Unmanned aerial vehicle adaptable to obstructions

Patent metadata

Field	Value
Publication number	US-11829142-B2
Application number	US-202318120669-A
Country	US
Kind code	B2
Filing date	Mar 13, 2023
Priority date	Feb 13, 2020
Publication date	Nov 28, 2023
Grant date	Nov 28, 2023

Abstract

In some examples, an unmanned aerial vehicle (UAV) may access a scan plan that includes a sequence of poses for the UAV to assume to capture images of a scan target using one or more image sensors. The UAV may check a next pose of the scan plan for obstructions. Responsive to detection of an obstruction, the UAV may determine a backup pose based at least on a field of view of the next pose. The UAV may control a propulsion mechanism to cause the UAV to fly to assume the backup pose. The UAV may capture, based on the backup pose and using the one or more image sensors, one or more images of the scan target.

First claim

What is claimed:

1. An unmanned aerial vehicle (UAV) comprising:
one or more image sensors;
a propulsion mechanism; and
one or more processors configured by executable instructions to at least:
access a scan plan, wherein the scan plan includes a sequence of poses for the UAV to assume to capture, using the one or more image sensors, images of a scan target;
check a next pose of the scan plan for obstructions;
responsive to detection of an obstruction, determine a backup pose based on a field of view of the next pose;
control the propulsion mechanism to cause the UAV to fly to assume the backup pose; and
capture, based on the backup pose and using the one or more image sensors, one or more images of the scan target.

2. The UAV as recited in claim 1 , the executable instructions further configuring the one or more processors to determine the backup pose based at least on determining a location for the backup pose at a position along a normal of a surface of the scan target at a center of the field of view of the next pose.

3. The UAV as recited in claim 1 , the executable instructions further configuring the one or more processors to check the next pose of the scan plan for obstructions based at least on performing object recognition of one or more images captured by the one or more image sensors of a space corresponding to the next pose for detecting an object in the space corresponding to the next pose.

4. The UAV as recited in claim 1 , the executable instructions further configuring the one or more processors to:
check the backup pose for obstructions; and
responsive to determining that the backup pose is free of obstructions, perform image capture of a targeted point based the backup pose orthogonally along a normal of the targeted point.

5. The UAV as recited in claim 4 , the executable instructions further configuring the one or more processors to check the backup pose for obstructions based at least on using a ray test to check for occlusion of a targeted point corresponding to the next pose, wherein a location of the targeted point is based at least in part on a three-dimensional model of the scan target.

6. The UAV as recited in claim 4 , the executable instructions further configuring the one or more processors to capture the one or more images based on the backup pose at least one of:
farther from the targeted point than a sampling distance specified for image capture;
closer to the targeted point than a sampling distance specified for image capture; or
from an angle that is oblique to a normal of a surface of the scan target at a center of the field of view of the next pose.

7. The UAV as recited in claim 1 , the executable instructions further configuring the one or more processors to:
check the backup pose for obstructions;
responsive to determining that the backup pose is obstructed, check for an unobstructed alternative backup pose for capturing an image of the targeted point orthogonally along a normal of the targeted point; and
based on determining that capturing an image of the targeted point orthogonally along a normal of the targeted point is unavailable, perform image capture of the targeted point at an oblique angle to the normal of the targeted point.

8. The UAV as recited in claim 1 , the executable instructions further configuring the one or more processors to, following capturing the one or more images of the scan target based on the backup pose, proceed to a pose in the scan plan that is sequentially after the next pose.

9. A method comprising:
accessing, by one or more processors of an unmanned aerial vehicle (UAV), a scan plan that includes a sequence of poses for the UAV to assume to capture, using one or more image sensors, images of a scan target;
checking, by the one or more processors of the UAV, a next pose of the scan plan for obstructions;
responsive to detection of an obstruction, determining, by the one or more processors of the UAV, a backup pose based at least on a field of view of the next pose;
controlling, by the one or more processors of the UAV, a propulsion mechanism of the UAV to cause the UAV to fly to assume the backup pose; and
capturing, by the one or more processors of the UAV, based on the backup pose and using the one or more image sensors, one or more images of the scan target.

10. The method as recited in claim 9 , wherein determining the backup pose based at least on the field of view of the next pose comprises determining a location for the backup pose at a position along a normal of a surface of the scan target at a center of the field of view of the next pose.

11. The method as recited in claim 9 , wherein checking the next pose of the scan plan for obstructions comprises performing object recognition of one or more images captured by the one or more image sensors of a space corresponding to the next pose for detecting an object in the space corresponding to the next pose.

12. The method as recited in claim 9 , further comprising:
checking the backup pose for obstructions; and
responsive to determining that the backup pose is free of obstructions, performing image capture of a targeted point at the backup pose orthogonally along a normal of the targeted point.

13. The method as recited in claim 12 , wherein checking the backup pose for obstructions comprises using a ray test to check for occlusion of a targeted point corresponding to the next pose, wherein a location of the targeted point is based at least in part on a three-dimensional model of the scan target.

14. The method as recited in claim 12 , wherein the image capture at the backup pose is performed at least one of:
farther from the targeted point than a sampling distance specified for image capture;
closer to the targeted point than a sampling distance specified for image capture; or
from an angle that is oblique to a normal of a surface of the scan target at a center of the field of view of the next pose.

15. The method as recited in claim 9 , further comprising:
checking the backup pose for obstructions;
responsive to determining that the backup pose is obstructed, checking for an unobstructed alternative backup pose for capturing an image of the targeted point orthogonally along a normal of the targeted point; and
based on determining that capturing an image of the targeted point orthogonally along a normal of the targeted point is unavailable, performing image capture of the targeted point at an oblique angle to the normal of the targeted point.

16. An aerial vehicle comprising:
one or more image sensors;
one or more processors configured by executable instructions to at least:
access a scan plan, wherein the scan plan includes a sequence of poses for the aerial vehicle to assume to capture, using the one or more image sensors, images of a scan target;
check a next pose of the scan plan for obstructions;
based at least on detection of an obstruction, determine a backup pose based at least on a field of view of the next pose;
cause the aerial vehicle to fly to assume the backup pose; and
capture, based on the backup pose and using the one or more image sensors, one or more images of the scan target.

17. The aerial vehicle as recited in claim 16 , the executable instructions further configuring the one or more processors to determine the backup pose based at least on determining a location for the backup pose at a position along a normal of a surface of the scan target at a center of the field of view of the next pose.

18. The aerial vehicle as recited in claim 16 , the executable i

Assignees

• Skydio Inc

Inventors

• Henry Peter
• Zhu Jack
• Richman Brian
• Zheng Harrison
• Martirosyan Hayk
• Donahoe Matthew
• Bachrach Abraham
• Bry Adam
• Kennedy Ryan David
• Mondal Himel
• Delepine Quentin Allen Wah Yen

Classifications

• B64D31/06

  actuated automatically · CPC title

• B64D47/08

  Arrangements of cameras · CPC title

• B64C39/024

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

• B64U10/13

  Flying platforms · CPC title

• B64U2201/20

  Remote controls · CPC title