Multipoint cable cam system and method

Patent metadata

Field	Value
Publication number	US-12346113-B2
Application number	US-202418601046-A
Country	US
Kind code	B2
Filing date	Mar 11, 2024
Priority date	Sep 28, 2017
Publication date	Jul 1, 2025
Grant date	Jul 1, 2025

Abstract

This disclosure describes a method of controlling an unmanned aerial vehicle (UAV). The steps of controlling include acquiring images with an image capture device of an unmanned aerial vehicle (UAV). The steps include analyzing the images to determine navigation information of the UAV with a vision-based navigation system. The steps include tracking a position of the UAV with the vision-based navigation system. The steps include controlling rotors of the UAV to prevent deviations in movement from a desired flight path or position of the UAV. The steps include limiting travel or flight of the UAV to a physical region determined by the desired flight path.

First claim

What is claimed is:

1. A method, comprising:
receiving a user input via a remote controller of an unmanned aerial vehicle (UAV);
correlating the received user input with stored global positioning satellite (GPS) data to generate a plurality of virtual waypoints along a UAV flight path;
tracking a position of the UAV;
updating the UAV flight path based on visual landmarks;
storing an updated flight path; and
controlling the UAV to fly in accordance with the updated flight path.

2. The method of claim 1 , further comprising:
determining whether the visual landmarks match the stored GPS data.

3. The method of claim 2 , further comprising:
monitoring the visual landmarks as the UAV travels along the UAV flight path.

4. The method of claim 1 , wherein the updated flight path is transmitted to the remote controller.

5. The method of claim 1 , further comprising:
defining waypoints along the UAV flight path.

6. The method of claim 5 , further comprising:
setting altitudes of the waypoints along the flight path.

7. The method of claim 6 , further comprising:
generating a spline at each of the waypoints that take into consideration the altitudes of the waypoints.

8. An aerial vehicle controller comprising
a processor configured to:
receive a user input via a remote controller of an unmanned aerial vehicle (UAV);
correlate the received user input with stored global positioning satellite (GPS) data to generate a plurality of virtual waypoints along a UAV flight path;
track a position of the UAV;
update the UAV flight path based on visual landmarks;
store an updated flight path; and
control the UAV to fly in accordance with the updated flight path.

9. The aerial vehicle controller of claim 8 , wherein the visual landmarks are correlated to landmarks stored in the GPS data.

10. The aerial vehicle controller of claim 9 , wherein the visual landmarks are compared to the landmarks stored in the GPS data to determine if the landmarks and the visual landmarks match.

11. The aerial vehicle controller of claim 10 , wherein the updated flight path is updated based on the visual landmarks.

12. The aerial vehicle controller of claim 8 , further comprising:
a camera configured to capture a position and camera poses of keyframes.

13. The aerial vehicle controller of claim 12 , further comprising:
generating a smooth and continuous flight path based upon position and the camera poses of the keyframes.

14. The aerial vehicle controller of claim 13 , further comprising:
generating a spline that includes a flight trajectory of the UAV.

15. A method, comprising:
receiving a user input, via a remote controller of an unmanned aerial vehicle (UAV), that includes keyframes related to a target subject and waypoints related to each of the keyframes;
correlating the received user input with stored global positioning satellite (GPS) data to generate a plurality of virtual waypoints along a UAV flight path;
updating the UAV flight path based on visual landmarks;
storing the updated flight path; and
controlling the UAV to fly in accordance with the updated flight path and smoothing transitions between the keyframes.

16. The method of claim 15 , wherein the UAV records each keyframe in an order set by a user.

17. The method of claim 16 , further comprising:
performing discontinuous linear tweening between the keyframes to blend transitions between the keyframes.

18. The method of claim 15 , wherein the UAV comprises cameras and a trajectory of the UAV is adjusted based upon a camera easing trajectory that smooths corners along the updated flight path.

19. The method of claim 18 , further comprising
generating positions and camera poses for the keyframes and
stitching the positions and camera poses together in an order that the positions and the camera poses were recorded to generate a spline that is a flight trajectory.

20. The method according to claim 19 , wherein the spline is generated by taking into consideration altitude of each of the waypoints.

Assignees

• Skydio Inc

Inventors

• Silva William
• More Vikrant
• Arya Ashwani
• Ferdowsi Mehran
• Yui Stephen

Classifications

• B64U2101/30

  for imaging, photography or videography · CPC title

• B64U10/14

  with four distinct rotor axes, e.g. quadcopters · CPC title

• G05D1/46

  Control of position or course in three dimensions [3D] · CPC title

• G05D1/689

  Pointing payloads towards fixed or moving targets (positioning towed, pushed or suspended implements G05D1/672) · CPC title

• B64U2201/20

  Remote controls · CPC title