Systems and methods for target tracking

Patent metadata

Field	Value
Publication number	US-9846429-B2
Application number	US-201615182553-A
Country	US
Kind code	B2
Filing date	Jun 14, 2016
Priority date	Jul 30, 2014
Publication date	Dec 19, 2017
Grant date	Dec 19, 2017

Abstract

The present invention provides systems, methods, and devices related to target tracking by UAVs. The UAV may be configured to receive target information from a control terminal related to a target to be tracked by an imaging device coupled to the UAV. The target information may be used by the UAV to automatically track the target so as to maintain predetermined position and/or size of the target within one or more images captured by the imaging device. The control terminal may be configured to display images from the imaging device as well as allowing user input related to the target information.

First claim

What is claimed is:

1. A method of tracking a target using an unmanned aerial vehicle (UAV) having an on-board imaging device, the method comprising:
a) receiving at one or more receivers, target information of the target to be tracked by the UAV, wherein the imaging device is configured to rotate around at least one axis relative to the UAV;
with aid of one or more processors,
b) tracking the target according to the target information while the UAV is in motion, wherein said tracking the target involves:
i. assessing whether to adjust 1) the UAV, 2) the imaging device, or 3) both the UAV and the imaging device to track the target, wherein said assessing is based on a) maximum linear speed or maximum angular speed allowable for the UAV, or b) maximum angular speed allowable for the imaging device, wherein the maximum angular speed of the UAV or the maximum angular speed of the imaging device is configurable by a user of the UAV; and
ii. adjusting, based on said assessing of (i), 1) the UAV, 2) the imaging device, or 3) both the UAV and the imaging device as the target is moving, such that the target stays within an image captured by the imaging device.

2. The method of claim 1 , wherein the one or more receivers receive one or more navigation commands that instruct the UAV to move along its pitch, yaw, or roll axis.

3. The method of claim 1 , wherein the one or more receivers receive one or more navigation commands provided by a user of the UAV while the UAV is in motion, wherein the one or more navigation commands control spatial disposition, and speed at which the UAV is flying.

4. The method of claim 1 , wherein the adjusting of (ii) is performed in real time as the UAV is executing one or more navigation commands received by the one or more receivers on board of the UAV.

5. The method of claim 1 , wherein said assessing is further dependent upon a number of rotational axes of the imaging device, and a path of the UAV.

6. The method of claim 1 , wherein said assessing is further dependent upon a number of rotational axes of the imaging device.

7. The method of claim 1 , wherein said assessing is further dependent upon a path of the UAV.

8. The method of claim 1 , wherein the target is an active target configured to wirelessly transmit the target information to the UAV.

9. The method of claim 1 , wherein the target is a passive target not configured to transmit the target information wirelessly to the UAV.

10. The method of claim 1 , wherein said step of adjusting comprises a change in an orientation of the UAV.

11. The method of claim 1 , wherein said step of adjusting comprises a change in an orientation of the imaging device.

12. The method of claim 1 , wherein the target information comprises an initial position of the target.

13. The method of claim 1 , wherein the target information comprises an initial size of the target within an image captured by the imaging device.

14. The method of claim 1 , wherein the target information comprises the target's GPS location.

15. The method of claim 1 , wherein the target information comprises a color of the target or a texture of the target.

16. The method of claim 1 , wherein the one or more receivers receive one or more navigation commands provided by a user of the UAV via a remote control device, and wherein the one or more navigation commands is provided during the tracking of the target.

17. The method of claim 1 , wherein the target information is received from a remote control device.

18. The method of claim 1 , wherein the one or more receivers receive one or more navigation commands provided by a user of the UAV and the target information provided by the user via a single remote control device, wherein the one or more navigation commands is provided during the tracking of the target.

19. The method of claim 17 , wherein the remote control device comprises a touchscreen.

20. The method of claim 1 , wherein tracking the target involves detecting a deviation in the target information, and correcting the detected deviation by performing adjustment of (ii), wherein the detected deviation comprises a change in position of the target.

21. The method of claim 1 , wherein the maximum angular speed of the imaging device is configurable by the user of the UAV.

22. An unmanned aerial vehicle (UAV) configured to track a target, the UAV comprising:
a) one or more receivers configured to receive, (1) one or more navigation commands to move the UAV, and (2) target information of the target to be tracked by the UAV;
b) an imaging device configured to capture an image of the target, wherein the imaging device is configured to rotate around at least two axes relative to the UAV;
c) one or more processors configured to:
detect a deviation in the target information, wherein the deviation comprises a change in the position of the target; and
track the target according to the target information while the UAV moves according to the one or more navigation commands, wherein said tracking the target involves:
i. assessing whether to adjust 1) the UAV, 2) the imaging device, or 3) both the UAV and the imaging device to track the target, wherein said assessing is based on a) maximum linear speed or maximum angular speed allowable for the UAV, or b) maximum angular speed allowable for the imaging device, wherein the maximum angular speed of the UAV or the maximum angular speed of the imaging device is configurable by a user of the UAV; and
ii. adjusting, based on said assessing of (i), 1) the UAV, 2) the imaging device, or 3) both the UAV and the imaging device as the target moves, such that the target stays within an image captured by the imaging device.

23. The method of claim 22 , wherein the maximum angular speed of the imaging device is configurable by the user of the UAV.

24. The UAV of claim 22 , wherein the UAV further comprises one or more proximity, sensors, wherein information acquired by the one or more proximity sensors are further utilized by the one or more processors for the adjustment.

25. The UAV of claim 22 , wherein the target information comprises the target's GPS location.

26. The UAV of claim 22 , wherein the target information comprises a color of the target or a texture of the target.

27. The UAV of claim 22 , wherein the one or more receivers receive one or more navigation commands provided by a user of the UAV via a remote control device, and wherein the one or more navigation commands is provided during the tracking of the target.

28. The UAV of claim 22 , wherein the one or more receivers receive one or more navigation commands provided by a user of the UAV and the target information provided by the user via a single remote control device, wherein the one or more navigation commands is provided during the tracking of the target.

29. The UAV of claim 22 , wherein said assessing of (i) is further dependent upon a number of rotational axes of the imaging device, and a path of the UAV.

30. The UAV of claim 22 , wherein the one or more processors are configured to track the target according to the deviation in the target information.

Assignees

• Sz Dji Technology Co Ltd
• Sz Dji Technology Co Ltd

Inventors

• Zang Bo

Classifications

• G05D1/221

  Remote-control arrangements · CPC title

• G05D1/689

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

• G05D1/2247

  providing the operator with simple or augmented images from one or more cameras · CPC title

• B64U30/20

  Rotors; Rotor supports · CPC title

• B64U2201/20

  Remote controls · CPC title