SYSTEM AND METHOD FOR OBSTACLE AVOIDANCE IN AERIAL SYSTEMS

• US 20190066524A1
• Filed: 10/26/2018
• Published: 02/28/2019
• Est. Priority Date: 08/10/2017
• Status: Active Grant

• Current Assignee: Hangzhou Zero Zero Technology Co.Ltd (Shenzhen Zero Zero Infinite Technology Co. Ltd.)
• Original Assignee: Hangzhou Zero Zero Technology Co.Ltd (Shenzhen Zero Zero Infinite Technology Co. Ltd.)
• Inventors: Zhang, Lei, Su, Xian, Wang, Zhaozhe, Sun, Wei, Zhang, Tong, Wang, Mengqiu
• Granted Patent: US 10,515,560 B2
• Time in Patent Office: Days
• 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 10/13 Flying platforms
• CPC Class Codes: B64U 20/60 UAVs characterised by the material
• CPC Class Codes: B64U 20/87 Mounting of imaging devices, e.g. mounting of gimbals
• 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 50/19 using electrically powered motors
• 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 1/101 specially adapted for aircraft
• CPC Class Codes: G08G 5/0078 for monitoring traffic from the aircraft radar or analogous systems specially adapted for traffic control G01S13/91
• CPC Class Codes: G08G 5/045 Navigation or guidance aids, e.g. determination of anti-collision manoeuvers radar or analogous systems specially adapted for anti-collision between aircraft G01S13/933
• CPC Class Codes: H04N 13/239 using two 2D image sensors having a relative position equal to or related to the interocular distance H04N13/243 takes precedence
• CPC Class Codes: H04N 13/296 Synchronisation thereof; Control thereof
• CPC Class Codes: H04N 2213/001 Constructional or mechanical details
• CPC Class Codes: H04N 23/50 Constructional details
• CPC Class Codes: Y02T 50/50 On board measures aiming to increase energy efficiency

Abstract

An aerial system includes a body, a lift mechanism coupled to the body, a processing system, and at least one camera. The aerial system also includes a first motor configured to rotate the at least one camera about a first axis and a second motor configured to rotate the at least one camera about a second axis. The processing system is configured to determine a direction of travel of the aerial system and to cause the first motor and the second motor to automatically orient the at least one camera about the first axis and the second axis such that the at least one camera automatically faces the direction of travel of the aerial system.

Claims

1. An aerial system, comprising:

a body;

a lift mechanism coupled to the body;

a processing system;

at least one camera;

a first motor configured to rotate the at least one camera about a first axis; and

a second motor configured to rotate the at least one camera about a second axis,

wherein the processing system is configured to determine a direction of travel of the aerial system and to cause the first motor and the second motor to automatically orient the at least one camera about the first axis and the second axis such that the at least one camera automatically faces the direction of travel of the aerial system.

2. An aerial system as set forth in claim 1 wherein the processing system includes a fixed obstacle detection and avoidance system coupled to the body to achieve obstacle avoidance.

3. An aerial system as set forth in claim 2 wherein the obstacle detection and avoidance system comprises a sensor housing coupled to the body.

4. An aerial system as set forth in claim 3 wherein the at least one of camera comprises a pair of cameras coupled to the sensor body.

5. An aerial system as set forth in claim 3 wherein the obstacle detection and avoidance system comprises an actuation mechanism coupled to the body.

6. An aerial system as set forth in claim 5 wherein the actuation mechanism includes the first motor and the second motor to rotate the sensor housing about the first axis and the second axis.

7. An aerial system as set forth in claim 5 wherein the body includes a power supply that provides power to components within the sensor housing and the actuation mechanism.

8. An aerial system as set forth in claim 1 wherein the obstacle detection and avoidance system comprises a vision processing system to determine a distance of a physical point from the aerial system.

9. An aerial system as set forth in claim 1 wherein the obstacle detection and avoidance system comprises an application processing system includes inertial momentum unit (IMU) and attitude processing functions to determine a direction of travel of the aerial system and an orientation of at least one of the sensor housing and cameras within a vehicle coordinate system.

10. An aerial system as set forth in claim 4 wherein the obstacle detection and avoidance system includes an emitter to illuminate a physical region monitored by the cameras.

11. An aerial system, comprising:

a body;

a lift mechanism coupled to the body;

a processing system;

at least one camera; and

wherein the processing system includes a rotatable binocular camera system coupled to the body to achieve three hundred sixty (360) degree omnidirectional obstacle avoidance.

12. An aerial system as set forth in claim 11 wherein the rotatable binocular camera system includes an inner module, a first spring, a middle module, a second spring, and an outer module.

13. An aerial system as set forth in claim 12 wherein the rotatable binocular camera system also includes push-push socket slot, Hall-effect sensor board, outer block, and a middle block.

14. An aerial system as set forth in claim 13 wherein the middle module includes at least one guiding slider and the outer module includes at least one a guiding slot in which the guiding slider can slide inside the guiding slot, and an upward force is provided through the first spring to achieve the first-stage bouncing/sliding-up.

15. An aerial system as set forth in claim 13 wherein the inner module includes at least one guiding slider and the middle module includes at least one guiding chute and the guiding slider and the guiding chute cooperate with each other to provide an upward force through the second spring and achieve the second-stage bounce with the middle block which provides limit.

16. An aerial system as set forth in claim 13 wherein the inner module includes an adapter board, binocular arm module, gimbal motor, FPC cable and connector, inner bottom, and bent wire hook.

17. An aerial system as set forth in claim 16 wherein the binocular arm module comprises a pair of cameras, a line laser, and a magnet coupled to the body.

18. An aerial system as set forth in claim 16 wherein the gimbal motor includes a motor body, a one-piece FPC, a magnet, and a cover plate.

19. An aerial system as set forth in claim 18 wherein the motor body includes a stator part, a rotor part, and a shift ring.

20. An aerial system as set forth in claim 16 including an automatic binocular lifting structure to move the binocular arm module up or down.