Incident light sensor on autonomous vehicle

Patent metadata

Field	Value
Publication number	US-9454154-B1
Application number	US-201615063136-A
Country	US
Kind code	B1
Filing date	Mar 7, 2016
Priority date	Mar 7, 2016
Publication date	Sep 27, 2016
Grant date	Sep 27, 2016

Abstract

An incident light meter on an autonomous vehicle receives ambient light and outputs an incident light measurement in response the ambient light. One or more image sensors of the autonomous vehicle image the environment of the autonomous vehicle. An exposure setting is generated at least in part on the incident light measurement. The one or more image sensors capture a digital image at the exposure setting.

First claim

What is claimed is:

1. An unmanned aerial vehicle (UAV), comprising:
a frame;
a propulsion system to generate lift, the propulsion system associated with the frame;
an incident light meter connected to the frame and positioned to receive ambient light and configured to output an incident light measurement in response to receiving the ambient light, the incident light meter including a photosensitive element disposed beneath a diffusive dome, wherein the incident light meter is positioned on a top portion of the UAV;
at least one image sensor connected to the frame and positioned to image an environment of the UAV; and
a management module coupled to receive the incident light measurement from the incident light meter, wherein the management module is configured to:
generate an exposure setting based at least in part on the incident light measurement;
transmit the exposure setting to the at least one image sensor;
receive a digital image from the at least one image sensor, the digital image captured at the exposure setting transmitted to the at least one image sensor; and
generate instructions to adjust the propulsion system based at least in part on the digital image captured at the exposure setting.

2. The UAV of claim 1 , wherein the exposure setting is an exposure period of the at least one image sensor.

3. The UAV of claim 1 , wherein the management module is further configured to initiate the incident light measurement by sending a request command to the incident light meter.

4. The UAV of claim 1 , wherein the propulsion system includes a plurality of propellers associated with the frame to generate the lift.

5. A system for an autonomous vehicle, the system comprising:
an incident light meter positioned to receive ambient light and configured to output an incident light measurement in response to receiving the ambient light;
at least one image sensor positioned to capture an image of an environment of the autonomous vehicle; and
a management module coupled to receive the incident light measurement from the incident light meter, wherein the management module is configured to:
generate an exposure setting based at least in part on the incident light measurement;
transmit the exposure setting to the at least one image sensor; and
receive a digital image from the at least one image sensor, the digital image captured at the exposure setting transmitted to the at least one image sensor.

6. The system of claim 5 further comprising:
a propulsion system to move the autonomous vehicle, wherein the propulsion system is configured to be adjusted based at least in part on the digital image captured at the exposure setting.

7. The system of claim 6 , wherein the autonomous vehicle is a UAV, and wherein the propulsion system includes a plurality of propellers.

8. The system of claim 6 further comprising a global positioning system (GPS) receiver, wherein the propulsion system of the autonomous vehicle is also adjusted based at least in part on a GPS coordinate received from the GPS receiver.

9. The system of claim 5 , wherein the exposure setting is an exposure period of the at least one image sensor.

10. The system of claim 5 , wherein the management module is further configured to initiate the incident light measurement by sending a request command to the incident light meter.

11. The system of claim 5 , wherein the autonomous vehicle is a UAV, and wherein the incident light meter is positioned on a top portion of the UAV.

12. The system of claim 5 , wherein the incident light meter comprises a diffusive dome and a photosensitive element positioned under the diffusive dome to receive the ambient light.

13. The system of claim 5 , wherein the at least one image sensor is among a plurality of image sensors of the autonomous vehicle, and wherein the exposure setting is sent to a first portion of the image sensors in the plurality of image sensors but the exposure setting is not sent to a remaining portion of the image sensors in the plurality of image sensors.

14. The system of claim 5 , wherein the at least one image sensor is included in a down-ward looking camera.

15. A method comprising:
reading an incident light measurement with an incident light meter of an autonomous vehicle;
determining an exposure setting based at least in part on the incident light measurement;
capturing at least one digital image at the exposure setting, the at least one digital image captured with an image sensor of the autonomous vehicle; and
adjusting a propulsion system of the autonomous vehicle based at least in part on the at least one digital image captured at the exposure setting.

16. The method of claim 15 , wherein determining the exposure setting comprises calculating the exposure setting from an equation where the incident light measurement is an input to the equation.

17. The method of claim 15 , wherein determining the exposure setting comprises accessing a look-up table that includes exposure setting entries corresponding to incident light values.

18. The method of claim 15 , wherein the autonomous vehicle is an unmanned aerial vehicle (UAV), and wherein the at least one digital image comprises a target landing area and adjusting the propulsion system of the autonomous vehicle comprises causing the UAV to center the target landing area under a camera that captured the at least one digital image at the exposure setting.

19. The method of claim 15 , wherein the autonomous vehicle is a UAV, and wherein the propulsion system includes a plurality of propellers for generating lift.

20. The method of claim 15 , wherein the exposure setting is a gain of pixels of the image sensor.

21. The method of claim 15 , wherein adjusting the propulsion system of the autonomous vehicle comprises re-positioning the autonomous vehicle and capturing a second digital image at a second incident light measurement.

Assignees

• Amazon Tech Inc

Inventors

• Safarik Stephen Thomas

Classifications

• H04N23/90

  Arrangement of cameras or camera modules, e.g. multiple cameras in TV studios or sports stadiums · CPC title

• H04N23/71 Primary

  Circuitry for evaluating the brightness variation · CPC title

• H04N23/72

  Combination of two or more compensation controls · CPC title

• H04N23/73

  by influencing the exposure time · CPC title

• B64U2201/104

  using satellite radio beacon positioning systems, e.g. GPS · CPC title