Operating a UAV with a narrow obstacle-sensor field-of-view
First Claim
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1. A method for autonomously operating an unmanned aerial vehicle (UAV), the method comprising:
- pointing one or more imaging devices, which are coupled to the UAV and are used by the UAV for obstacle detection and avoidance, away from a first portion of a current flight path of the UAV that was already checked for obstacles, such that the first portion of the current flight path is outside a current field-of-view of the imaging devices;
subsequently, while the imaging devices are pointed away from the first portion of the current flight path, imaging, using the imaging devices, a second, upcoming portion of the current flight path of the UAV, while flying the UAV along the first portion of the current flight path;
in response to the imaging, detecting an obstacle on the second, upcoming portion of the current flight path, and planning an alternate flight path in response thereto; and
subsequently, flying the UAV along the alternate flight path, instead of the current flight path.
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Abstract
A method for autonomously operating an unmanned aerial vehicle (UAV) that includes one or more imaging devices is provided. The imaging devices are pointed away from a direction in which the UAV is flying, and subsequently, an upcoming portion of a current flight path of the UAV is imaged, using the imaging devices. In response to the imaging, an obstacle on the current flight path is detected, and an alternate flight path is planned in response thereto. The UAV is then flown along the alternate flight path, instead of the current flight path. Other embodiments are also described.
34 Citations
22 Claims
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1. A method for autonomously operating an unmanned aerial vehicle (UAV), the method comprising:
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pointing one or more imaging devices, which are coupled to the UAV and are used by the UAV for obstacle detection and avoidance, away from a first portion of a current flight path of the UAV that was already checked for obstacles, such that the first portion of the current flight path is outside a current field-of-view of the imaging devices; subsequently, while the imaging devices are pointed away from the first portion of the current flight path, imaging, using the imaging devices, a second, upcoming portion of the current flight path of the UAV, while flying the UAV along the first portion of the current flight path; in response to the imaging, detecting an obstacle on the second, upcoming portion of the current flight path, and planning an alternate flight path in response thereto; and subsequently, flying the UAV along the alternate flight path, instead of the current flight path. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13)
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14. Apparatus, comprising:
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an unmanned aerial vehicle (UAV), comprising a processor; and one or more imaging devices, which are coupled to the UAV and are used by the UAV for obstacle detection and avoidance, the processor being configured to; point the imaging devices away from a first portion of a current flight path of the UAV that was already checked for obstacles, such that the first portion of the current flight path is outside a current field-of-view of the imaging devices, subsequently, while the imaging devices are pointed away from the first portion of the current flight path, image, using the imaging devices, a second, upcoming portion of the current flight path of the UAV, while flying the UAV along the first portion of the current flight path, in response to the imaging, detect an obstacle on the second, upcoming portion of the current flight path, and plan an alternate flight path in response thereto, and subsequently, fly the UAV along the alternate flight path, instead of the current flight path. - View Dependent Claims (15, 16, 17, 18, 19, 20, 21)
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22. A computer software product comprising a tangible non-transitory computer-readable medium in which program instructions are stored, which instructions, when read by a processor of an unmanned aerial vehicle (UAV), cause the processor to:
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point one or more imaging devices, which are coupled to the UAV and are used by the UAV for obstacle detection and avoidance, away from a first portion of a current flight path of the UAV that was already checked for obstacles, such that the first portion of the current flight path is outside a current field-of-view of the imaging devices, subsequently, while the imaging devices are pointed away from the first portion of the current flight path, image, using the imaging devices, a second, upcoming portion of the current flight path of the UAV, while flying the UAV along the first portion of the current flight path, in response to the imaging, detect an obstacle on the second, upcoming portion of the current flight path, and plan an alternate flight path in response thereto, and subsequently, fly the UAV along the alternate flight path, instead of the current flight path.
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Specification
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Current AssigneeDronomy, Ltd.
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Original AssigneeDronomy, Ltd.
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InventorsAphek, Ori, Raz, Guy
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Primary Examiner(s)Marc-Coleman, Marthe
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Application NumberUS14/936,699Publication NumberTime in Patent Office532 DaysField of Search701 2, 701 3, 701 11, 701 26, 701 18US Class CurrentCPC Class CodesB64C 39/024 of the remote controlled ve...B64U 10/13 Flying platformsB64U 10/14 with four distinct rotor ax...B64U 20/87 Mounting of imaging devices...B64U 2101/30 for imaging, photography or...B64U 2201/10 autonomous, i.e. by navigat...G05D 1/102 specially adapted for verti...H04N 23/69 Control of means for changi...H04N 23/695 Control of camera direction...H04N 23/90 Arrangement of cameras or c...
