Contour scanning with an unmanned aerial vehicle

Patent metadata

Field	Value
Publication number	US-12148205-B2
Application number	US-202117522973-A
Country	US
Kind code	B2
Filing date	Nov 10, 2021
Priority date	Nov 10, 2021
Publication date	Nov 19, 2024
Grant date	Nov 19, 2024

Abstract

In some examples, an unmanned aerial vehicle (UAV) may determine a plurality of contour paths spaced apart from each other along at least one axis associated with a scan target. For instance, each contour path may be spaced away from a surface of the scan target based on a selected distance. The UAV may determine a plurality of image capture locations for each contour path. The image capture locations may indicate locations at which an image of a surface of the scan target is to be captured. The UAV may navigate along the plurality of contour paths based on a determined speed while capturing images of the surface of the scan target based on the image capture locations.

First claim

What is claimed:

1. An unmanned aerial vehicle (UAV) comprising:
a UAV body including a propulsion mechanism;
a camera mounted on the UAV body; and
one or more processors configured by executable instructions to:
receive an indication of a scan target;
determine a plurality of contour paths spaced apart from each other along at least one axis associated with the scan target, each contour path spaced away from a surface of the scan target based on a selected distance;
determine a plurality of image capture locations for each contour path, each image capture location indicating a location at which an image of a surface of the scan target is to be captured;
determine, in advance, a maximum speed for the UAV to use for traversing the plurality of image capture locations of the plurality of contour paths, wherein the maximum speed is determined based at least in part on the selected distance and lighting associated with the surface; and
operate the propulsion mechanism to navigate the UAV along the plurality of contour paths at a speed based at least in part on the maximum speed while capturing images of the surface of the scan target with the camera based on the image capture locations of respective ones of the contour paths.

2. The UAV as recited in claim 1 , the one or more processors further configured by the executable instructions to:
determine an overlap for the images of the surface; and
determine a distance between adjacent image capture locations of the respective contour paths based at least on the overlap, the selected distance, and a field of view of the camera used to capture the images of the surface.

3. The UAV as recited in claim 1 , the one or more processors further configured by the executable instructions to:
determine a sidelap between the images of the surface; and
determine a distance between adjacent contour paths based at least on the sidelap, the selected distance, and a field of view of the camera used to capture the images of the surface.

4. The UAV as recited in claim 1 , the one or more processors further configured by the executable instructions to:
determine a change in the lighting associated with at least a portion of the surface of the scan target; and
change the speed of the UAV based at least in part on determining the change in the lighting.

5. The UAV as recited in claim 1 , the one or more processors further configured by the executable instructions to:
in response to receiving the indication of the scan target, determine a location of a plurality of points on the surface of the scan target relative to the UAV and based on one or more images of the scan target; and
associate a coordinate system with the scan target based at least on a configuration of the scan target determined from the plurality of points.

6. The UAV as recited in claim 5 , the one or more processors further configured by the executable instructions to associate a selected axis of the coordinate system with at least one of:
a longest edge of the scan target; or
a longest element of the scan target.

7. A method comprising:
determining, by one or more processors of an unmanned aerial vehicle (UAV), a plurality of contour paths spaced apart from each other along at least one axis associated with a scan target, each contour path spaced away from a surface of the scan target based on a selected distance;
determining a plurality of image capture locations for each contour path, a respective image capture location indicating a respective location at which a respective image of a surface of the scan target is to be captured;
determining, prior to traversing a least a portion of the plurality of contour paths, and based at least on lighting associated with the surface and the selected distance, a speed to use for traversing at least the portion of the plurality of contour paths; and
navigating the UAV along at least the portion of the plurality of contour paths at the determined speed while capturing images of the surface of the scan target based on the image capture locations.

8. The method as recited in claim 7 , further comprising:
determining a maximum speed for traversing a least the portion of the plurality of contour paths based at least on the lighting associated with the surface and the selected distance; and
navigating the UAV along the plurality of contour paths at the determined speed by traversing at least the portion of the plurality of contour paths at or below the maximum speed.

9. The method as recited in claim 8 , wherein determining the maximum speed is further based on a threshold level of motion blur determined to be acceptable for the captured images.

10. The method as recited in claim 7 , further comprising:
determining a change in lighting associated with at least a portion of the surface of the scan target; and
changing the speed of the UAV based at least in part on determining the change in the lighting.

11. The method as recited in claim 7 , further comprising:
determining an overlap for the images of the surface; and
determining a distance between adjacent image capture locations of the respective contour paths based at least on the overlap, the selected distance, and a field of view of a camera used to capture the images of the surface.

12. The method as recited in claim 7 , further comprising:
determining a sidelap between the images of the surface; and
determining a distance between adjacent contour paths based at least on the sidelap, the selected distance, and a field of view of a camera used to capture the images of the surface.

13. The method as recited in claim 7 , further comprising:
associating a coordinate system with the scan target based at least on a configuration of the scan target, the coordinate system including the at least one axis, wherein the coordinate system is associated with the scan target based at least on:
aligning the at least one axis with at least one of: a longest edge of the scan target; or a longest element of the scan target.

14. The method as recited in claim 7 , further comprising navigating the UAV along at least a portion of the plurality of contour paths based on a constant speed while capturing the images of the surface base on regular intervals.

15. An unmanned aerial vehicle (UAV) comprising:
a first camera mounted on the UAV; and
one or more processors configured by executable instructions to:
determine a surface of a scan target to be scanned;
determine a distance from the surface of the scan target as a selected distance associated with capturing images;
determine, prior to traversing at least a first portion of the surface, and based at least on lighting associated with at least the first portion of the surface and further based on the selected distance, a maximum speed for traversing at least the first portion of the surface; and
navigate the UAV relative to at least the first portion of the surface of the scan target based on the selected distance and at a speed based at least on the determined maximum speed while capturing images of at least the first portion of the surface of the scan target.

16. The UAV as recited in claim 15 , the one or more processors further configured by the executable instructions to:
capture the images of the first portion of the surface of the scan target while flying at or below the maximum speed;
determine that lighting associated with a second portion of the surface of the scan target is different from the lighting associated with the first portion of the surface; and
determine, based at least on the lighting associated with the seco

Assignees

• Skydio Inc

Inventors

• Henry Peter Benjamin
• Martirosyan Hayk
• Delepine Quentin Allen Wah Yen
• Mondal Himel
• Bachrach Abraham Galton

Classifications

• G08G5/30 Primary

  Flight plan management · CPC title

• G08G5/57

  for unmanned aircraft · CPC title

• G08G5/55

  for a single aircraft · CPC title

• B64C39/024

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

• B64U10/13

  Flying platforms · CPC title