Systems and methods for adjusting flight control of an unmanned aerial vehicle

Patent metadata

Field	Value
Publication number	US-12387491-B2
Application number	US-202217947020-A
Country	US
Kind code	B2
Filing date	Sep 16, 2022
Priority date	Jan 6, 2016
Publication date	Aug 12, 2025
Grant date	Aug 12, 2025

Abstract

An unmanned aerial vehicle including an image sensor and one or more processors. The image sensor is carried by the unmanned aerial vehicle and is configured to generate output signals conveying visual information. The one or more processors include a distance component and a flight control component. The distance component configured to determine a distance between an object of interest and the unmanned aerial vehicle. The flight control component is configured to adjust a flight path of the unmanned aerial vehicle based on the distance between the object of interest and the unmanned aerial vehicle. The one or more processors are configured to: receive the visual information including the object of interest; and control the image sensor with a sensor control subsystem to adjust one or more parameters of the image sensor and to detect the object of interest.

First claim

What is claimed is:

1. An unmanned aerial vehicle comprising:
an image sensor carried by the unmanned aerial vehicle, the image sensor configured to generate output signals conveying visual information; and
one or more processors comprising:
a distance component configured to determine a distance between an object of interest and the unmanned aerial vehicle, via the visual information captured by the image sensor, as the object of interest travels along a trajectory and to determine a second distance between the unmanned aerial vehicle and a location of interest, wherein the location of interest is a location of a future event;
a flight control component configured to adjust a flight path of the unmanned aerial vehicle based on at least the distance between the object of interest and the unmanned aerial vehicle; and
a pattern recognition component configured to recognize the trajectory associated with the object of interest based on the visual information captured by the image sensor; wherein the one or more processors are configured to:
receive the visual information from the image sensor including the object of interest and the location of interest;
control the image sensor with a sensor control subsystem to adjust one or more parameters of the image sensor and to detect the object of interest;
control the unmanned aerial vehicle as the object of interest travels along the trajectory so that the object of interest is detected within a field of view of the image sensor as the object of interest approaches the location of interest;
control the unmanned aerial vehicle to re-position the unmanned aerial vehicle relative to the location of interest in preparation for the future event so that the future event is captured with the image sensor during an overlap of the object of interest and the location of interest; and
tag a location where the future event is captured with the image sensor, wherein the unmanned aerial vehicle continues to detect the object of interest as the unmanned aerial vehicle re-positions.

2. The unmanned aerial vehicle of claim 1 , wherein the flight control component adjusts the flight path based on one or more of a target altitude differential, a target cardinal direction, and a target distance maintained between the unmanned aerial vehicle and the object of interest.

3. The unmanned aerial vehicle of claim 1 , wherein the flight control component adjusts the flight path of the unmanned aerial vehicle based upon the distance.

4. The unmanned aerial vehicle of claim 3 , wherein the flight control component maintains one or more of a target altitude differential, a target cardinal direction, and/or a target distance between the unmanned aerial vehicle and the object of interest based upon the distance.

5. The unmanned aerial vehicle of claim 1 , wherein the unmanned aerial vehicle re-positions when the distance between the object of interest and the unmanned aerial vehicle is equal to or less than the distance between the object of interest and the unmanned aerial vehicle.

6. The unmanned aerial vehicle of claim 1 , further comprising:
a gesture recognition component configured to recognize and/or interpret gestures from a performer, wherein the gesture recognition component recognizes movements of hands of the performer so that the unmanned aerial vehicle performs an action or operation associated with a change in the flight path.

7. The unmanned aerial vehicle of claim 1 , further comprising:
a gesture recognition component configured to recognize and/or interpret gestures from a performer, wherein the gesture recognition component recognizes a tactile action associated with a remote controller that is in communication with the unmanned aerial vehicle.

8. The unmanned aerial vehicle of claim 7 , wherein the tactile action is tapping the remote controller and the remote controller is configured to transmit a command associated with the tactile action to the unmanned aerial vehicle so that the command is processed by the flight control component to control the unmanned aerial vehicle.

9. A method comprising:
controlling an image sensor, carried on an unmanned aerial vehicle, with a sensor control subsystem that adjusts one or more parameters of the image sensor;
detecting an object of interest, a location of interest, or both with the image sensor;
generating output signals with the image sensor;
generating visual information based on the detected object of interest;
conveying the output signals and the visual information to one or more processors comprising: a distance component and a flight control component;
determining, with the distance component and the visual information captured by the image sensor, a distance between the object of interest and the unmanned aerial vehicle and a second distance between the unmanned aerial vehicle and a location of interest, wherein the location of interest is a location of a future event;
adjusting, by the flight control component, a flight path of the unmanned aerial vehicle based on at least the distances between the object of interest and the unmanned aerial vehicle;
recognizing, with a pattern recognition component, a trajectory associated with object of interest based on the visual information detected by the image sensor;
continuing to determine the distance between the object of interest and the unmanned aerial vehicle as the object of interest travels along the trajectory;
wherein the controlling comprises operation modes of:
controlling the unmanned aerial vehicle as the object of interest travels along the trajectory so that the object of interest is detected within a field of view of the image sensor as the object of interest approaches the location of interest;
controlling the unmanned aerial vehicle to re-position the unmanned aerial vehicle relative to the location of interest in preparation for the future event so that the future event is captured with the image sensor during an overlap of the object of interest and the location of interest are captured;
tagging a location where the future event is captured with the image sensor; and
continuing to detect the object of interest as the unmanned aerial vehicle re-positions.

10. The method of claim 9 , wherein adjusting the flight path with the flight control component includes controlling one or more of an altitude, a longitude, a latitude, a geographical location, a heading, and/or a speed of the unmanned aerial vehicle.

11. The method of claim 9 , further comprising:
capturing images with the image sensor, wherein the images are a video frame of a video segment.

12. The method of claim 11 , further comprising:
positioning the unmanned aerial vehicle at an original position, with the flight control component, so that the image sensor captures the images; and
repositioning the unmanned aerial vehicle, with the flight control component, from the original position to a new position based upon the distance between the object of interest and the unmanned aerial vehicle being equal to or less than the second distance between the unmanned aerial vehicle and the location of interest.

13. The method of claim 9 , further comprising:
adjusting flight control of the unmanned aerial vehicle, with the flight control component, based upon the distance.

14. The method of claim 13 , further comprising:
providing flight control such that one or more of a target altitude differential, a target cardinal direction, and/or a target distance is maintained between the unmanned aerial vehicle and the object of interest based upon the distance.

15. The method of claim 9 , furthe

Assignees

• Skydio Inc

Inventors

• Lema Pablo
• Ip Shu Ching

Classifications

• G05D1/689

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

• B64U10/14

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

• G06V20/13

  Satellite images · CPC title

• B64U2201/20

  Remote controls · CPC title

• B64U2201/10

  autonomous, i.e. by navigating independently from ground or air stations, e.g. by using inertial navigation systems [INS] · CPC title