UNMANNED AERIAL VEHICLE 3D MAPPING SYSTEM

• US 20160202695A1
• Filed: 09/14/2015
• Published: 07/14/2016
• Est. Priority Date: 09/12/2014
• Status: Active Grant

• Current Assignee: Redtail Lidar Systems LLC
• Original Assignee: 4D Tech Solutions Inc.
• Inventors: DEROOS, Bradley G., SPERANSKY, Kirill, Mera Trujillo, Marcela Alexandra
• Granted Patent: US 9,618,934 B2
• Time in Patent Office: Days
• US Class Current: 1/1
• CPC Class Codes: B64C 39/024 of the remote controlled vehicle type, i.e. RPV
• CPC Class Codes: B64D 47/08 Arrangements of cameras
• CPC Class Codes: B64U 2101/30 for imaging, photography or videography
• CPC Class Codes: B64U 2101/32 for cartography or topography
• CPC Class Codes: G01C 21/02 by astronomical means G01C21/24, G01C21/26 take precedence
• CPC Class Codes: G01C 21/20 Instruments for performing navigational calculations G01C21/24, G01C21/26 take precedence
• CPC Class Codes: G05D 1/0011 associated with a remote control arrangement
• CPC Class Codes: G05D 1/0094 involving pointing a payload, e.g. camera, weapon, sensor, towards a fixed or moving target
• CPC Class Codes: G05D 1/0202 specially adapted to aircraft
• CPC Class Codes: G08G 5/0034 Assembly of a flight plan
• CPC Class Codes: G08G 5/0069 specially adapted for an unmanned aircraft
• CPC Class Codes: G08G 5/0086 for monitoring terrain radar or analogous systems specially adapted for terrain avoidance G01S13/935

Abstract

An automatic unmanned aerial vehicle (UAV) flight control system for 3D aerial mapping includes a UAV with an onboard camera, and a controller capable of communication with a flight control module of the UAV. The controller is configured to determine an area mapping flight path based on terrain characteristics of an area to be mapped. The controller also can determine a structure mapping flight path based on the existence and location of vertical structures within the area to be mapped. The area mapping flight path can be appended with the structure mapping flight path, thus providing an integrated and optimized UAV flight path for 3D mapping and modeling.

Claims

1. A method for generating a UAV flight plan for an area to be mapped, comprising:

identifying the area to be mapped;

identifying special regions within the area to be mapped; and

applying a rule set for generating an optimized flight plan.

2. The method of claim 1, further comprising integrating flight patterns from different regions of the area to be mapped to generate an optimized flight plan for the area to be mapped.

3. The method of claim 1, wherein applying a rule set comprises integrating rule sets for different special regions to generate an optimized flight plan for the area to be mapped.

4. The method of claim 1, wherein the special regions comprise manmade and natural structures, water, snow, fields, vegetation, forests, fields, rivers and streams, urban areas, sparsely populated areas, stationary vehicles, power towers, communications towers, satellite tracking stations, bridges and dams, oil rigs and offshore structures, wind turbines, historical sites, and avoidance areas.

5. The method of claim 1, wherein each special region has a rule set for the region, each of which has specific patterns, and applying the rule set comprises integrating the specific patterns into an optimal flight path.

6. An automatic unmanned aerial vehicle (UAV) flight control system for 3D aerial mapping, the system comprising:

a UAV with an onboard camera;

a controller capable of communication with a flight control module of the UAV, the controller configured to;

determine an area mapping flight path based on terrain characteristics of an area to be mapped;

determine a structure mapping flight path based on the existence and location of vertical structures within the area to be mapped; and

determine an optimized flight path for the UAV by integrating the area mapping flight path and the structure mapping flight path.

7. The system according to claim 6, wherein the controller is further configured to capture images of the area to be mapped.

8. The system according to claim 6, wherein the controller is further configured to identify an area to be mapped by selecting corner points for the area and constructing a convex hull using the corner points.

9. The system according to claim 6, wherein the controller is further configured to determine whether there are avoidance areas within the area to be mapped.

10. The system according to claim 6, wherein the controller is further configured to identify structures to be mapped that are located within the area to be mapped.

11. The system according to claim 6, wherein the controller is further configured to identify locations from which images are to be captured in order to prepare a 3D map of the area to be mapped.

12. The system according to claim 6, wherein the controller is further configured to apply an optimization algorithm to determine an optimal area mapping flight path for the UAV.

13. The system according to claim 6, wherein the controller is further configured to integrate area mapping flight path information, structure mapping flight path, and avoidance area information to generate an optimized UAV flight plan.

14. The system according to claim 6, wherein the controller is further configured for desired flight parameters, which include one or more of a total flight time, available UAV power, a noise limitation, and/or a user defined restriction.

15. The system according to claim 6, wherein the controller is part of a remote computing device and is further configured to communicate with the flight control module of the UAV via wireless means.

16. A computer-readable storage medium with instructions stored thereon to control a flight path of an unmanned aerial vehicle (UAV) based image capture system for 3D modeling, the instructions comprising:

determining an initial movement path based on an area to be mapped, the existence of vertical structures and avoidance areas within the area to be mapped;

capturing images of the area and structures to be mapped; and

guiding the UAV flight path.

17. The computer-readable storage medium according to claim 16, wherein the instructions are generated by applying an optimization algorithm.