VISION-BASED AUTOMATED LANDING SYSTEM FOR UNMANNED AERIAL VEHICLES
First Claim
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1. A vision-based automated system for landing unmanned aerial vehicles, said system comprising:
- (i) one or more unmanned aerial vehicles;
(ii) one or more targets, of known geometry, each of said one or more targets positioned at an intended landing location;
wherein said vehicle is attempting to land on at least one of said one or more targets;
(iii) at least one sensor coupled to each of said one or more vehicles, wherein said at least one sensor is aligned with the direction of movement of said one or more vehicles, and wherein said at least one sensor captures one or more images in the direction of movement of said one or more vehicles and is capable of detecting said one or more targets;
(iv) at least processor-based device, wherein said processor-based device determines the visual distortion of at least one of said one or more targets visible in said one or more images as a function of said one or more vehicles'"'"' current position, such that a current glideslope and a current lineup angle can be determined for said one or more vehicles;
and wherein said processor-based device can adjust said current glideslope and said current lineup angle of said one or more vehicles to an intended glideslope and an intended lineup angle.
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Abstract
The invention relates generally to the control and landing of unmanned aerial vehicles. More specifically, the invention relates to systems, methods, devices, and computer readable media for landing unmanned aerial vehicles using sensor input and image processing techniques.
60 Citations
63 Claims
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1. A vision-based automated system for landing unmanned aerial vehicles, said system comprising:
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(i) one or more unmanned aerial vehicles; (ii) one or more targets, of known geometry, each of said one or more targets positioned at an intended landing location;
wherein said vehicle is attempting to land on at least one of said one or more targets;(iii) at least one sensor coupled to each of said one or more vehicles, wherein said at least one sensor is aligned with the direction of movement of said one or more vehicles, and wherein said at least one sensor captures one or more images in the direction of movement of said one or more vehicles and is capable of detecting said one or more targets; (iv) at least processor-based device, wherein said processor-based device determines the visual distortion of at least one of said one or more targets visible in said one or more images as a function of said one or more vehicles'"'"' current position, such that a current glideslope and a current lineup angle can be determined for said one or more vehicles; and wherein said processor-based device can adjust said current glideslope and said current lineup angle of said one or more vehicles to an intended glideslope and an intended lineup angle. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 18, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30, 31, 32, 33)
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34. A method for landing an unmanned aerial vehicle, comprising:
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(i) capturing an image in the direction of movement of said unmanned aerial vehicle; (ii) analyzing said image to determine whether said image includes a possible target; (iii) assessing the dimensions of said possible target and comparing said dimensions of said possible target to the known dimensions of an actual target, to determine a current glideslope and a current lineup angle; and (iv) forcing said vehicle to adjust its altitude, using said current glideslope, and to adjust its alignment, using said current lineup angle. - View Dependent Claims (35, 36, 37, 38, 39, 40, 41, 42, 43, 44, 45, 46, 47, 48, 49, 50, 51, 52, 53, 54, 55, 56, 57, 58)
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59. A method for preventing a vehicle from landing by executing a wave-off procedure, comprising:
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(i) increasing the power of said vehicle; (ii) forcing said vehicle to climb to a safe altitude; and (iii) causing said vehicle to attempt another landing. - View Dependent Claims (60, 61, 62, 63)
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Specification