METHODS AND SYSTSTEMS FOR OBSTRUCTION DETECTION DURING AUTONOMOUS UNMANNED AERIAL VEHICLE LANDINGS

• US 20170313439A1
• Filed: 04/29/2016
• Published: 11/02/2017
• Est. Priority Date: 04/29/2016
• Status: Abandoned Application

• Current Assignee: Alex Barchet, Amit Dagan, Jordan Holt, Steve Olson
• Original Assignee: Alex Barchet, Amit Dagan, Jordan Holt, Steve Olson
• Inventors: Holt, Jordan, Olson, Steve, Barchet, Alex, Dagan, Amit
• Application Number:
  US15/142,956
• Publication Number:
  US 20170313439A1
• Time in Patent Office: Days
• CPC Class Codes: B64D 45/08 optical
• CPC Class Codes: B64U 10/14 with four distinct rotor axes, e.g. quadcopters
• CPC Class Codes: B64U 2101/30 for imaging, photography or videography
• CPC Class Codes: B64U 2201/10 autonomous, i.e. by navigating independently from ground or air stations, e.g. by using inertial navigation systems [INS]
• CPC Class Codes: B64U 2201/104 using satellite radio beacon positioning systems, e.g. GPS
• CPC Class Codes: B64U 50/14 ducted or shrouded
• CPC Class Codes: B64U 70/95 Means for guiding the landing UAV towards the platform, e.g. lighting means
• CPC Class Codes: G05D 1/0676 specially adapted for landing
• CPC Class Codes: G06V 20/13 Satellite images
• CPC Class Codes: G06V 20/17 taken from planes or by drones
• CPC Class Codes: G06V 20/40 in video content extracting overlay text G06V20/62; video retrieval G06F16/70; processing of video elementary streams in video servers H04N21/234; processing of video elementary streams in video clients H04N21/44

Abstract

Systems and methods for obstruction detection during autonomous unmanned aerial vehicle landings, including unmanned aerial vehicles equipped with at least one video camera, an image processor that analyzes a feed from the video camera to detect possible obstructions, and an autopilot programmed to abort an autonomous landing if it receives a signal indicating an obstruction was detected. In some examples, the systems and methods are in communication with a ground station to perform obstruction detection analysis instead of performing such processing on board the UAV. In some further examples, the landing area includes a ground-based visual target that the UAV can locate and home in upon from the air.

Claims

1. A method for detecting obstructions by an unmanned aerial vehicle during an autonomous landing, comprising:

receiving a video feed of a target landing area from an image sensor on board the unmanned aerial vehicle, the image sensor possessing a field of view that encompasses the target landing area;

processing at least a portion of the field of view that encompasses the target landing area of the video feed using one or more object detection algorithms to detect an obstruction within the flight path of the unmanned aerial vehicle to the target landing area; and

aborting the landing if an obstruction is detected.

2. The method of claim 1, wherein the one or more detection algorithms comprise one or more of color histogram anomaly, texture anomaly detection, temperature blob detection, moving object detection, color detection of scene changes, multi-spectral anomaly, or 3D object detection using multiple cameras.

3. The method of claim 1, wherein the target landing area further comprises a landing target.

4. The method of claim 1, wherein processing at least a portion of the video feed is performed onboard the unmanned aerial vehicle.

5. The method of claim 1, wherein processing at least a portion of the video feed is performed on a facility separate from the unmanned aerial vehicle.

6. The method of claim 1, wherein aborting the landing further comprises revectoring to an alternate landing area.

7. The method of claim 1, wherein aborting the landing further comprises pausing the landing until the flight path is clear of the obstruction.

8. The method of claim 1, wherein autonomous landing in the target landing area is guided by an optical landing target, GPS, GPS-RTK, radio beacon, visual beacon, or radar signal.

9. The method of claim 1, wherein aborting the landing further comprises holding in place until receiving a manual override signal.

10. The method of claim 1, wherein portion of the field of view is defined as the area covered by a landing target and a safety buffer zone surrounding the landing target.

11. The method of claim 10, wherein the autopilot aborts the autonomous landing only if an obstruction is detected within the area covered by the landing target and surrounding safety buffer zone.

12. A system for detecting obstruction by an unmanned aerial vehicle during an autonomous landing, comprising:

at least one image sensor on board the unmanned aerial vehicle that is capable of producing a video feed and possesses a field of view that encompasses the target landing area;

an image processing unit in data communication with the at least one image sensor so as to receive the video feed, wherein the image processing unit analyzes at least a portion of the field of view that encompasses the target landing area of the video feed using one or more object detection algorithms to detect an obstruction within the flight path of the unmanned aerial vehicle; and

an autopilot in data communication with the image processing unit, wherein the autopilot aborts the autonomous landing if an obstruction is detected.

13. The system of claim 12, wherein at least the image processing unit and the autopilot are integrated into a single unit.

14. The system of claim 12, wherein the one or more object detection algorithms comprise one or more of color histogram anomaly, texture anomaly detection, temperature blob detection, moving object detection, color detection of scene changes, multi-spectral anomaly, or 3D object detection using multiple cameras.

15. The system of claim 14, wherein the at least one image sensor is comprised of a camera sensitive to visible light, infrared light, ultraviolet light, or a combination of any of the foregoing.

16. The system of claim 12, wherein the target landing area further comprises a landing target.

17. The system of claim 16, wherein the landing target is further comprised of one or more shapes that contrast with a background and are detectable by the image sensor.

18. The system of claim 17, wherein portion of the field of view is defined as the area covered by the landing target including a safety buffer zone.

19. The system of claim 18, wherein the autopilot aborts the autonomous landing only if an obstruction is detected within the area covered by the landing target including a safety buffer zone.

20. The system of claim 19, wherein aborting the autonomous landing includes revectoring to an alternate landing area, pausing the landing until the flight path is clear of the obstruction, returning to the unmanned aerial vehicle'"'"'s point of take-off, or holding in place until receiving a manual override signal.