Unmanned aerial vehicle adaptable to obstructions

Patent metadata

Field	Value
Publication number	US-12169406-B2
Application number	US-202318520089-A
Country	US
Kind code	B2
Filing date	Nov 27, 2023
Priority date	Feb 13, 2020
Publication date	Dec 17, 2024
Grant date	Dec 17, 2024

Abstract

In some examples, one or more processors of an aerial vehicle access a scan plan including a sequence of poses for the aerial vehicle to assume to capture, using the one or more image sensors, images of a scan target. A next pose of the scan plan is checked for obstructions, and based at least on detection of an obstruction, the one or more processors determine whether a backup pose is available for capturing an image of the targeted point orthogonally along a normal of the targeted point. Responsive to determining that the backup pose is unavailable for capturing an image of the targeted point orthogonally along the normal of the targeted point, image capture of the targeted point is performed at an oblique angle to the normal of the targeted point.

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 including 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;
based at least on detection of an obstruction, determine whether a backup pose is available for capturing an image of the targeted point orthogonally along a normal of the targeted point; and
responsive to determining that the backup pose is unavailable for capturing an image of the targeted point orthogonally along the normal of the targeted point, perform image capture of the targeted point at an oblique angle to the normal of the targeted point.

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 a 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 determine that the backup pose is unavailable 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.

5. The UAV as recited in claim 1 , the executable instructions further configuring the one or more processors to capture 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; or
closer to the targeted point than a sampling distance specified for image capture.

6. The UAV as recited in claim 1 , the executable instructions further configuring the one or more processors to:
determine whether the oblique angle satisfies a threshold indicative that the targeted point is not covered; and
based on the oblique angle satisfying the threshold, add the targeted point to a set of uncovered points for use, at least in part, for determining an updated scan plan.

7. The UAV as recited in claim 1 , the executable instructions further configuring the one or more processors to:
responsive to determining that the backup pose is unavailable for capturing an image of the targeted point orthogonally along the normal of the targeted point, control the propulsion mechanism to navigate the UAV to a position relative to the scan target to perform the image capture of the targeted point at the oblique angle to the normal of the targeted point.

8. A method comprising:
accessing, by one or more processors of an unmanned aerial vehicle (UAV), a scan plan including a sequence of poses for the UAV to assume to capture, using the 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;
based at least on detection of an obstruction, determining whether a backup pose is available for capturing an image of the targeted point orthogonally along a normal of the targeted point; and
responsive to determining that the backup pose is unavailable for capturing an image of the targeted point orthogonally along the normal of the targeted point, performing image capture of the targeted point at an oblique angle to the normal of the targeted point.

9. The method as recited in claim 8 , further comprising:
determining 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 a field of view of the next pose.

10. The method as recited in claim 8 , 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.

11. The method as recited in claim 8 , wherein determining that the backup pose is unavailable is 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.

12. The method as recited in claim 8 , further comprising:
capturing 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; or
closer to the targeted point than a sampling distance specified for image capture.

13. The method as recited in claim 8 , further comprising:
determining whether the oblique angle satisfies a threshold indicative that the targeted point is not covered; and
based on the oblique angle satisfying the threshold, adding the targeted point to a set of uncovered points for use, at least in part, for determining an updated scan plan.

14. The method as recited in claim 8 , further comprising:
responsive to determining that the backup pose is unavailable for capturing an image of the targeted point orthogonally along the normal of the targeted point, controlling the propulsion mechanism to navigate the UAV to a position relative to the scan target to perform the image capture of the targeted point at the oblique angle to the normal of the targeted point.

15. An aerial vehicle comprising:
one or more image sensors;
one or more processors configured by executable instructions to at least:
access a scan plan including 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 whether a backup pose is available for capturing an image of the targeted point orthogonally along a normal of the targeted point; and
responsive to determining that the backup pose is unavailable for capturing an image of the targeted point orthogonally along the normal of the targeted point, perform image capture of the targeted point at an oblique angle to the normal of the targeted point.

16. The aerial vehicle as recited in claim 15 , 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 a field of view of the next pose.

17. The aerial vehicle as recited in claim 15 , 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.

18. The aerial vehicle as recited in claim 15 , the executable instructions further configuring the one or mo

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