. In this context, "external" refers to the fact that the application 106 or applet is outside the messaging client 104. External resources are usually provided by a third party, but can also be provided by the creator or provider of the messaging client 104. The messaging client 104 receives a user selection of an option to launch or access the features of such an external resource. The external resource can be an application 106 (e.g., a "local app") installed on the client device 102, or a small-scale version of the application (e.g., a "applet") hosted on the client device 102 or away from the client device 102 (e.g., on a third-party server 110). The small-scale version of the application includes a subset of the features and functions of the application (e.g., a full-scale, local version of the application) and is implemented using a markup language document. In one example, the small-scale version of the application (e.g., a "applet") is a web-based markup language version of the application and is embedded in the messaging client 104. In addition to using markup language documents (eg, *ml files), applets may include scripting languages ​​(eg, .*js files or .json files) and style sheets (eg, *ss files).

[0039] In response to receiving a user selection of an option to launch or access a feature of an external resource, the messaging client 104 determines whether the selected external resource is a web-based external resource or a locally installed application 106. In some cases, the application 106 locally installed on the client device 102 can be independent of the messaging client 104 and launched separately from the messaging client 104, such as by selecting an icon corresponding to the application 106 on a home screen of the client device 102. A small-scale version of such an application can be launched or accessed via the messaging client 104, and in some examples, none of the portions of the small-scale application can be accessed outside of the messaging client 104 or limited portions of the small-scale application can be accessed outside of the messaging client 104. The small-scale application can be launched by the messaging client 104 receiving, for example, a markup language document associated with the small-scale application from a third-party server 110 and processing such a document.

[0040] In response to determining that the external resource is a locally installed application 106, the messaging client 104 instructs the client device 102 to launch the external resource by executing the locally stored code corresponding to the external resource. In response to determining that the external resource is a web-based resource, the messaging client 104 communicates with the third-party server 110 (for example) to obtain a markup language document corresponding to the selected external resource. The messaging client 104 then processes the obtained markup language document to present the web-based external resource within the user interface of the messaging client 104.

[0041] The messaging client 104 may notify the user of the client device 102 or other users (e.g., "friends") associated with such a user of activities occurring in one or more external resources. For example, the messaging client 104 may provide a notification to a participant in a conversation (e.g., a chat session) in the messaging client 104 about the current or recent use of an external resource by one or more members of a user group. One or more users may be invited to join a valid external resource or to start an external resource that was recently used but is currently inactive (in the friend group). The external resource may provide the participants in the conversation who each use the corresponding messaging client 104 with the ability to share items, conditions, states, or locations in the external resource with one or more members of the user group entering the chat session. The shared item may be an interactive chat card that members of the chat may interact with, for example, to start a corresponding external resource, view specific information within an external resource, or bring members of the chat to a specific location or state within an external resource. Within a given external resource, a response message may be sent to a user on the messaging client 104. The external resource may selectively include different media items in the response based on the current context of the external resource.

[0042] The messaging client 104 may present a list of available external resources (e.g., applications 106 or applets) to the user to launch or access a given external resource. The list may be presented in the form of a context-sensitive menu. For example, icons representing different applications (or applets) of the application 106 (or applets) may vary based on how the user launches the menu (e.g., from a conversational interface or from a non-conversational interface).

[0043] System Architecture

[0044] Figure 21 is a block diagram showing additional details about the messaging system 100 according to some examples. Specifically, the messaging system 100 is shown as including a messaging client 104 and an application server 114. The messaging system 100 includes several subsystems that are supported on the client side by the messaging client 104 and on the server side by the application server 114. These subsystems include, for example, a transient timer system 202, a collection management system 204, an augmentation system 208, a map system 210, a gaming system 212, an external resource system 214, and an autonomous drone management system 216.

[0045] The transient timer system 202 is responsible for implementing temporary or time-limited access to content by the messaging client 104 and the messaging server 118. The transient timer system 202 includes several timers that selectively enable access (e.g., for presentation and display) of messages and associated content via the messaging client 104 based on duration and display parameters associated with a message or a collection of messages (e.g., a story). Additional details regarding the operation of the transient timer system 202 are provided below.

[0046] The collection management system 204 is responsible for managing collections or collections of media (e.g., collections of text, images, video, and audio data). Collections of content (e.g., messages, including images, videos, text, and audio) may be organized into "event galleries" or "event stories." Such collections may be made available for a specified period of time (e.g., the duration of the event to which the content relates). For example, content related to a concert may be made available as a "story" for the duration of the concert. The collection management system 204 may also be responsible for publishing an icon to the user interface of the messaging client 104 that provides notification of the existence of a particular collection.

[0047] In addition, the collection management system 204 also includes a curation interface 206, which enables collection managers to manage and curate specific content collections. For example, the curation interface 206 enables event organizers to curate collections of content related to specific events (e.g., deleting inappropriate content or redundant messages). In addition, the collection management system 204 uses machine vision (or image recognition technology) and content rules to automatically curate content collections. In some examples, compensation can be paid to users for including user-generated content in a collection. In such a case, the collection management system 204 operates to automatically pay such users for using their content.

[0048] The enhancement system 208 provides various functions that enable users to enhance (e.g., annotate or otherwise modify or edit) media content associated with a message. For example, the enhancement system 208 provides functions related to generating and publishing media overlays (media overlays) for messages processed by the messaging system 100. The enhancement system 208 is operable to provide media overlays or enhancements (e.g., image filters) to the messaging client 104 based on the geographic location of the client device 102. In another example, the enhancement system 208 is operable to provide media overlays to the messaging client 104 based on other information such as social network information of the user of the client device 102. Media overlays can include audio and visual content and visual effects. Examples of audio and visual content include pictures, text, logos, animations, and sound effects. Examples of visual effects include color overlays. Audio and visual content or visual effects can be applied to media content items (e.g., photos, digital objects) at the client device 102. For example, media overlays can include text or images that can be superimposed on top of photos taken by the client device 102. In another example, the media overlay includes a location identifier (e.g., Venice Beach) overlay, the name of a live event, or a business name (e.g., Beach Cafe) overlay. In another example, the augmentation system 208 uses the geolocation of the client device 102 to identify a media overlay that includes a business name at the geolocation of the client device 102. The media overlay may include other logos associated with the business. The media overlay may be stored in the database 120 and accessed by the database server 120.

[0049] In some examples, the enhancement system 208 provides a user-based publishing platform that enables a user to select a geolocation on a map and upload content associated with the selected geolocation. The user may also specify under what circumstances a particular media overlay should be provided to other users. The enhancement system 208 generates a media overlay that includes the uploaded content and associates the uploaded content with the selected geolocation.

[0050] In other examples, the enhancement system 208 provides a merchant-based publishing platform that enables merchants to select specific media overlays associated with a geographic location via a bidding process. For example, the enhancement system 208 associates the highest bidding merchant's media overlay with the corresponding geographic location for a predefined amount of time.

[0051] The mapping system 210 provides various geolocation functions and supports the presentation of map-based media content and messages by the messaging client 104. For example, the mapping system 210 enables the display of a user icon or avatar (e.g., stored in the profile data 316) on a map to indicate the current or past locations of the user's "friends" and media content (e.g., a collection of messages including photos and videos) generated by such friends in the context of the map. For example, on the map interface of the messaging client 104, messages posted by the user to the messaging system 100 from a particular geolocation can be displayed to the "friends" of the particular user within the context of that particular location on the map. The user can also share his or her location and status information with other users of the messaging system 100 (e.g., using an appropriate status avatar) via the messaging client 104, where the location and status information is similarly displayed to selected users within the context of the mapping interface of the messaging client 104.

[0052] The gaming system 212 provides various gaming functions within the context of the messaging client 104. The messaging client 104 provides a gaming interface that provides a list of available games that can be launched by a user within the context of the messaging client 104 and played with other users of the messaging system 100. The messaging system 100 also enables a particular user to invite other users to participate in playing a particular game by sending an invitation to such other users from the messaging client 104. The messaging client 104 also supports both voice messaging and text messaging (e.g., chatting) within the context of game play, provides leaderboards for games, and also supports providing in-game rewards (e.g., game coins and items).

[0053] The external resource system 214 provides an interface for the messaging client 104 to communicate with a remote server (e.g., a third-party server 110) to launch or access external resources (i.e., applications or applets). Each third-party server 110 hosts, for example, an application or a small-scale version of an application based on a markup language (e.g., HTML5) (e.g., a game application, a utility application, a payment application, or a ride-sharing application). The messaging client 104 can launch a web-based resource (e.g., an application) by accessing an HTML5 file from a third-party server 110 associated with a web-based resource. In some examples, the application hosted by the third-party server 110 is programmed in JavaScript using a software development kit (SDK) provided by the messaging server 118. The SDK includes an application programming interface (API) having functions that can be called or activated by a web-based application. In some examples, the messaging server 118 includes a JavaScript library that provides a given external resource access to certain user data of the messaging client 104. HTML5 is used as an example technology for programming games, but applications and resources programmed based on other technologies can be used.

[0054] To integrate the functionality of the SDK into a web-based resource, the SDK is downloaded by the third-party server 110 from the messaging server 118, or received by the third-party server 110 in other ways. Once downloaded or received, the SDK will be included as part of the application code of the web-based external resource. The code of the web-based resource can then call or activate certain functions of the SDK to integrate the features of the messaging client 104 into the web-based resource.

[0055] The SDK stored on the messaging server 118 effectively provides a bridge between external resources (e.g., applications 106 or applet) and the messaging client 104. This provides users with a seamless experience of communicating with other users on the messaging client 104 while also preserving the look and feel of the messaging client 104. In order to bridge the communication between the external resources and the messaging client 104, in some examples, the SDK facilitates communication between the third-party server 110 and the messaging client 104. In some examples, the web view JavaScript bridge running on the client device 102 establishes two one-way communication channels between the external resources and the messaging client 104. Messages are sent asynchronously between the external resources and the messaging client 104 via these communication channels. Each SDK function activation is sent as a message and a callback. Each SDK function is implemented by constructing a unique callback identifier and sending a message with the callback identifier.

[0056] By using the SDK, not all information from the messaging client 104 is shared with the third-party server 110. The SDK limits which information is shared based on the needs of the external resource. In some examples, each third-party server 110 provides an HTML5 file corresponding to a web-based external resource to the messaging server 118. The messaging server 118 can add a visual representation (e.g., box art or other graphics) of the web-based external resource in the messaging client 104. Once the user selects the visual representation or instructs the messaging client 104 to access a feature of a web-based external resource through the GUI of the messaging client 104, the messaging client 104 obtains the HTML5 file and instantiates the resources required to access the features of the web-based external resource.

[0057] The messaging client 104 presents a graphical user interface (e.g., a login page or title screen) for the external resource. During, before, or after presenting the login page or title screen, the messaging client 104 determines whether the launched external resource has been previously authorized to access the user data of the messaging client 104. In response to determining that the launched external resource has been previously authorized to access the user data of the messaging client 104, the messaging client 104 presents another graphical user interface of the external resource including the functions and features of the external resource. In response to determining that the launched external resource has not been previously authorized to access the user data of the messaging client 104, after displaying the login page or title screen of the external resource for a threshold period of time (e.g., 3 seconds), the messaging client 104 slides a menu for authorizing the external resource to access the user data (e.g., animating the menu to emerge from the bottom of the screen to the middle or other portion of the screen). The menu identifies the type of user data that the external resource will be authorized to use. In response to receiving the user selection of the accept option, the messaging client 104 adds the external resource to the list of authorized external resources and enables the external resource to access the user data from the messaging client 104. In some examples, the messaging client 104 authorizes the external resource to access the user data according to the OAuth 2 framework.

[0058] The messaging client 104 controls the type of user data shared with the external resource based on the type of external resource that is authorized. For example, an external resource comprising a full-scale application (e.g., application 106) is provided with access to a first type of user data (e.g., only a two-dimensional avatar of a user with or without different avatar characteristics). As another example, an external resource comprising a small-scale version of an application (e.g., a web-based version of the application) is provided access to a second type of user data (e.g., payment information, a two-dimensional visualization of a user, a three-dimensional visualization of a user, and a visualization with various visualization characteristics). Avatar representation characteristics include different ways to customize the look and feel of an avatar representation (e.g., different poses, facial features, clothing, etc.).

[0059] Autonomous UAV management system 216 provides for managing Figure 7 , Figure 8 , Fig.10 and Fig.11 Autonomous UAV 710 autonomous UAV functions and routines. Fig. 9 As discussed herein, the autonomous drone management system 216 determines a value for the threshold 970. The autonomous drone management system 216 sends the value for the threshold 970 to the autonomous drone 710 for configuring the autonomous drone 710. Additionally, according to some examples, the autonomous drone management system 216 manages the client device 102 that provides services for the autonomous drone. For example, the client device 102, the off-site client device 704, the server 706, the smart phone 708, or another device can act as a host device for the autonomous drone 710 and transmit the service request to the autonomous drone management system 216. In addition, the functions of the autonomous drone management system 216 can be performed in whole or in part by the client device 102, the off-site client device 704, the server 706, the smart phone 708, or another device.

[0060] In some examples, the control application resides in a host device such as client device 102, off-site client device 704, server 706, smartphone 708. For example, the control application enables a user to set thresholds, flight plans for control knobs, and other preferences.

[0061] Data Architecture

[0062] Figure 3 is a diagram illustrating a data structure 300 that may be stored in a database 126 of a messaging server system 108 according to some examples. Although the contents of the database 126 are illustrated as including several tables, it should be understood that data may be stored in other types of data structures (e.g., object-oriented databases).

[0063] Database 126 includes message data stored in message table 302. For any particular message, the message data includes at least message sender data, message recipient (or receiver) data, and payload. Figure 4 Additional details regarding information that may be included in a message and included in the message data stored in message table 302 are described.

[0064] The entity table 306 stores entity data and is linked (e.g., referenced) to the entity graph 308 and profile data 316. The entities for which records are maintained within the entity table 306 may include individuals, corporate entities, organizations, objects, places, events, etc. Regardless of the entity type, any entity about which the messaging server system 108 stores data may be an identified entity. Each entity is provided with a unique identifier as well as an entity type identifier (not shown).

[0065] The entity graph 308 stores information about relationships and associations between entities. By way of example only, such relationships may be social, professional (e.g., working in a common company or organization), interest-based, or activity-based.

[0066] The profile data 316 stores multiple types of profile data about a particular entity. Based on the privacy settings specified by the particular entity, the profile data 316 can be selectively used and presented to other users of the messaging system 100. In the case where the entity is a person, the profile data 316 includes, for example, a user name, a phone number, an address, settings (e.g., notification and privacy settings), and an avatar representation (or a collection of such avatar representations) selected by the user. The particular user can then selectively include one or more of these avatar representations in the content of messages transmitted via the messaging system 100 and in a map interface displayed to other users by the messaging client 104. The collection of avatar representations can include a "status avatar" that presents a graphical representation of a state or activity that a user can select to communicate at a particular time.

[0067] Where the entity is a group, the group's profile data 316 may similarly include one or more visual representations associated with the group, in addition to the group name, members, and various settings related to the group (eg, notifications).

[0068] Database 126 also stores enhancement data, such as overlays or filters, in enhancement table 310. Enhancement data is associated with and applied to videos (whose data is stored in video table 304) and images (whose data is stored in image table 312).

[0069] In one example, a filter is an overlay displayed as an overlay on an image or video during presentation to a recipient user. The filter can be of various types, including filters selected by a user from a set of filters presented to a sending user by the messaging client 104 when the sending user is composing a message. Other types of filters include geolocation filters (also referred to as geofilters), which can be presented to a sending user based on geolocation. For example, a geolocation filter specific to a nearby or special location can be presented by the messaging client 104 within a user interface based on geolocation information determined by a global positioning system (GPS) unit of the client device 102.

[0070] Another type of filter is a data filter, which can be selectively presented to the sending user by the messaging client 104 based on other input or information collected by the client device 102 during the message creation process. Examples of data filters include the current temperature at a particular location, the current speed at which the sending user is traveling, the battery life of the client device 102, or the current time.

[0071] Other augmented data that may be stored in the image table 312 include augmented reality content items (eg, corresponding to application lenses or augmented reality experiences). Augmented reality content items may be real-time special effects and sounds that may be added to an image or video.

[0072] As described above, augmented data includes augmented reality content items, overlays, image transformations, AR images, and similar terms referring to modifications that can be applied to image data (e.g., videos or images). This includes real-time modifications that modify images when they are captured using a device sensor (e.g., one or more cameras) of the client device 102 and then display the modified images on the screen of the client device 102. This also includes modifications to stored content such as video clips that can be modified in a gallery. For example, in a client device 102 that can access multiple augmented reality content items, a user can use a single video clip with multiple augmented reality content items to watch how different augmented reality content items will modify the stored clips. For example, by selecting different augmented reality content items for content, multiple augmented reality content items that apply different pseudo-random movement models can be applied to the same content. Similarly, real-time video capture can be used with the modifications shown to show how the video image currently captured by the sensor of the client device 102 will modify the captured data. Such data may simply be displayed on the screen without being stored in memory, or content captured by the device sensors may be recorded and stored in memory with or without modification (or both). In some systems, a preview function may display different augmented reality content items as they would appear in different windows of a display simultaneously. This may, for example, enable viewing of multiple windows with different pseudo-random animations on a display simultaneously.

[0073] Thus, data and various systems using augmented reality content items or other such transformation systems that modify content using such data may involve detection of objects (e.g., faces, hands, bodies, cats, dogs, surfaces, objects, etc.) in video frames; tracking of such objects as they leave, enter, and move around the field of view; and modification or transformation of such objects as they are tracked. In various examples, different methods for implementing such transformations may be used. Some examples may involve: generating a three-dimensional mesh model of one or more objects; and using transformations of the model and animated textures within a video to implement the transformations. In other examples, tracking of points on an object may be used to place an image or texture (which may be two-dimensional or three-dimensional) at the tracked location. In further examples, neural network analysis of a video frame may be used to place an image, model, or texture in content (e.g., an image or video frame). Thus, augmented reality content items refer both to images, models, and textures used to create transformations in content, and to additional modeling and analysis information required to implement such transformations using object detection, tracking, and placement.

[0074] Real-time video processing can be performed using any kind of video data (e.g., video streams, video files, etc.) stored in the memory of any kind of computerized system. For example, a user can load video files and store them in the memory of the device, or a sensor of the device can be used to generate a video stream. In addition, any object, such as a human face and parts of a human body, an animal, or a non-living thing (e.g., a chair, a car, or other objects) can be processed using computer animation models.

[0075] In some examples, in the case where a specific modification is selected together with the content to be transformed, the element to be transformed is identified by the computing device, and then if the element to be transformed is present in the video frame, the element to be transformed is detected and tracked. The elements of the object are modified according to the request for modification, thereby transforming the frame of the video stream. The transformation of the frame of the video stream can be performed by different methods for different types of transformations. For example, for the transformation of the frame that mainly involves changing the form of the elements of the object, the feature points of each element of the object are calculated (for example, using an active shape model (ASM) or other known methods). Then, for each element of at least one element of the object, a grid based on the feature points is generated. The grid is used for the subsequent stage of tracking the elements of the object in the video stream. During the tracking process, the grid mentioned for each element is aligned with the position of each element. Then, additional points are generated on the grid. A first set of first points is generated for each element based on the request for modification, and a set of second points is generated for each element based on the set of first points and the request for modification. Then, the frame of the video stream can be transformed by modifying the elements of the object based on the set of first points and the set of second points and the grid. In such a method, the background of the modified object may also be changed or deformed by tracking and modifying the background of the modified object.

[0076] In some examples, the transformation of some areas of the object using the elements of the object can be performed by calculating the feature points of each element of the object and generating a grid based on the calculated feature points. Points are generated on the grid, and then various areas are generated based on the points. Then, the elements of the object are tracked by aligning the area of ​​each element with the position of each element of at least one element, and the properties of the area can be modified based on the modification request, thereby transforming the frame of the video stream. Depending on the specific modification request, the properties of the mentioned area can be transformed in different ways. Such modifications may involve: changing the color of the area; removing at least some parts of the area from the frame of the video stream; including one or more new objects in the area based on the modification request; and modifying or distorting the elements of the area or object. In various examples, any combination of such modifications or other similar modifications may be used. For certain models to be animated, some feature points may be selected as control points for determining the entire state space of options for model animation.

[0077] In some examples of computer animation models that use face detection to transform image data, faces are detected on an image using a specific face detection algorithm (e.g., Viola-Jones). An active shape model (ASM) algorithm is then applied to the face region of the image to detect facial feature reference points.

[0078] Other methods and algorithms suitable for face detection can be used. For example, in some examples, landmarks are used to locate features, which represent distinguishable points that exist in most of the images considered. For example, for facial landmarks, the location of the left pupil can be used. If the initial landmarks are not recognizable (for example, if the person wears an eye patch), secondary landmarks can be used. Such landmark identification procedures can be used for any such objects. In some examples, a set of landmarks forms a shape. The coordinates of the points in the shape can be used to represent the shape as a vector. One shape is aligned with another shape using a similarity transformation (allowing translation, scaling, and rotation) that minimizes the average Euclidean distance between the shape points. The mean shape (meanshape) is the average value of the aligned training shapes.

[0079] In some examples, the landmark search begins with an average shape that aligns with the location and size of a face determined by a global face detector. Such a search then repeats the steps of proposing tentative shapes by adjusting the positions of shape points by template matching the image texture around each point, and then conforming the tentative shapes to a global shape model until convergence occurs. In some systems, individual template matches are unreliable, and the shape model pools the results of weak template matches to form a stronger overall classifier. The entire search is repeated at each level of the image pyramid from coarse to fine resolution.

[0080] The transformation system can capture an image or video stream on a client device (e.g., client device 102) and perform complex image manipulations locally on the client device 102 while maintaining an appropriate user experience, computational time, and power consumption. Complex image manipulations can include size and shape changes, mood transformations (e.g., changing a face from a frown to a smile), state transformations (e.g., aging a subject, reducing apparent age, changing gender), style transformations, application of graphical elements, and any other suitable image or video manipulations that can be implemented by a convolutional neural network that has been configured to execute efficiently on the client device 102.

[0081] In some examples, a computer animation model for transforming image data can be used by a system in which a user can capture an image or video stream of the user (e.g., a selfie) using a client device 102 having a neural network that operates as part of a messaging client 104 operating on the client device 102. A transformation system operating within the messaging client 104 determines the presence of a face within the image or video stream and provides a modification icon associated with the computer animation model to transform the data image, or the computer animation model can be presented as associated with an interface described herein. The modification icon includes the following changes, which can be the basis for modifying the face of the user within the image or video stream as part of the modification operation. Once the modification icon is selected, the transformation system initiates a process of transforming the image of the user to reflect the selected modification icon (e.g., generating a smiley face on the user). Once the image or video stream is captured and the specified modification is selected, the modified image or video stream can be presented in a graphical user interface displayed on the client device 102. The transformation system can implement a complex convolutional neural network on a portion of the image or video stream to generate and apply the selected modification. That is, a user can capture an image or video stream, and once a modification icon has been selected, the modified result can be presented in real time or near real time. In addition, when the video stream is being captured, the modification can be persistent and the selected modification icon remains toggled. Machine learning neural networks can be used to implement such modifications.

[0082] The graphical user interface presenting the modifications performed by the transformation system can supply additional interactive options for the user. Such options can be based on the interface for initiating content capture and selecting a specific computer animation model (e.g., initiated from a content creator user interface). In various examples, after the modification icon is initially selected, the modification can be persistent. The user can switch to turn the modification on or off by tapping or otherwise selecting the face being modified by the transformation system, and store it for later viewing or browsing other areas of the imaging application. In the case of multiple faces modified by the transformation system, the user can globally turn on or off the modification by tapping or selecting a single face modified and displayed in the graphical user interface. In some examples, each face in a plurality of face groups can be modified individually, or such modifications can be switched individually by tapping or selecting a single face or a series of faces displayed in the graphical user interface.

[0083] The story table 314 stores data about a collection of messages and associated image, video or audio data that are compiled into a collection (e.g., a story or gallery). The creation of a particular collection can be initiated by a particular user (e.g., each user whose record is maintained in the entity table 306). A user can create a "personal story" in the form of a collection of content that has been created and sent / broadcasted by the user. To this end, the user interface of the messaging client 104 may include a user-selectable icon to enable the sending user to add specific content to his or her personal story.

[0084] A collection may also constitute a "live story" that is a collection of content from multiple users, created manually, automatically, or using a combination of manual and automatic techniques. For example, a "live story" may constitute a curated stream of content submitted by users from various locations and events. Users whose client devices have location services enabled and who are at a co-located event at a particular time may be presented with an option, for example, via a user interface of the messaging client 104, to contribute content to a particular live story. Live stories may be identified to a user by the messaging client 104 based on his or her location. The end result is a "live story" told from a community perspective.

[0085] Another type of content collection is called a "location story," which enables users whose client devices 102 are located in a particular geographic location (e.g., on a college or university campus) to contribute to a particular collection. In some implementations, contributions to location stories may require secondary authentication to verify that the end user belongs to a particular organization or other entity (e.g., is a student on a university campus).

[0086] As mentioned above, the video table 304 stores video data, which in one example is associated with a message whose record is saved within the message table 302. Similarly, the image table 312 stores image data associated with a message whose message data is stored in the entity table 306. The entity table 306 can associate various enhancements from the enhancement table 310 with the various images and videos stored in the image table 312 and the video table 304.

[0087] Data communication architecture

[0088] Figure 4 is a schematic diagram illustrating the structure of a message 400 according to some examples, the message 400 being generated by a messaging client 104 for transmission to another messaging client 104 or a messaging server 118. The content of a particular message 400 is used to populate a message table 302 stored in a database 126 accessible by a messaging server 118. Similarly, the content of the message 400 is stored in memory as "in-flight" or "in-flight" data of a client device 102 or application server 114. The message 400 is shown as including the following example components:

[0089] Message identifier 402 : a unique identifier that identifies the message 400 .

[0090] Message text payload 404 : Text to be generated by a user via the user interface of the client device 102 and included in the message 400 .

[0091] Message image payload 406 : Image data captured by a camera component of the client device 102 or retrieved from a memory component of the client device 102 and included in the message 400 . Image data for a sent or received message 400 may be stored in the image table 312 .

[0092] Message video payload 408 : Video data captured by the camera component or retrieved from the memory component of the client device 102 and included in the message 400 . The video data for a message 400 sent or received may be stored in the video table 304 .

[0093] Message audio payload 410 : audio data captured by a microphone or retrieved from a memory component of the client device 102 and included in the message 400 .

[0094] Message enhancement data 412 : Enhancement data (eg, filters, stickers, or other annotations or enhancements) representing enhancements to be applied to the message image payload 406 , message video payload 408 , or message audio payload 410 of the message 400 . The enhancement data for a sent or received message 400 may be stored in the enhancement table 310 .

[0095] Message duration parameter 414: A parameter value indicating the amount of time in seconds that the content of a message (eg, message image payload 406, message video payload 408, message audio payload 410) will be presented to or made accessible to a user via messaging client 104.

[0096] Message geolocation parameters 416: Geolocation data (e.g., latitude and longitude coordinates) associated with the content payload of the message. Multiple message geolocation parameter 416 values ​​may be included in the payload, each of which is associated with a content item included in the content (e.g., a specific image within a message image payload 406 or a specific video in a message video payload 408).

[0097] Message story identifier 418: An identifier value that identifies one or more content collections (e.g., a "story" identified in story table 314) associated with a particular content item in message image payload 406 of message 400. For example, multiple images within message image payload 406 may each be associated with multiple content collections using an identifier value.

[0098] Message tags 420: Each message 400 may be tagged with a plurality of tags, each of which indicates the subject of the content included in the message payload. For example, where a particular image included in the message image payload 406 depicts an animal (e.g., a lion), a tag value may be included within the message tags 420 indicating the relevant animal. The tag values ​​may be manually generated based on user input, or may be automatically generated using, for example, image recognition.

[0099] • Message sender identifier 422: An identifier (eg, a messaging system identifier, an email address, or a device identifier) ​​that indicates the user of the client device 102 on which the message 400 was generated and from which the message 400 was sent.

[0100] • Message recipient identifier 424: An identifier (eg, a messaging system identifier, an email address, or a device identifier) ​​that indicates the user of the client device 102 to which the message 400 is addressed.

[0101] The content (e.g., value) of the various components of message 400 may be pointers to locations in a table where content data values ​​are stored. For example, the image value in message image payload 406 may be a pointer (or address) to a location within image table 312. Similarly, the value within message video payload 408 may point to data stored within video table 304, the value stored within message enhancement data 412 may point to data stored in enhancement table 310, the value stored within message story identifier 418 may point to data stored in story table 314, and the values ​​stored within message sender identifier 422 and message recipient identifier 424 may point to user records stored within entity table 306.

[0102] Time-based access restriction architecture

[0103] Figure 5 is a schematic diagram illustrating an access restriction process 500 according to which access to content (e.g., ephemeral message 502 and associated multimedia data payload) or a collection of content (e.g., ephemeral message group 504) can be time-restricted (e.g., made ephemeral).

[0104] The ephemeral message 502 is shown to be associated with a message duration parameter 506, the value of which determines the amount of time that the messaging client 104 will display the ephemeral message 502 to the receiving user of the ephemeral message 502. In one example, depending on the amount of time specified by the sending user using the message duration parameter 506, the receiving user can view the ephemeral message 502 for up to 10 seconds.

[0105] The message duration parameter 506 and the message recipient identifier 424 are shown as inputs to a message timer 510, which is responsible for determining the amount of time that the transient message 502 is shown to a particular receiving user identified by the message recipient identifier 424. In particular, the transient message 502 is shown to the associated receiving user only for a period of time determined by the value of the message duration parameter 506. The message timer 510 is shown as providing an output to a more generalized transient timer system 202, which is responsible for the overall timing of displaying content (e.g., the transient message 502) to the receiving user.

[0106] Short message 502 Figure 5504 (e.g., a collection of messages in a personal story or an event story). The ephemeral message group 504 has an associated group duration parameter 508, the value of which determines the duration for which the ephemeral message group 504 is presented and accessible to users of the messaging system 100. For example, the group duration parameter 508 may be the duration of a concert, where the ephemeral message group 504 is a collection of content about the concert. Alternatively, a user (an owning user or a curator user) may specify a value for the group duration parameter 508 when performing setup and creation of the ephemeral message group 504.

[0107] In addition, each ephemeral message 502 within the ephemeral message group 504 has an associated group participation parameter 512, the value of which determines the duration for which the ephemeral message 502 is accessible within the context of the ephemeral message group 504. Thus, a particular ephemeral message group 504 may "expire" and become inaccessible within the context of the ephemeral message group 504 before the ephemeral message group 504 itself expires according to the group duration parameter 508. The group duration parameter 508, the group participation parameter 512, and the message recipient identifier 424 each provide inputs to a group timer 514, which is operable to first determine whether a particular ephemeral message 502 in the ephemeral message group 504 is to be displayed to a particular receiving user, and if so, how long to display it. Note that the identity of the particular receiving user is also known to the ephemeral message group 504 due to the message recipient identifier 424.

[0108] Thus, the group timer 514 is operable to control the total lifespan of the associated ephemeral message group 504 and the individual ephemeral messages 502 included in the ephemeral message group 504. In one example, each ephemeral message 502 within the ephemeral message group 504 remains viewable and accessible for a period of time specified by the group duration parameter 508. In another example, within the context of the ephemeral message group 504, a particular ephemeral message 502 may expire based on the group participation parameter 512. Note that even within the context of the ephemeral message group 504, the message duration parameter 506 may still determine the duration for which a particular ephemeral message 502 is displayed to a receiving user. Thus, the message duration parameter 506 determines the duration for which a particular ephemeral message 502 is displayed to a receiving user, regardless of whether the receiving user is viewing the ephemeral message 502 within or outside the context of the ephemeral message group 504.

[0109] The transient timer system 202 may also be operable to remove a particular transient message 502 from the transient message group 504 based on a determination that an associated group participation parameter 512 has been exceeded. For example, where a sending user has established a group participation parameter 512 of 24 hours from posting, the transient timer system 202 will remove the associated transient message 502 from the transient message group 504 after the designated 24 hours. The transient timer system 202 may also be operable to remove a transient message group 504 when the group participation parameter 512 for each transient message 502 within the transient message group 504 has expired, or when the transient message group 504 itself has expired according to the group duration parameter 508.

[0110] In some use cases, the creator of a particular ephemeral message group 504 may specify an indefinite group duration parameter 508. In this case, the expiration of the group participation parameter 512 for the last remaining ephemeral message 502 within the ephemeral message group 504 will determine when the ephemeral message group 504 itself expires. In this case, a new ephemeral message 502 with a new group participation parameter 512 added to the ephemeral message group 504 effectively extends the life of the ephemeral message group 504 to a value equal to the group participation parameter 512.

[0111] In response to the transient timer system 202 determining that the transient message group 504 has expired (e.g., is no longer accessible), the transient timer system 202 communicates with the messaging system 100 (and, for example, in particular, the messaging client 104) to cause the indicia (e.g., icon) associated with the relevant transient message group 504 to no longer be displayed within the user interface of the messaging client 104. Similarly, when the transient timer system 202 determines that the message duration parameter 506 for a particular transient message 502 has expired, the transient timer system 202 causes the messaging client 104 to no longer display the indicia (e.g., icon or text identification) associated with the transient message 502.

[0112] Unlocking Autonomous Drones

[0113] Figure 6 An example of components 600 for an autonomous drone is shown, according to some examples. Figure 6 The component 600 shown is such as Figure 7 , Figure 8 , Fig.10 and Fig.11Components 600 are organized into functional groups including input / output devices 602, processor 604, memory 606, battery 608, power chip 610, sensor 648, wireless connection 666, power and communication connection 646, and propulsion system 684. Those skilled in the art will recognize that components 600 may be organized into different functional groups, or may all be separately part of an autonomous drone.

[0114] Components 600 are connected via power and communication connections 646. According to some examples, power and communication connections 646 include one or more communication buses, power buses, and / or point-to-point connections. Additionally, one or more of components 600 may be optional. And component 600 may include additional components. In addition, the number of components shown may be different. For example, there may be multiple processors 604. The terms electrical and electronic may be used to refer to electrical components and / or electronic components.

[0115] The propulsion system 684 includes electric motors 686, each of which includes a rotor 688 associated with a propeller 690. According to some examples, the propeller 690 provides aerodynamic lift to the autonomous drone 710, as well as accelerates and rotates the autonomous drone. Once the electric motor 686 is actuated in response to a signal from, for example, the processor 604, it rotates the rotor 688, which rotates the propeller 690. The electric motor 686 and the actuator 638 are powered by the battery 608 and / or the power chip 610 and controlled by a signal from the processor 604. According to some examples, the electric motor 686 is a variable electric motor. In some examples, the electric motor 686 has a low setting, which the processor 604 can use to indicate to the user of the autonomous drone that the autonomous drone is preparing to take off.

[0116] Having more than one propeller 690 enables the autonomous drone to continue flying when one or more of the electric motors 686, rotors 688, or propellers 690 fail. For example, if one of the electric motors 686 fails, the autonomous drone 710 can still remain in the air with the remaining electric motors 686 working together to compensate. In some examples, the propulsion system 684 sends a signal to the processor 604 indicating that the electric motor 686 is not operating properly. In some examples, the electric motor 686 provides a signal to the processor 604 indicating whether the electric motor 686 is operating correctly. In addition, the greater the number of electric motors 686 incorporated into the autonomous drone, the greater the lift that the autonomous drone 710 will generate, allowing the autonomous drone to carry a heavier payload, such as one or more sensors 648.

[0117] In some examples, propulsion system 684 includes one or more actuators 638 that tilt electric motors 686 so that electric motors 686 can operate at an angle relative to the reference frame of the autonomous drone. For example, each electric motor 686 is rotationally mounted on the autonomous drone with a single rotation axis in which actuator 638 controls the angle of electric motor 686. In some examples, each electric motor 686 is rotationally mounted with two or more rotation axes controlled by one or more actuators 638. In some examples, one or more actuators 638 control the angle of more than one electric motor 686.

[0118] In the case of component 600, the functional group includes sensors 648, which include a photographic camera 650, a navigation camera 651, an inertial measurement unit (IMU) A 652, an altimeter 654, a gyroscope 656, an IMU B 658, an accelerometer 665, an altitude detector 660 including a light 662 and a light detector 664, a magnetic sensor 659, a wind speed sensor 661, a clock 663, a motion sensor 667, a microphone 669, an orientation device 671, and the like.

[0119] In some examples, sensor 648 generates data that is processed by processor 604 and stored as data in memory 606, for example, in memory 1 626 as data 630 or in memory N 632 as data 636. For example, altimeter 654 is an instrument used to determine the altitude reached. Thus, when the autonomous drone is set to hover in position, processor 604 uses data from altimeter 654 to determine the altitude and adjusts propulsion system 684 to maintain that altitude.

[0120] Alternatively or additionally, the altitude detector 660 is used to generate data that can be used to determine the altitude of the autonomous drone above the ground. For example, the light 662 of the altitude detector 660 is mounted on the bottom of the autonomous drone to shine light downward onto the ground, which reflects and hits the light detector 664. The processor 604 uses the data generated by the light 662 shining the light and receiving the light at the light detector 664 to determine the altitude of the autonomous drone above the ground based on the flight time of the light and the speed of light. The light 662 is a suitable light source that is strong enough to produce a reflection on the ground that is detectable by the light detector 664. In some examples, the light 662 emits electromagnetic radiation of a specific wavelength, and the light detector 664 is manufactured to detect the specific wavelength. In some examples, the altitude is also determined based on the roll and pitch of the autonomous drone to take into account the fact that the light 662 may not shine light directly downward. In some examples, the altitude detector 660 is based on sonar.

[0121] IMU A 652 and IMU B 658 use a combination of accelerometers, gyroscopes, and optionally magnetometers to output measurements such as the specific force, angular velocity, and orientation of the autonomous drone. Altimeter 654, gyroscope 656, accelerometer 665, and other sensors 648 can be replaced by IMU A 652 and / or IMU B 658. Various combinations of sensors 648 can be used to generate data required for navigating the autonomous drone. In some examples, sensor 648 includes a lidar system, a radar system, a light sensor, or another form of sensor that can be used to assist navigation and / or photography. In some examples, sensors 648 that enable the autonomous drone to determine the pitch, yaw, and roll of the autonomous drone are included. In some examples, sensor 648 includes a motion sensor 667 that does not require power but generates a signal based on the autonomous drone being moved. Motion sensor 667 can be used to generate events to which processor 604 responds.

[0122] The photographic camera 650 and other sensors 648 generate data that can be captured for the purpose of displaying or saving data for a user of the autonomous drone. The photographic camera 650 includes a sensor divided into pixels. In some examples, the photographic camera 650 is mounted horizontally relative to the axis of the propeller 690 of the autonomous drone 710, and the navigation camera 651 is mounted vertically relative to the axis of the propeller 690 and is oriented downward.

[0123] The sensor generates an electrical signal based on the light shining on the sensor. In some examples, reference Fig. 9 , the data generated is associated with the location 952 and time 936 of the autonomous drone 710. In some examples, IMU A 652 is coupled to the photo camera 650, which enables the processor 604 to stabilize the photo camera 650 to improve photography and determine whether the photo is unreliable because the photo camera 650 is unstable. The photo camera 651 can be rotatably mounted on the body of the autonomous drone, coupled to the body via one or more actuators or other mechanisms to control the orientation of the photo camera 650 relative to the body of the autonomous drone. IMU B 658 is attached to the autonomous drone to provide data for navigation. The processor 604 uses the data generated by the IMU for navigation, and in some examples, for stabilizing the photo camera 650. In some examples, there is more than one photo camera 650.

[0124] The navigation camera 651 is mounted on the fuselage of the autonomous drone for providing data to assist the navigation of the autonomous drone. There may be more than one navigation camera 651. For example, the navigation may be a front camera mounted on the fuselage of the autonomous drone, wherein the navigation camera 651 is positioned to pick up an image of the scene to which the autonomous drone is pointing. Additionally or alternatively, the navigation camera 651 may be mounted vertically on the fuselage of the autonomous drone, wherein the navigation camera 651 is positioned to pick up an image of the terrain being flown over. One or more navigation cameras 651 may be movably or fixedly mounted on the fuselage of the autonomous drone, coupled to the fuselage via one or more actuators or other mechanisms to control the orientation of one or more navigation cameras 651 relative to the fuselage of the autonomous drone. In some examples, the photographic camera 650 is also used as the navigation camera 651. In some examples, the photographic camera 650 provides a greater pixel resolution and requires more power to operate than the navigation camera 651.

[0125] Data such as video and digital images captured by the photographic camera 650 and the navigation camera 651 can be stored in the memory 606 as data 630, data 636. In addition, the data captured by the photographic camera 650 and / or the navigation camera 651 can be wirelessly streamed to an external device 682 in near real time using a wireless connection. Additionally, the autonomous drone can send data including instructions to or receive data including instructions from the external device 682.

[0126] Magnetic sensor 659 provides data about the orientation of the autonomous drone within the magnetic field. Wind speed sensor 661 indicates wind speed, which can be an apparent wind speed and / or direction, which can be used by processor 604 to estimate the true wind speed based on the settings of the autonomous drone (e.g., power for electric motor 686) and flight characteristics. Clock 663 generates data indicating time. In some embodiments, clock 663 indicates Greenwich Mean Time. In some embodiments, clock 663 generates time relative to an event (e.g., power on of the autonomous drone). Microphone 669 converts sound waves into electrical signals, which can be stored as data 630, data 636 and processed by processor 604. Orientation device 671 is a sensor that indicates the orientation of autonomous drone 710. For example, orientation device 671 indicates whether the autonomous drone is facing up or upside down.

[0127] The wireless connection 666 includes one or more wireless protocols that may include radio waves and / or light waves. As shown, the wireless connection 666 includes a GPS chip 668, a lower power wireless chip 670 connected to a transceiver / antenna 672, and a higher power wireless chip 676 connected to a transceiver / antenna 678. The GPS chip 668 is connected to an antenna / transceiver, which may be inside the chip or outside. The GPS chip 668 receives communications from satellites and uses information from received signals from multiple satellites to determine the location of the autonomous drone. The GPS chip 668 is a higher power chip 676. In some examples, the processor 604 receives set-up data required for the operation of the GPS chip 668 from an external device 682, wherein the set-up data may include information about the satellites from which the GPS chip 668 receives signals, wherein the data may include location information about the satellites.

[0128] The lower power wireless chip 670 may include a chip that executes one or more lower power wireless protocols. For example, Bluetooth Low Energy (BLE) may be used to communicate with a closer external device 682. The higher power wireless chip 676 may include a chip that executes one or more higher power wireless protocols such as 3GPP protocols and IEEE 802.11 protocols.

[0129] The input / output device 602 provides input and output to the autonomous drone, which can be used by the user. The indicator light 612 indicates the status of the autonomous drone and is visible to the user of the autonomous drone. For example, the indicator light 612 can indicate on and off, the charge level, the charge state such as charging or not charging, the standby state, whether there are photos or videos in the memory, whether the memory is full, whether the wireless connection 666 is on or off, etc. An electronic display such as an LCD display can be in addition to the indicator light 612 or replace the indicator light 612. In some embodiments, one of the buttons 618 is a flight button, which, when pressed, indicates to the autonomous drone 710 that it should take off.

[0130] The control knob 614, which may take other forms, is a knob mounted on the outside of the autonomous drone, thereby providing the user with the ability to control the operation of the autonomous drone. According to some embodiments, the control knob 614 may be referred to as a control user interface device or another similar term. The control knob 614 has multiple positions or states, such as off, on, transmission for transmitting data such as images from the autonomous drone, various flight paths and behaviors, etc. The state 615 is an internal state that provides information about the setting of the control knob 614 to the processor 604. Other input and output user interface items may be used in addition to or in place of the control knob 614.

[0131] Connector 616 is an external connector that provides power and / or data connection from external device 682 to the autonomous drone. For example, there is a power connector 616 for charging the autonomous drone. Power connector 616 or another connector 616 can be used to transmit data to a host device or to receive power from another power source. In some examples, connector 616 is a wireless rechargeable connector 616 so that the autonomous drone is placed on or near a charging base. In some examples, there is a connector 616 for a micro secure digital (SD) card or another external storage device.

[0132] In some examples, there is a button 618 for performing one or more functions. For example, a button 618 that, when pressed, instructs the autonomous drone to perform whatever function is indicated by the control knob 614 (e.g., take off as quickly as possible and take a portrait photo of the user of the autonomous drone).

[0133] The processor 604 executes instructions 620 to process data 630, data 636, and / or control the operation of the autonomous drone. The instructions 620 are machine instructions that specify the operations to be performed by the processor 604 and may be stored in a cache memory that is part of the processor 604 chip. Power section 1 622 to power section N 624 indicate that the processor 604 is divided into different parts so that the power chip 610 can select which parts of the processor 604 to provide power to according to the different power states 641 of the autonomous drone. Throughout this discussion, the processor 604 is described as an actor that determines various functions, but those skilled in the art will recognize that dedicated chips may be included in various components of the autonomous drone to perform specific functions. For example, the altitude detector 660 may include a processing circuit system that determines the height above the ground and outputs data indicating the height above the ground for use by the processor 604.

[0134] The memory 606 includes memory 1 626 to memory N 632. Memory 1 626 and memory N 632 include instructions 628, 634 and data 630, 636, respectively. The processor 604 and one or more other components 600 can access the memory via power and communication connection 646. The memory in memory 1 626 to memory N 632 is a main memory, which is used to store data generated by the sensor 648 and to store other data such as communication to and from the wireless connection 666. According to some examples, the main memory is a dynamic memory such as DRAM or RAM. Another memory in memory 1 626 to memory N 632 is a static memory that does not require power to maintain a state, such as SRAM or ROM. In some examples, another memory in memory 1 626 to memory N 632 is a storage unit as a machine-readable medium. For example, the storage unit is a removable micro SD card. The power chip 610 has connections to different memories so that the power chip 610 can provide power to one or more of the memories in memory 1 626 to memory N 632. Instructions 628, 634 and data 630, 636 reside completely or partially in main memory, static memory, storage unit and / or within the processor 604, such as in cache memory, or any suitable combination thereof. The main memory, static memory, storage unit and memory of the processor 604 are examples of machine-readable media.

[0135] The autonomous drone may have a pre-programmed flight path or operation that controls the flight path and operation of the autonomous drone. Fig. 9 , pre-programmed flight plan 960. The pre-programmed flight plan 960 can be associated with the position or state 615 of the control knob 614. The memory 606 stores the pre-programmed flight paths or maneuvers. In some examples, the autonomous drone downloads new pre-programmed flight paths or maneuvers from the external device 682.

[0136] Alternatively or additionally, the movement of the autonomous drone can be controlled by a remote controller, such as an external device 682 that is a remote control device that a pilot or user can use to start, land, take photos or videos, and navigate the autonomous drone when the autonomous drone is not used as an autonomous drone. In these embodiments, the autonomous drone is not used as an autonomous drone, but rather as a remotely controlled drone. The remote controller can take many forms, from game controller-like controllers to smartphones and tablets. Regardless of their design, the remote controller needs to communicate with the autonomous drone, and typically uses radio waves to communicate. For example, autonomous drones typically operate over 2.4 gigahertz radio waves. In order to communicate with the autonomous drone, many autonomous drone controllers use one of the communication protocols of IEEE802.11, which may be referred to as Wi-Fi, which can be transmitted on the 2.4 gigahertz spectrum and is used by smartphones and tablets to communicate. In one example, referring to Figure 7 , UAV 710 uses Wi-Fi or Communicates with smartphone 708. External device 682 includes a remote control / host device, such as an off-site client device 704, server 706, smartphone 708, or another device.

[0137] A power source is required to power the electric motor 686 and to power the other components 600. In some examples, the autonomous drone includes one or more batteries 608 as a source of power for the components 600 (e.g., the electric motor 686). According to some examples, the battery 608 is removable. In some examples, the battery 608 is rechargeable, wherein one or more connectors 616 are connected to the battery 608 directly or via electrical or electronic components. In some examples, the power chip 640 manages the battery 608 by performing various functions such as determining the charge of the battery 608, turning on or off recharging, providing capacitors, resistors, and / or inductors for the output of the battery 608, etc. In some examples, the power chip 640 includes a power state 641, which indicates which components of the components 600 of the autonomous drone are currently being powered. The power state 641 includes different power states 641, such as power state 1 642 to power state N 644. Different power states 641 provide power to different subsets of components 600, and thus consume different amounts of power, and provide different levels of functionality for the autonomous drone, as discussed herein. Different power states 641 are achieved by providing power to different sets of power and communication connections 646. In some examples, components 600 are included as part of machine 1500. In some examples, one or more of components 600 is part of a motherboard, where processor 604 runs a real-time operating system such as

[0138] Figure 7 7 is a schematic diagram showing an autonomous drone system 700 according to some examples. In some examples, the autonomous drone 710 is an autonomous drone or a semi-autonomous drone. The autonomous drone 710 is configured to operate in a controlled manner by using Figure 6 The wireless connection 666 sends communications 712, 713 to a remote control / host device (e.g., an off-site client device 704, a server 706, a mobile phone or smart phone 708, or another device) for communication. The wireless network 702 is a cellular telephone network, such as an LTE network, an IEEE802.11 network, In some examples, autonomous drone 710 communicates directly with a remote control / host device via communication 713, where communication 713 is sent using a communication protocol (e.g., a communication protocol discussed for wireless network 702).

[0139] In the example, the autonomous drone 710 sends communications 712, 713 including data and / or commands or requests to another device, such as a smart phone 708. In some cases, communications between a remote control / host device, such as a smart phone 708, and the autonomous drone 710 may occur via a wireless network 702. The wireless network 702 may include access to the Internet and / or the autonomous drone 710 may access the Internet via another connected device, such as a smart phone 708.

[0140] In some examples, server 706 provides a social networking service to enable content such as photos, videos, status updates, media content messages, etc. to be transmitted directly from an autonomous drone 710 that may be flying to a user such as a In some examples, the server 706 is a messaging server system 108, and the data captured by the camera 650 of the drone 710 is broadcast or otherwise transmitted to a remote control / host device such as a smart phone 708, the server 706, the client device 704, or another device via the wireless network 702, which may be in near real time. The autonomous drone 710 can communicate directly or via another device with Figure 2 Contact the drone management system 216.

[0141] One or more of the remote control / host devices, such as the smart phone 708, can assist in processing data, such as the data 630, by wirelessly receiving the data, processing the data, and then wirelessly sending the information back to the autonomous drone 710. For example, the smart phone 708 can receive an image from the autonomous drone 710 and determine that the image is a landmark, such as a museum, a restaurant, a park, a national monument, etc. The smart phone 708 can send back information used by the autonomous drone 710 to assist in the flight path associated with the landmark. The smart phone 708 can contact the drone management system 216 to perform the functions of the autonomous drone 710. The autonomous drone 710 can contact the autonomous drone management system 216 by sending commands to the autonomous drone management system 216, such as to store data for a user, request a user or purchaser of the autonomous drone, etc.

[0142] In some examples, a remote control / host device such as a smart phone 708 includes an associated application that a user or device can use to control or send instructions to the autonomous drone 710, such as to return to the user, fly a specific setup, move left, move right, move up or down, tilt, take a set of photos, shut down, etc. The associated application can provide real-time or near real-time images of the video being captured by the autonomous drone 710. In some examples, the associated application enables the user to configure the autonomous drone 710 by setting timeouts, conditions, and / or thresholds 970. Additionally, the user can select configurations regarding the wireless connections 666 to indicate which wireless protocols should be used in which states of the autonomous drone.

[0143] In some examples, the remote control / host device acts as a router or passes messages or packets to other devices directly or indirectly connected to the wireless network 702. For example, the smart phone 708 receives images from the autonomous drone 710 via communication 713. The smart phone 708 takes the images and sends them to the server 706 to be posted on the social media website, which can be in near real time. The server 706 can host the autonomous drone management system 216. According to some examples, the remote control / host device such as the smart phone 708 controls the state of the autonomous drone 710 by sending instructions to the autonomous drone 710 via communications 713, 712.

[0144] Figure 8 An autonomous drone 710 is shown according to some examples. The autonomous drone 710 is shown from a bottom view of the autonomous drone 710. Figure 6 and Figure 8, the autonomous drone 710 includes propellers 690, a control knob 614 that may be on the top, an altitude detector 660, a battery 608, a photo camera 650, an indicator light 612, a connector 616, a central chassis 804, a navigation camera 651, and a flight button 806. A charging / transmission cable 802 is plugged into the connector 616. The central chassis 804 includes various components 600 such as a processor 604, a memory 606, a wireless connection 666, and the like. In some examples, the autonomous drone 710 is plastic and is approximately six inches long and approximately four inches wide. In some examples, the autonomous drone 710 is a quadcopter. The flight button 806 is a button 618 that, when pressed, indicates that the autonomous drone 710 should take off and execute a flight plan. According to some embodiments, the state 615 of the control knob 614 selects Fig. 9 960 of pre-programmed flight plans.

[0145] Fig. 9 A system 900 for excessive wind detection in an autonomous drone is shown according to some examples. According to some examples, a navigation system 916 guides the autonomous drone 710 to its destination along a flight plan 910 within a set time with a desired accuracy. According to some embodiments, the navigation system 916 is stored in the memory 606 and executed by the processor 604.

[0146] The navigation system 916 generates the flight plan 910 based on the preprogrammed flight plan 960. For example, the preprogrammed flight plan 960 is to fly a few feet from and above the user's head and take a 360-degree video of the person. The user's head may be a landmark 962 identified in the preprogrammed flight plan 960. The navigation system 916 must determine that the flight plan 910 complies with the preprogrammed flight plan 960.

[0147] The flight plan 910 is a path that the autonomous drone 710 follows based on a preprogrammed flight plan 960. Example preprogrammed flight plans 960 include following a path that circles around a user or object, follows a predetermined route around or near a user or object, where the path can be designed to capture video or photos, go to a destination and return, go to a destination and circle the destination to shoot video, etc. The preprogrammed flight plan 960 includes one or more of the following: a starting point, a target location, a route, a speed, a function to be performed such as shooting, recording video, streaming video in near real time, etc. The route can be preprogrammed, such as downloaded to the autonomous drone 710 from an application on the smartphone 708.

[0148] Adjustment 902 to flight plan includes adjustment flight plan 904, landing 906, and return to user 908. Adjust flight plan 904 instructs navigation system 916 to enter state 976 of adjustment flight plan 910, wherein navigation system 916 generates a modified or adjusted flight plan, but attempts to execute original flight plan 910. Landing 906 instructs navigation system 916 to enter state of landing 906, such as "landed in place" 1006. Return to user 908 instructs navigation system 916 to enter state of return to user 908, such as "return to starting position" 1008. Adjustment 902 to flight plan indicates the intent of navigation system 916, which results in updated flight plan 910.

[0149] Sensor data 912 is data generated by sensors 648 and / or other components 600. Propulsion system commands 914 include determining the power of electric motor 686 and actuator 638 position. Sensor data 912 also includes information about input / output devices 602, such as the state 615 of control knob 614. Navigation system 916 includes thresholds 970, such as a minimum threshold distance, where if the face is closer than the minimum threshold distance, the autonomous drone 710 will not take off. Another threshold 970 is a maximum threshold distance, where if the face is farther than the maximum threshold distance, the autonomous drone 710 will not take off. The minimum threshold distance and the maximum threshold distance are associated with the unlock module 966. The minimum threshold distance has a value from one inch to four feet, where the minimum threshold distance is set based on safety considerations and is used to ensure the proper function of the unlock module 966. The maximum threshold distance has a value from three feet to ten feet, where the maximum threshold distance is set based on safety considerations and is used to ensure the proper function of the unlock module 966. Different values ​​of the minimum threshold distance and the maximum threshold distance can be used. In some examples, the minimum threshold distance and the maximum threshold distance may be referred to as thresholds, first thresholds, second thresholds, or another similar term. The minimum threshold distance and the maximum threshold distance may be configured by a control program, stored in non-volatile memory 606, downloaded from external device 682, or set in other ways.

[0150] In some examples, navigation system 916 determines wind speed 926 associated with time 928, autonomous drone velocity 934, and deviation from flight plan 930 also associated with time 932. According to some examples, autonomous drone velocity 934 is associated with time 936, direction 950, and location 952. The velocity of autonomous drone 710 is autonomous drone velocity 934 and direction 950. In some examples, navigation system 916 makes autonomous drone 710 fully autonomous, where autonomous drone 710 takes off, flies, lands, and optionally captures images or video without additional user input or control.

[0151] In some examples, the wind speed 926 is determined by a wind speed sensor 661. In some examples, the autonomous drone speed 934 or velocity is determined based on images from a navigation camera 651 in a vertical position, and in some examples is further determined based on an altitude estimate using an altimeter 654 or another sensor 648. In some examples, the autonomous drone speed 934 or velocity is determined using dead reckoning using sensor data 912. Those skilled in the art will recognize that the autonomous drone speed 934 can be determined in other ways using sensor data 912. The wind speed 926 is determined directly by a sensor such as a wind speed sensor 661, or based on a difference in the expected speed of the autonomous drone 710 compared to the actual speed of the autonomous drone 710. In some examples, the speed of the autonomous drone 710 is determined based on a difference in the location of the autonomous drone 710, which can be based on a GPS location generated by a GPS chip 668. In some examples, the location of the autonomous drone 710 is determined based on a wireless protocol such as IEEE 802.11, where messages are sent between the autonomous drone 710 and one or more hosts to determine the location of the autonomous drone 710. In some examples, the location of the autonomous drone 710 is determined based on the location of a host computer such as a smart phone 708 and information about the distance of the autonomous drone 710 from the smart phone 708, which can be combined with the height above the ground to determine the coordinates of the location of the autonomous drone 710.

[0152] The autonomous drone speed 934 and the wind speed 926 can be determined in different ways. The time 936 associated with the autonomous drone speed 934, the time 928 associated with the wind speed 926, and the time 932 associated with the deviation 930 from the flight plan are generated by the clock 663. The deviation 930 from the flight plan is determined based on the current position and the planned position from the flight plan 910. The navigation system 916 includes a state 976, which indicates the goal or purpose of the navigation system 916. For example, the state 976 includes opening, closing, locking, unlocking, standby, true closing, following the flight plan 910 or normal operation, returning to the starting position, and landing in place. The navigation system 916 can be in multiple states 976, such as unlocking and following the flight plan 910.

[0153] The facial recognition module 974 recognizes faces. The facial recognition module 974 is based on a neural network, feature recognition and placement, or another method. In some examples, the facial recognition module 974 uses a neural network, and the weights of the neural network are received from the external device 682 to recognize a specific face, such as the face of the owner of the autonomous drone 710.

[0154] The facial recognition module 974 determines the facial position and the initial face. The initial face 972 is the face used to unlock the autonomous drone 710. The facial position 964 can be a relative position to the autonomous drone 710, GPS coordinates, coordinates in a reference frame used by the navigation system 916, or another representation. For example, Fig.12 As shown, the facial recognition module 974 determines the tilt angle 1204 and rotation 1208 of the head of the initial face relative to the autonomous drone 710.

[0155] The unlocking module 966 unlocks the autonomous drone 710 for the initial flight planning module 968 to determine the initial flight plan 911. The unlocking module 966 reduces the likelihood that the autonomous drone 710 will accidentally or unintentionally take off. The unlocking module 966 receives an indication of a selection of flight instructions. For example, the unlocking module 966 may be configured to unlock the autonomous drone 710 via the flight control module 968. Figure 8 The flight button 806 is used to receive flight instructions, and the flight button 806 is a button 618 accessible outside the autonomous drone 710.

[0156] Combination Fig. 9 describe Fig.10 . Fig.10 Unlocking the autonomous drone 1000 is shown according to some embodiments. Fig.10 , a person is shown who has just pressed the fly button 806 of the autonomous drone 710. The person holds the autonomous drone 710 so that the camera 1016 is pointed toward the person's face 1002, with the autonomous drone 710 facing up.

[0157] After receiving the indication of the selection to fly, the unlock module 966 captures an image from an image capture device such as camera 1016. Fig. 9 and Fig.10 describe Fig.11 . Fig.11 Determining distance 1008 of a face within an image captured from an autonomous drone is shown according to some examples.

[0158] Before capturing an image, the unlock module 966 needs to boot or turn on the autonomous drone 710 from an "off" state, a "true off" state, or a "standby" state, which are different energy and startup or ready states of the autonomous drone 710. If the unlock module 966 does not need to boot the autonomous drone 710, the image can be captured almost immediately. If the autonomous drone 710 is in the "off" state or the "standby" state, it may take several seconds for the autonomous drone 710 to capture the image. If the autonomous drone 710 is in the "true off" state, it may take 10 seconds or more to capture the image. In some examples, the navigation system 916 indicates that the autonomous drone 710 is booting up by using an input / output device 602 such as an indicator light 612. For example, several indicator lights 612 can light up and go out one after another as a countdown to the autonomous drone 710 capturing the initial face 972.

[0159] The unlock module 966 processes the image to determine whether the image meets the criteria required to unlock the autonomous drone 710. In some examples, a face is required to be in the image.

[0160] For example, refer to Fig.10 , the face 1002 needs to be within a certain distance 1008 of the autonomous drone 710. For example, referring to Fig.11 , face 1002 needs to be between the minimum distance threshold 1102 and the maximum distance threshold 1104.

[0161] The “too far” 1110 image is farther than the maximum distance threshold 1104. The face in the “too far” 1110 image is too small, indicating that the face is too far away. The face in the “too far” 1110 image may not be the face of the person who pressed the fly button 806, and therefore the unlock module 966 determines not to unlock the autonomous drone 710. According to some examples, the threshold used is a maximum distance threshold, which has a value from two feet to ten feet or from three feet to ten feet. The value of the maximum distance threshold 1104 can be adjusted based on the wind speed 926, wherein the maximum distance threshold 1104 decreases with greater wind speeds 926. As shown in FIG. Fig.11 As shown, the face in image "too far" 1110 is 11 feet away from autonomous drone 710, and it is unlikely that a person 11 feet away would press the fly button 806. Distance 1008 is determined, for example, by determining how many pixels of a sensor of camera 1016 are occupied by the face in image "too far" 1110. The fewer the number of pixels occupied by the face in image "too far" 1110, the farther the face is. The more pixels occupied by the face, the closer the face is.

[0162] A distance 1008 of a face in an image that is less than a minimum distance threshold 1102 indicates that the face 1002 is “too close” 1106. According to some examples, the minimum distance threshold 1102 is between one inch and four feet. In some examples, when the wind speed 926 is above the threshold (or there is a higher wind speed), the minimum distance threshold 1102 is increased to ensure that the autonomous drone 710 does not hit the face 1002 when taking off. The distance 1008 of the face in the image between the minimum distance threshold 1102 and the maximum distance threshold 1104 is within the threshold 1108 and is acceptable. In some examples, the distance 1008 is determined based on the face including at least a first threshold number of pixels of the image sensor and the face including no more than a second threshold number of pixels.

[0163] If there are multiple faces, the unlock module 966 selects a face to determine the distance. For example, if there are three faces, the unlock module 966 selects the face located in the center of the face image based on the location of the autonomous drone 710 and the location of the face 1002 that is most likely holding the autonomous drone 710. The unlock module 966 can determine not to take off based on one of the faces being "too close" 1106, even if the other faces are not "too close" 1106.

[0164] The unlock module 966 determines takeoff when a face in the image is detected between the minimum distance threshold 1102 and the maximum distance threshold 1104. The initial flight plan module 968 determines the initial flight plan 911.

[0165] The unlock module 966 may perform other checks before determining takeoff. For example, the autonomous drone 710 checks the wind speed 926 and will not take off if the wind speed 926 is above a threshold value (which may be a value from 8MPH to 30MPH or other value). The autonomous drone 710 determines that the wind speed 926 is unsafe based on its ability to control the autonomous drone 710 taking into account the wind. Another check that the unlock module 966 may perform is to capture an image using the navigation camera 651 and determine that the autonomous drone 710 is located on the hand of the person with the face 1002. In other examples, the unlock module 966 determines whether the autonomous drone 710 is on the hand of the person with the face 1002 based on the distance 1008 and the height 1006 or other measurements, and does not unlock unless the unlock module 966 determines that the autonomous drone 710 is on the hand of the person with the face 1002.

[0166] Another check that the unlock module 966 can perform is to determine whether the autonomous drone 710 is right side up. This check can be performed by checking the image to determine whether the world appears right side up, or it can be performed using other sensor data 912 such as from an orientation 671 sensor.

[0167] If the unlock module 966 determines that the face is unacceptable or not present in the image, the unlock module 966 can continue to capture images and try again to find an acceptable face in the image 1002. The unlock module 966 can indicate that the face is unacceptable or not present by using the input / output device 602. For example, a red light visible outside the autonomous drone 710 can be turned on.

[0168] Additionally, in some examples, the unlock module 966 determines whether the face 1002 is oriented so that the autonomous drone 710 is within view of the field of view of the person with the face 1002. This is to ensure that the person is looking towards the autonomous drone 710 and therefore they are likely to see the autonomous drone.

[0169] In some examples, the unlock module 966 indicates that it is about to take off to give the person with the face 1002 a chance to cancel the takeoff. The unlock module 966 turns on one or more propellers 690 at a lower rate or setting for one second or more, and if no cancellation instruction is received, the unlock module 966 continues the takeoff.

[0170] In some examples, face 1002 must be a specific face, such as the owner of autonomous drone 710. Facial recognition module 974 can receive weights used by facial recognition module 974 using a neural network to recognize a specific face from one of external devices 682.

[0171] Combination Figures 9 to 11 describe Fig.12 . Fig.12 The tilt and rotation 1202 of the head is shown according to some embodiments. The position 1004 of the face 1002 or head of a person can be determined in different ways. In some examples, the initial flight planning module 968 determines the distance 1008, the lateral distance 1014, and the height 1006. In some examples, the initial flight planning module 968 determines the tilt and rotation 1202, such as the tilt angle 1204 and the rotation 1208. In some examples, only the distance 1014 is determined. In some examples, the initial flight planning module 968 determines the position of the head of the face 1002 in a coordinate system relative to the autonomous drone 710, relative to another object such as making the face the center of the coordinate system, or a coordinate system such as GPS coordinates.

[0172] The initial flight plan module 968 determines the initial flight plan 911, which is part of the flight plan 910. The flight plan 910 is an implementation of the preprogrammed flight plan 960 or instructions for flying. The initial flight plan module 968 determines the preprogrammed flight plan 960 based on the state 615 of the control knob 614. In some examples, the preprogrammed flight plan 960 is used to make the autonomous drone 710 take off and hover, and interprets hand or voice commands to execute the flight plan based on the commands.

[0173] The initial flight planning module 968 determines an initial flight plan to get the autonomous drone 710 to a location where the autonomous drone 710 can continue the flight plan 910 that is based on the selected pre-programmed flight plan 960 .

[0174] Additionally, according to some examples, the initial flight plan 911 is based on the lateral distance 1014, the tilt angle 1204, and the rotation 1208 angle of the autonomous drone 710 from the face 1002. For example, the autonomous drone 710 can attempt to take off so that the face 1002 is centered for photography. The person with the face 1002 can hold a pose, and the autonomous drone 710 can hover in front of the person, attempting to center the face 1002 so that it is looking toward the camera 1016.

[0175] The initial flight plan module 968 matches the landmark 962 in the pre-programmed flight plan 960 based on the captured image. For example, the landmark 962 is a head or face, and the initial flight plan module 968 matches the face 1002 in the image with the landmark 962.

[0176] In some embodiments, the initial flight plan 911 will cause the autonomous drone 710 to take off and level to ensure that the autonomous drone 710 does not exceed the space between the hands of the person with the face 1002 and the face 1002. In this way, the autonomous drone 710 can avoid obstacles by flying in the space created by the hands of the person and the face of the person. According to some embodiments, the autonomous drone 710 flies higher than the person with the face 1002 and then executes the flight plan 910. In some examples, the navigation system 916 navigates the autonomous drone 710 based on capturing subsequent images and identifying the face 1002 in the subsequent images. The navigation system 916 can additionally use sensor data 912 from the navigation camera 651 and the altitude detector 660. In this way, the autonomous drone 710 can navigate the flight plan 911 or the initial flight plan 911 based on the landmarks 962 of the face 1002 and optionally the altitude information and images from the navigation camera 651.

[0177] Fig.13The autonomous drone 710 is shown taking off according to some embodiments. The unlock module 966 has unlocked the autonomous drone 710. The initial flight plan module 968 has determined the human head as a landmark 1313 and determined the initial flight plan 911 (which is Fig.13 The autonomous drone 710 uses the initial flight plans 1308, 1304 to fly to the flight plan 910 determined by the initial flight planning module 968 or the navigation system 916.

[0178] Fig.14 A method 1400 for unlocking an autonomous drone according to some examples is shown. The method 1400 begins at operation 1402, where an indication of a selection of a fly command is received. For example, a person with face 1002 may press the fly button 806. The method 1400 continues at operation 1404, where an image is captured using an image capture device of the autonomous drone. For example, the unlock module 966 captures the image using the camera 1016.

[0179] The method 1400 continues at operation 1406 where the image is processed to determine whether a face is present in the image. For example, the facial recognition module 974 processes the image to determine whether the face 1002 is present.

[0180] The method 1400 continues at operation 1408 where takeoff is performed in response to the presence of a face in the image. For example, the unlock module 966 unlocks the autonomous drone 710 and the initial flight plan module 968 or the navigation system 916 uses the initial flight plan 911 for takeoff.

[0181] Method 1400 may be performed by one or more devices or devices discussed herein, alone or in combination with each other. For example, autonomous drone 710, messaging system 100, smart phone 708, another device or device may perform method 1400 alone or in combination with each other. One or more operations of method 1400 may be optional. Method 1400 may include one or more additional operations. One or more operations of method 1400 may be performed in a different order.

[0182] Machine Architecture

[0183] Fig.151500 within which instructions 1510 (e.g., software, programs, applications, applet, app, or other executable code) may be executed for causing the machine 1500 to perform any one or more of the methods discussed herein. For example, the instructions 1510 may cause the machine 1500 to perform any one or more of the methods described herein. The instructions 1510 convert a general purpose, unprogrammed machine 1500 into a specific machine 1500 that is programmed to perform the functions described and illustrated in the manner described. The machine 1500 may operate as a standalone device or may be coupled (e.g., networked) to other machines. In a network deployment, the machine 1500 may operate as a server machine or a client machine in a server-client network environment, or as a peer machine in a peer-to-peer (or distributed) network environment. The machine 1500 may include, but is not limited to, a server computer, a client computer, a personal computer (PC), a tablet computer, a laptop computer, a netbook, a set-top box (STB), a personal digital assistant (PDA), an entertainment media system, a cellular phone, a smart phone, a mobile device, a wearable device (e.g., a smart watch), a smart home device (e.g., a smart appliance), other smart devices, a web appliance, a network router, a network switch, a network bridge, or any machine capable of sequentially or otherwise executing instructions 1510 specifying actions to be taken by the machine 1500. In addition, although only a single machine 1500 is shown, the term "machine" should also be taken to include a collection of machines that individually or jointly execute instructions 1510 to perform any one or more of the methods discussed herein. For example, the machine 1500 may include any of the client device 102 or a number of server devices that form part of the messaging server system 108. In some examples, the machine 1500 may also include both a client system and a server system, wherein certain operations of a particular method or algorithm are performed on the server side and certain operations of the particular method or algorithm are performed on the client side.

[0184] The machine 1500 may include a processor 1504, a memory 1506, and an input / output I / O component 1502, which may be configured to communicate with each other via a bus 1540. In an example, the processor 1504 (e.g., a central processing unit (CPU), a reduced instruction set computing (RISC) processor, a complex instruction set computing (CISC) processor, a graphics processing unit (GPU), a digital signal processor (DSP), an application specific integrated circuit (ASIC), a radio frequency integrated circuit (RFIC), another processor, or any suitable combination thereof) may include, for example, a processor 1508 that executes instructions 1510 and a processor 1512. The term "processor" is intended to include multi-core processors, which may include two or more independent processors (sometimes referred to as "cores") that may execute instructions simultaneously. Although Fig.15 Multiple processors 1504 are shown, but the machine 1500 may include a single processor with a single core, a single processor with multiple cores (e.g., a multi-core processor), multiple processors with a single core, multiple processors with multiple cores, or any combination thereof.

[0185] The memory 1506 includes a main memory 1514, a static memory 1516, and a storage unit 1518, which are all accessible by the processor 1504 via a bus 1540. The main memory 1506, the static memory 1516, and the storage unit 1518 store instructions 1510 that implement any one or more of the methods or functions described herein. The instructions 1510 may also reside, completely or partially, within the main memory 1514, within the static memory 1516, within the machine-readable medium 1520 within the storage unit 1518, within at least one of the processors 1504 (e.g., within a cache memory of a processor), or any suitable combination thereof during execution thereof by the machine 1500.

[0186] I / O components 1502 may include various components that receive input, provide output, generate output, send information, exchange information, capture measurements, etc. The specific I / O components 1502 included in a particular machine will depend on the type of machine. For example, a portable machine such as a mobile phone may include a touch input device or other such input mechanism, while a headless server machine will be less likely to include such a touch input device. It should be appreciated that I / O components 1502 may include Fig.151502. In various examples, the I / O components 1502 may include a user output component 1526 and a user input component 1528. The user output component 1526 may include a visual component (e.g., a display such as a plasma display panel (PDP), a light emitting diode (LED) display, a liquid crystal display (LCD), a projector, or a cathode ray tube (CRT)), an acoustic component (e.g., a speaker), a tactile component (e.g., a vibration motor, a resistance mechanism), other signal generators, etc. The user input component 1528 may include an alphanumeric input component (e.g., a keyboard, a touch screen configured to receive alphanumeric input, an optical keyboard, or other alphanumeric input component), a point-based input component (e.g., a mouse, a touch pad, a trackball, a joystick, a motion sensor, or other pointing instrument), a tactile input component (e.g., a physical button, a touch screen or other tactile input component that provides the location and force of a touch or touch gesture), an audio input component (e.g., a microphone), etc.

[0187] In other examples, the I / O component 1502 may include a biometric component 1530, a motion component 1532, an environmental component 1534, or a position component 1536, as well as a wide range of other components. For example, the biometric component 1530 includes components for detecting expressions (e.g., hand expressions, facial expressions, voice expressions, body postures, or eye tracking), measuring biosignals (e.g., blood pressure, heart rate, body temperature, sweat, or brain waves), identifying people (e.g., voice recognition, retinal recognition, facial recognition, fingerprint recognition, or EEG-based recognition), etc. The motion component 1532 includes an acceleration sensor component (e.g., an accelerometer), a gravity sensor component, and a rotation sensor component (e.g., a gyroscope).

[0188] Environmental components 1534 include, for example, one or more cameras (with still image / photo and video capabilities), lighting sensor components (e.g., photometers), temperature sensor components (e.g., one or more thermometers that detect ambient temperature), humidity sensor components, pressure sensor components (e.g., barometers), acoustic sensor components (e.g., one or more microphones that detect background noise), proximity sensor components (e.g., infrared sensors that detect nearby objects), gas sensors (e.g., gas detection sensors for detecting concentrations of hazardous gases for safety purposes or for measuring pollutants in the atmosphere), or other components that can provide indications, measurements, or signals corresponding to the surrounding physical environment.

[0189] With respect to cameras, client device 102 may have a camera system including, for example, a front-facing camera on a front surface of client device 102 and a rear-facing camera on a rear surface of client device 102. The front-facing camera may, for example, be used to capture still images and videos (e.g., “selfies”) of a user of client device 102, which may then be enhanced with the enhancement data (e.g., filters) described above. The rear-facing camera may, for example, be used to capture still images and videos in a more traditional camera mode, where the images are similarly enhanced using the enhancement data. In addition to the front-facing camera and the rear-facing camera, client device 102 may also include a 360° camera for capturing 360° photos and videos.

[0190] Additionally, the camera system of the client device 102 may include dual rear cameras (e.g., a main camera and a depth sensing camera), or even triple, quad, or quintuple rear camera configurations on the front and back sides of the client device 102. For example, these multi-camera systems may include a wide-angle camera, an ultra-wide-angle camera, a telephoto camera, a macro camera, and a depth sensor.

[0191] The location component 1536 includes a positioning sensor component (e.g., a GPS receiver component), an altitude sensor component (e.g., an altimeter or barometer that detects air pressure, from which the altitude can be obtained), an orientation sensor component (e.g., a magnetometer), etc.

[0192] A variety of technologies may be used to achieve communication. The I / O components 1502 also include a communication component 1538 that is operable to couple the machine 1500 to the network 1522 or device 1524 via a corresponding coupling or connection. For example, the communication component 1538 may include a network interface component or another suitable device that interfaces with the network 1522. In other examples, the communication component 1538 may include a wired communication component, a wireless communication component, a cellular communication component, a near field communication (NFC) component, Components (e.g. Low energy consumption), Components, and other communication components for providing communication via other forms. Device 1524 can be another machine or any peripheral device of a variety of peripheral devices (e.g., a peripheral device coupled via USB).

[0193] In addition, the communication component 1538 can detect an identifier or include a component operable to detect an identifier. For example, the communication component 1538 can include a radio frequency identification (RFID) tag reader component, an NFC smart tag detection component, an optical reader component (e.g., an optical sensor for detecting one-dimensional bar codes such as Universal Product Code (UPC) bar codes, multi-dimensional bar codes such as Quick Response (QR) codes, Aztec codes, Data Matrix, Dataglyph, MaxiCode, PDF417, UltraCode, UCC RSS-2D bar codes, and other optical codes) or an acoustic detection component (e.g., a microphone for identifying an audio signal of a tag). In addition, various information can be derived via the communication component 1538, such as a location via Internet Protocol (IP) geolocation, a location via Internet Protocol (IP), ... The location of signal triangulation, the location of an NFC beacon signal via detection that can indicate a specific location, etc.

[0194] Various memories (e.g., main memory 1514, static memory 1516, and memory of processor 1504) and storage unit 1518 may store one or more sets of instructions and data structures (e.g., software) used by or implementing any one or more of the methods or functions described herein. When executed by processor 1504, these instructions (e.g., instructions 1510) cause various operations to implement the disclosed examples.

[0195] The instructions 1510 may be sent or received via a network interface device (e.g., a network interface component included in the communication component 1538) using a transmission medium and using any of several well-known transmission protocols (e.g., Hypertext Transfer Protocol (HTTP)) over the network 1522. Similarly, the instructions 1510 may be sent or received via a coupling (e.g., a peer-to-peer coupling) to the device 1524 using a transmission medium.

[0196] Software Architecture

[0197] Fig.161600 is a block diagram illustrating a software architecture 1604 that may be installed on any one or more of the devices described herein. The software architecture 1604 is supported by hardware such as a machine 1602 including a processor 1620, a memory 1626, and an I / O component 1638. In this example, the software architecture 1604 may be conceptualized as a stack of layers, where each layer provides specific functionality. The software architecture 1604 includes layers such as an operating system 1612, a library 1610, a framework 1608, and an application 1606. In operation, the application 1606 invokes an API call 1650 through the software stack and receives a message 1652 in response to the API call 1650.

[0198] The operating system 1612 manages hardware resources and provides public services. The operating system 1612 includes, for example, a kernel 1614, a service 1616, and a driver 1622. The kernel 1614 serves as an abstraction layer between the hardware and other software layers. For example, the kernel 1614 provides functions such as memory management, processor management (e.g., scheduling), component management, networking, and security settings. The service 1616 can provide other public services to other software layers. The driver 1622 is responsible for controlling the underlying hardware or interfacing with the underlying hardware. For example, the driver 1622 may include a display driver, a camera driver, or Low-power drivers, Flash drivers, Serial communication drivers (e.g., USB drivers), Drivers, audio drivers, power management drivers, etc.

[0199] The libraries 1610 provide a common low-level infrastructure used by the applications 1606. The libraries 1610 may include a system library 1618 (e.g., a C standard library) that provides functions such as memory allocation functions, string manipulation functions, mathematical functions, etc. In addition, the libraries 1610 may include an API library 1624, such as a media library (e.g., a library for supporting presentation and manipulation of various media formats, such as Moving Picture Experts Group-4 (MPEG4), Advanced Video Coding (H.264 or AVC), Moving Picture Experts Group Layer-3 (MP3), Advanced Audio Coding (AAC), Adaptive Multi-Rate (AMR) audio codec, Joint Photographic Experts Group (JPEG or JPG), or Portable Network Graphics (PNG)), a graphics library (e.g., an OpenGL framework for presentation in two dimensions (2D) and three dimensions (3D) in graphics content on a display), a database library (e.g., SQLite providing various relational database functions), a web library (e.g., WebKit providing web browsing functions), etc. The library 1610 may also include various other libraries 1628 to provide many other APIs to the application 1606 .

[0200] The framework 1608 provides a common high-level infrastructure used by the applications 1606. For example, the framework 1608 provides various graphical user interface (GUI) functions, high-level resource management, and high-level positioning services. The framework 1608 can provide a wide range of other APIs that can be used by the applications 1606, some of which can be specific to a particular operating system or platform.

[0201] In an example, applications 1606 may include home applications 1636, contact applications 1630, browser applications 1632, book reader applications 1634, positioning applications 1642, media applications 1644, messaging applications 1646, game applications 1648, and a broad category of other applications such as third-party applications 1640. Autonomous drone management 1641 system management such as in conjunction with autonomous drone management system 216 and autonomous drones disclosed herein. Application 1606 is a program that performs the functions defined in the program. Various programming languages ​​may be used to create one or more of the applications 1606 structured in various ways, such as object-oriented programming languages ​​(e.g., Objective-C, Java, or C++) or procedural programming languages ​​(e.g., C or assembly language). In a specific example, third-party applications 1640 (e.g., provided by an entity other than the vendor of a particular platform using ANDROID TM or IOS TM Software Development Kit (SDK) can be used for mobile operating systems, such as IOS TM ANDROID TM , Phone, or other mobile operating system running on the mobile software. In this example, the third-party application 1640 can activate the API call 1650 provided by the operating system 1612 to facilitate the functions described in this article.

[0202] Processing components

[0203] Now go to Fig.17 , Fig.17 A diagrammatic representation of a processing environment 1700 is shown, including a processor 1702, a processor 1706, and a processor 1708 (eg, a GPU, a CPU, or a combination thereof).

[0204] Processor 1702 is shown coupled to power source 1704 and includes modules (permanently configured or temporarily instantiated), namely navigation component 1710, unlocking component 1712, and image capture component 1714. Navigation component 1710 controls the autonomous drone to navigate. For example, according to some examples, navigation component 1710 performs the functions described in conjunction with navigation system 916 including initial flight planning module 968. Unlocking component 1712 manages the execution of functions related to unlocking autonomous drone 710, such as by Fig. 9 The unlock module 966 performs the functions. The image capture component 1714 manages the image capture component 1714 in combination with the image capture component 1714. Figures 6 to 14 The described capture of images and videos by the camera 650. According to some examples, the processor 1702 is a dedicated processor 1702 specifically designed for the autonomous drone 710. In some examples, the processor 1702 is part of a motherboard, where the processor 1702 runs a real-time operating system such as According to some examples, processor 1702 communicates with other processing circuitry included in autonomous drone 710 (e.g., lower power wireless chip 670).

[0205] Glossary

[0206] "Carrier signal" refers to any intangible medium that can store, encode or carry instructions for execution by a machine and includes digital or analog communication signals or other intangible media that facilitates communication of such instructions. Instructions may be sent or received over a network using a transmission medium via a network interface device.

[0207] "Client Device" refers to any machine that interfaces with a communications network to obtain resources from one or more server systems or other client devices. A client device may be, but is not limited to, a mobile phone, a desktop computer, a laptop computer, a portable digital assistant (PDA), a smart phone, a tablet computer, an ultrabook, a netbook, a laptop computer, a multiprocessor system, a microprocessor-based or programmable consumer electronics product, a game console, a set-top box, or any other communications device that a user may use to access a network.

[0208] "Communications network" means one or more parts of a network, which may be an ad hoc network, an intranet, an extranet, a virtual private network (VPN), a local area network (LAN), a wireless LAN (WLAN), a wide area network (WAN), a wireless WAN (WWAN), a metropolitan area network (MAN), the Internet, a part of the Internet, a part of the public switched telephone network (PSTN), a plain old telephone service (POTS) network, a cellular telephone network, a wireless network, A network, other type of network, or a combination of two or more such networks. For example, the network or a portion of the network may include a wireless network or a cellular network, and the coupling may be a code division multiple access (CDMA) connection, a global system for mobile communications (GSM) connection, or other type of cellular or wireless coupling. In this example, the coupling may implement any of various types of data transmission technologies, such as single carrier radio transmission technology (1xRTT), evolution data optimized (EVDO) technology, general packet radio service (GPRS) technology, enhanced data rate for GSM evolution (EDGE) technology, the third generation partnership project (3GPP) including 3G, fourth generation wireless (4G) network, universal mobile telecommunications system (UMTS), high speed packet access (HSPA), world wide interoperability for microwave access (WiMAX), long term evolution (LTE) standards, other data transmission technologies defined by various standard setting organizations, other long distance protocols, or other data transmission technologies.

[0209] "Component" refers to a device, a physical entity, or logic with boundaries defined by function or subroutine calls, branch points, APIs, or other techniques that provide partitioning or modularization for specific processing or control functions. Components can be combined with other components via their interfaces to perform machine processing. Components can be packaged functional hardware units designed for use with other components and can be part of a program that generally performs specific functions in related functions. Components can constitute software components (e.g., codes implemented on machine-readable media) or hardware components. "Hardware components" are tangible units that can perform certain operations and can be configured or arranged in a certain physical manner. In various examples, one or more computer systems (e.g., independent computer systems, client computer systems, or server computer systems) or one or more hardware components (e.g., processors or processor groups) of a computer system can be configured by software (e.g., applications or application parts) to perform hardware components that operate to perform certain operations described herein. Hardware components can also be implemented mechanically, electronically, or any suitable combination thereof. For example, a hardware component may include a dedicated circuit or logic that is permanently configured to perform certain operations. The hardware component may be a dedicated processor, such as a field programmable gate array (FPGA) or an application specific integrated circuit (ASIC). The hardware component may also include a programmable logic or circuit system that is temporarily configured to perform certain operations by software. For example, the hardware component may include software executed by a general-purpose processor or other programmable processor. Once configured by such software, the hardware component becomes a specific machine (or a specific component of a machine) that is uniquely customized to perform the configured function, and is no longer a general-purpose processor. It should be understood that it can be decided whether to mechanically implement the hardware component in a dedicated and permanently configured circuit or in a circuit temporarily configured (for example, configured by software) for cost and time considerations. Therefore, the phrase "hardware component" (or "hardware-implemented component") should be understood to include a tangible entity, that is, an entity that is physically constructed, permanently configured (for example, hardwired) or temporarily configured (for example, programmed) to operate in some way or perform certain operations described herein. Considering an example in which a hardware component is temporarily configured (for example, programmed), it is not necessary to configure or instantiate each of the hardware components at any time. For example, in the case where a hardware component includes a general-purpose processor that is configured by software to become a special-purpose processor, the general-purpose processor can be respectively configured as different special-purpose processors (e.g., including different hardware components) at different times. Software accordingly configures one or more specific processors to, for example, constitute a specific hardware component at one time, and to constitute different hardware components at different times. Hardware components can provide information to other hardware components and receive information from other hardware components. Accordingly, the described hardware components can be considered to be coupled in communication.In the case of multiple hardware components being present at the same time, communication can be achieved by signal transmission (e.g., by appropriate circuits and buses) between or among two or more hardware components. In examples where multiple hardware components are configured or instantiated at different times, communication between such hardware components can be achieved, for example, by storing information in a memory structure accessible to multiple hardware components and retrieving information in the memory structure. For example, a hardware component can perform an operation, and the output of the operation is stored in a memory device coupled to it in communication. Then, another hardware component can access the memory device at a subsequent time to retrieve the stored output and process it. The hardware component can also initiate communication with an input device or an output device, and can operate on resources (e.g., a collection of information). The various operations of the example methods described herein can be performed at least in part by one or more processors that are temporarily configured (e.g., by software) or permanently configured to perform related operations. Whether it is temporarily configured or permanently configured, such a processor can constitute a processor-implemented component that operates to perform one or more operations or functions described herein. As used herein, "processor-implemented components" refer to hardware components implemented using one or more processors. Similarly, the method described in this article can be implemented at least in part by a processor, wherein one or more specific processors are examples of hardware. For example, at least some operations of the method can be performed by one or more processors or the parts implemented by the processor. In addition, one or more processors can also operate to support the execution of related operations in a "cloud computing" environment or as a "software as a service" (SaaS) operation. For example, at least some operations in the operation can be performed by a group of computers (as an example of a machine including a processor), wherein these operations can be accessed via a network (e.g., the Internet) and via one or more appropriate interfaces (e.g., API). The execution of some operations in the operation can be distributed between processors, can not only reside in a single machine, but also can be deployed across several machines. In some examples, a processor or a part implemented by a processor can be located in a single geographic location (e.g., in a home environment, an office environment, or a server cluster). In other examples, a processor or a part implemented by a processor can be distributed across several geographic locations.

[0210] "Computer-readable storage media" refers to both machine storage media and transmission media. Therefore, these terms include storage devices / media and carrier / modulated data signals. The terms "machine-readable medium", "computer-readable medium" and "device-readable medium" mean the same thing and can be used interchangeably in this disclosure.

[0211] "Transient messages" are messages that are accessible for a limited duration. Transient messages can be text, images, videos, etc. The access time for transient messages can be set by the sender of the message. Alternatively, the access time can be a default setting or a setting specified by the recipient. Regardless of the setting technique, the message is transient.

[0212] "Machine storage media" refers to a single or multiple storage devices and media (e.g., centralized or distributed databases, and associated caches and servers) that store executable instructions, routines, and data. Thus, the term should be considered to include, but is not limited to, solid-state memory and optical and magnetic media, including memory internal or external to the processor. Specific examples of machine storage media, computer storage media, and device storage media include: non-volatile memory, including, for example, semiconductor memory devices such as erasable programmable read-only memory (EPROM), electrically erasable programmable read-only memory (EEPROM), FPGA, and flash memory devices; magnetic disks, such as internal hard disks and removable disks; magneto-optical disks; and CD-ROM and DVD-ROM disks. The terms "machine storage media", "device storage media", and "computer storage media" mean the same thing and may be used interchangeably in this disclosure. The terms "machine storage media", "computer storage media", and "device storage media" expressly exclude carrier waves, modulated data signals, and other such media (at least some of which are encompassed by the term "signal media").

[0213] “Non-transitory computer-readable storage medium” refers to tangible media capable of storing, encoding, or carrying instructions to be executed by a machine.

[0214] "Signal medium" refers to any intangible medium that is capable of storing, encoding or carrying instructions executed by a machine and includes digital or analog communication signals or other intangible media that facilitate the communication of software or data. The term "signal medium" should be deemed to include any form of modulated data signals, carrier waves, etc. The term "modulated data signal" refers to a signal that has one or more of its various characteristics set or changed in such a manner as to encode information in the signal. The terms "transmission medium" and "signal medium" mean the same thing and may be used interchangeably in this disclosure.

Claims

1. An autonomous drone device, include: at least one processor; and A memory storing instructions that, when executed by the at least one processor, configure the autonomous drone to perform operations comprising: receiving an indication of a selection of a flight instruction; capturing images using an image capture device of the autonomous drone; processing the image to determine whether a face is present in the image; and Taking off in response to the face being present in the image.

2. The device according to claim 1, in, The operations also include: Determining a distance of the face from the autonomous drone, wherein, in response to the face being present in the image, further comprises: In response to the face being present in the image and the face being no more than a threshold distance from the autonomous drone.

3. The device according to claim 2, in, The threshold distance is a first threshold distance, and wherein, in response to the face being present in the image and the face being no greater than the threshold distance from the autonomous drone, further comprises: In response to the face being present in the image, the face being no more than the threshold distance from the autonomous drone, and the face being no less than a second threshold distance from the autonomous drone.

4. The device according to claim 3, in, The first threshold is from three feet to ten feet, and the second threshold is from one inch to four feet.

5. The device according to claim 4, in, The operations also include: The second threshold is determined based on wind speed, wherein the second threshold increases based on higher wind speeds.

6. The device according to any one of claims 1 to 5, in, Responsive to the face being present in the image further includes: responsive to the face being present in the image and the autonomous drone being oriented right side up.

7. The device according to any one of claims 1 to 5, in, An indication of a selection of the flight instructions is received from a user of the autonomous drone selecting a user interface item on the autonomous drone.

8. The device according to any one of claims 1 to 5, in, Determining that the face exists further includes: The face is determined to be present if the face includes at least a first threshold number of pixels of an image sensor of the image capture device and the face includes no more than a second threshold number of pixels of the image sensor.

9. The device according to any one of claims 1 to 5, in, Determining that the face exists further includes: A determination is made as to whether the orientation of the face indicates that the autonomous drone is within a field of view of the eyes of the face.

10. The device according to any one of claims 1 to 5, in, The image capture device is a first image capture device and the image is a first image, and wherein the operations further comprise: A second image is captured using a second image capture device of the autonomous drone, wherein in response to the face being present in the image further comprises: in response to the face being present in the image and the second image indicating that the autonomous drone is on a hand.

11. The device according to claim 10, in, The first image capture device is mounted horizontally relative to the axis of a propeller of the autonomous drone, and the second image capture device is mounted vertically relative to the axis of the propeller and oriented downward.

12. The device according to any one of claims 1 to 5, in, The indication of selection of the flight instruction is a first indication, and wherein responsive to the presence of the face in the image further comprises: turning on the propellers at a lower setting for a period of time and taking off if a second indication to cancel takeoff is not received.

13. The device according to any one of claims 1 to 5, in, Processing the image to determine whether the face is present in the image further includes determining whether a specific face of a user of the autonomous drone is present in the image.

14. The device according to any one of claims 1 to 5, in, Takeoff also includes: Takeoff is based on the initial flight plan of the flight plan.

15. The device according to claim 14, in, The operations also include: determining the flight plan based on the position of the face relative to the autonomous drone; and The flight plan is navigated based on recognizing the face in subsequent images captured by the image capture device.

16. The device according to claim 14, in, The initial flight plan causes the autonomous drone to fly upward in an area between the user's hands and the face to a height above the face.

17. A method performed on an autonomous drone device, the method include: receiving, by at least one processor, an indication of a selection of a flight instruction; capturing images using an image capture device of the autonomous drone; processing the image to determine whether a face is present in the image; as well as Taking off in response to the face being present in the image.

18. The method according to claim 17, in, The method further comprises: Determining a distance of the face from the autonomous drone, wherein, in response to the face being present in the image, further comprises: In response to the face being present in the image and the face being no more than a threshold distance from the autonomous drone.

19. A non-transitory computer-readable storage medium comprising instructions that, when executed by at least one processor of a device of an autonomous drone, cause the at least one processor to perform operations, the operations include: receiving an indication of a selection of a flight instruction; capturing images using an image capture device of the autonomous drone; processing the image to determine whether a face is present in the image; as well as Taking off in response to the face being present in the image.

20. The non-transitory computer readable storage medium of claim 19, in, The operations also include: Determining a distance of the face from the autonomous drone, wherein, in response to the face being present in the image, further comprises: In response to the face being present in the image and the face being no more than a threshold distance from the autonomous drone.

Images