Systems and methods for surveillance with a visual marker

Patent metadata

Field	Value
Publication number	US-11442473-B2
Application number	US-202016901974-A
Country	US
Kind code	B2
Filing date	Jun 15, 2020
Priority date	Oct 31, 2014
Publication date	Sep 13, 2022
Grant date	Sep 13, 2022

Abstract

A method of controlling an unmanned aerial vehicle (UAV) in an environment includes detecting, with aid of a sensor coupled to the UAV and while the UAV is in flight, a signal that is emitted from and uniquely identifying a locating marker; determining, with aid of a processor, a sequence of actions to control the UAV in response to a plurality of instructions encoded in the locating marker and communicated by the signal; and controlling, with aid of the processor, the UAV to effect the sequence of actions according to a specified time interval included in the plurality of instructions. The specified time interval indicates a wait time before the UAV effects the sequence of actions.

First claim

What is claimed is:

1. A method of controlling an unmanned aerial vehicle (UAV) in an environment, comprising:
detecting, with aid of a sensor coupled to the UAV and while the UAV is in flight, a signal that is emitted from and uniquely identifying a locating marker;
determining, with aid of a processor, a sequence of actions to control the UAV in response to a plurality of instructions encoded in the locating marker and communicated by the signal, the plurality of instructions encoded in the locating marker including at least one of an instruction that instructs the UAV to adjust position of one or more payloads of the UAV, an instruction that instructs the UAV to rotate the one or more payloads of the UAV, or an instruction that instructs the UAV to swap between the one or more payloads of the UAV; and
controlling, with aid of the processor, the UAV to effect the sequence of actions according to a predetermined distance included in the plurality of instructions, the predetermined distance indicating a distance from the locating marker at which the UAV effects the sequence of actions.

2. The method of claim 1 , wherein the plurality of instructions encoded in the locating marker further include a specified time interval, the specified time interval indicating a wait time before the UAV effects the sequence of actions.

3. The method of claim 1 , wherein the plurality of instructions further include multiple sets of instructions associated with the locating marker, and controlling the UAV to effect the sequence of actions comprises:
selecting a set of instructions from the multiple sets of instructions based on one or more parameters; and
controlling the UAV to effect the sequence of actions according to the set of instructions.

4. The method of claim 3 , wherein the one or more parameters include at least one of a user input, a time indicator provided by a clock of the UAV, a detected temperature, a detected amount of light, a detected motion, or a detected sound.

5. The method of claim 1 , wherein the locating marker is adhered to an obstacle or a tracking target in the environment, and the method further comprises:
analyzing, with aid of the processor, the signal to determine a distance from the obstacle or the tracking target; and
controlling, with aid of the processor, the UAV to effect the sequence of actions when the distance is within a predetermined distance, wherein the plurality of instructions further include adjusting a direction, a speed, an altitude of the UAV to avoid the obstacle, or maintaining a relative distance between the UAV and the tracking target while the UAV is in flight.

6. The method of claim 1 , wherein the environment is an indoor environment and the locating marker includes one or more features of the indoor environment, and wherein the one or more features include at least one of an opening, a doorway, a corner, a staircase, an incline, a decline, an obstacle, or an object.

7. The method of claim 1 , wherein the locating marker is a dynamic marker that is changeable automatically, semi-automatically, or manually.

8. The method of claim 1 , wherein the sensor comprises at least one of an acoustic sensor, an ultrasonic sensor, a LiDAR sensor, a vision sensor, or a WiFi sensor.

9. The method of claim 1 , wherein the signal comprises at least one of an acoustic signal, a visual signal, an RFID signal, a radio signal, or a WiFi signal.

10. A system for controlling an unmanned aerial vehicle (UAV) in an environment, the system comprising:
a sensor coupled to the UAV configured to detect, while the UAV is in flight, a signal that is emitted from and uniquely identifying a locating marker; and
a processor configured to:
determine a sequence of actions to control the UAV in response to a plurality of instructions encoded in the locating marker and communicated by the signal, the plurality of instructions encoded in the locating marker including at least one of an instruction that instructs the UAV to adjust position of one or more payloads of the UAV, an instruction that instructs the UAV to rotate the one or more payloads of the UAV, or an instruction that instructs the UAV to swap between the one or more payloads of the UAV; and
control the UAV to effect the sequence of actions according to a predetermined distance included in the plurality of instructions, the predetermined distance indicating a distance from the locating marker at which the UAV effects the sequence of actions.

11. The system of claim 10 , wherein the plurality of instructions encoded in the locating marker further include a specified time interval, the specified time interval indicating a wait time before the UAV effects the sequence of actions.

12. The system of claim 10 , wherein the plurality of instructions further include multiple sets of instructions associated with the locating marker, and the processor is further configured to:
select a set of instructions from the multiple sets of instructions based on one or more parameters; and
control the UAV to effect the sequence of actions according to the set of instructions.

13. The system of claim 12 , wherein the one or more parameters include at least one of a user input, a time indicator provided by a clock of the UAV, a detected temperature, a detected amount of light, a detected motion, or a detected sound.

14. The system of claim 10 , wherein the locating marker is adhered to an obstacle or a tracking target in the environment, and the processor is further configured to:
analyze the signal to determine a distance from the obstacle or the tracking target; and
controlling the UAV to effect the sequence of actions when the distance is within a predetermined distance, wherein the plurality of instructions further include adjusting a direction, a speed, an altitude of the UAV to avoid the obstacle, or maintaining a relative distance between the UAV and the tracking target while the UAV is in flight.

15. The system of claim 10 , wherein the environment is an indoor environment and the locating marker includes one or more features of the indoor environment, and wherein the one or more features include at least one of an opening, a doorway, a corner, a staircase, an incline, a decline, an obstacle, or an object.

16. The system of claim 10 , wherein the locating marker is a dynamic marker that is changeable automatically, semi-automatically, or manually.

17. The system of claim 10 , wherein the sensor comprises at least one of an acoustic sensor, an ultrasonic sensor, a LiDAR sensor, a vision sensor, or a WiFi sensor, and the signal comprises at least one of an acoustic signal, a visual signal, an RFID signal, a radio signal, or a WiFi signal.

18. An unmanned aerial vehicle (UAV), comprising:
a sensor configured to detect, while the UAV is in flight, a signal that is emitted from and uniquely identifying a locating marker; and
a processor configured to:
determine a sequence of actions to control the UAV in response to a plurality of instructions encoded in the locating marker and communicated by the signal, the plurality of instructions encoded in the locating marker including at least one of an instruction that instructs the UAV to adjust position of one or more payloads of the UAV, an instruction that instructs the UAV to rotate the one or more payloads of the UAV, or an instruction that instructs the UAV to swap between the one or more payloads of the UAV; and
control the UAV to effect the sequence of actions according to a predetermined distance included in the plurality of instructions, the predete

Assignees

• Sz Dji Technology Co Ltd

Inventors

• Liu Ang
• Hu Xiao
• Zhou Guyue

Classifications

• G06K7/1417

  2D bar codes · CPC title

• G06K19/06037

  multi-dimensional coding · CPC title

• G01C21/206

  specially adapted for indoor navigation · CPC title

• G08G5/045

  Physics · mapped topic

• B64C39/024

  of the remote controlled vehicle type, i.e. RPV · CPC title