Unmanned aerial vehicle detection method and unmanned aerial vehicle using same

• US 9,824,275 B2
• Filed: 07/31/2015
• Issued: 11/21/2017
• Est. Priority Date: 07/31/2015
• Status: Active Grant

• Current Assignee: Cloud Network Technology Singapore Pte. Ltd. (Hon Hai Precision Industry Co., Ltd.)
• Original Assignee: Hon Hai Precision Industry Co., Ltd.
• Inventors: Lee, Hou-Hsien, Lee, Chang-Jung, Lo, Chih-Ping
• Primary Examiner(s): Jen, Ian
• Application Number:
  US14/814,868
• Publication Number:
  US 20170032175A1
• Time in Patent Office: 844 Days
• CPC Class Codes: B64C 39/024 of the remote controlled vehicle type, i.e. RPV
• 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 2201/104 using satellite radio beacon positioning systems, e.g. GPS
• CPC Class Codes: B64U 2201/20 Remote controls
• CPC Class Codes: G01S 19/51 Relative positioning
• CPC Class Codes: G06V 10/75 Organisation of the matching processes, e.g. simultaneous or sequential comparisons of image or video features; Coarse-fine approaches, e.g. multi-scale approaches; using context analysis; Selection of dictionaries
• CPC Class Codes: G06V 20/13 Satellite images
• CPC Class Codes: G06V 40/103 Static body considered as a whole, e.g. static pedestrian or occupant recognition

Abstract

An unmanned aerial vehicle (UAV) detecting method is executed and applied in an UAV. The method can include creating a sample features database for a user, and storing the sample features database in a storage device; shooting a plurality of scene images from every direction around the user; capturing a plurality of features of the object from the scene image; comparing the sample features of user with the features of the object, and storing a new feature of the object different from the sample feature of user in the storage device; determining whether a tagger is around the user, and sending an alarm signal to the user.

Claims

1. An unmanned aerial vehicle (UAV) comprising:

a camera device;

at least one processor coupled to the camera device; and

a storage device coupled to the at least one processor and stores one or more programs, the one or more programs executed by the processor, the one or more programs comprising;

creating a sample database for reflecting a plurality of features of a user;

storing the plurality of features of the user in the storage device;

receiving consecutive images of a scene from the camera device;

acquiring features of at least one object present in the consecutive images;

storing the features of the at least one object in the storage device; and

determining whether a size change of the object image is less than a relative percent value in a storage time, and sending an alarm signal to the user in response to the size change of the object image being less than the relative percent value in the storage time.

2. The UAV according to claim 1, wherein the one or more programs further comprising:

acquiring a position of the user through global position system (GPS), and detecting a relative position of the user and the UAV according to a flight direction of the UAV, to adjust the flight direction of the UAV.

3. The UAV according to claim 1, wherein the features of the at least one object comprising features of human images which are acquired by a detection technology of human image, and features of cars images which are acquired by a detection technology of cars images.

4. The UAV according to claim 1, wherein the one or more programs further comprising:

detecting whether the features of the at least one object appear again after a preset time, if not, the features of the at least one object will be eliminated.

5. A detection method operated in an unmanned aerial vehicle (UAV), the UAV comprising a camera device and a storage device, the detection method comprising:

creating a sample features database for a user, and storing the sample features database in the storage device;

shooting a plurality of scene images from every direction around the user;

capturing a plurality of features of the object from the scene image;

comparing the sample features of user with the features of the object, and storing a new feature of the object different from the sample feature of user in the storage device;

computing whether a storage time of features of object stored in the storage device exceeding an alarm time;

computing whether a size change of features of the object exceeds a preset percent value, when the storage time of features of object stored in the storage device exceeds the alarm time; and

sending an alarm signal to the user in response to the size change of features of the object exceeding the preset percent value.

6. The method according to claim 5, further comprising a step of direction adjusting before shooting scene image from every direction around user, the step of direction adjusting comprising:

obtaining a position of the user through global position system (GPS) built-in the UAV;

detecting flight direction of the UAV through an electronic compass built-in the UAV; and

computing a relative position of the user and the UAV, and adjusting the flight direction of the UAV.

7. The method according to claim 6, further comprising a step of eliminating after storing a new feature of the object different from the sample feature of user, the step of eliminating comprising detecting the features of object image stored in the storage device have not appeared in a preset period of time, the features of object will be eliminated.

8. The method according to claim 5, wherein the step of computing features of object from the scene image comprising:

computing continuously scene image in real time from all aspect of the direction;

detecting a position of an object appearing in the scene image through technology of an object detection; and

determining features of the objects image appearing in the scene image.