System and method for autonomous vehicle control

• US 10,430,653 B2
• Filed: 07/17/2017
• Issued: 10/01/2019
• Est. Priority Date: 12/19/2008
• Status: Active Grant

• Current Assignee: Landing technologies, Inc.
• Original Assignee: Landing technologies, Inc.
• Inventors: Malecki, Robert S., Her, Lue, Thompson, Ryan S., Giang, Anthony H.
• Primary Examiner(s): To, Tuan C
• Application Number:
  US15/651,162
• Publication Number:
  US 20180068163A1
• Time in Patent Office: 806 Days
• Field of Search: 701 2
• CPC Class Codes: G05D 1/0011 associated with a remote control arrangement
• CPC Class Codes: G05D 1/0206 specially adapted to water vehicles
• CPC Class Codes: G05D 1/021 specially adapted to land vehicles
• CPC Class Codes: G05D 1/0676 specially adapted for landing
• CPC Class Codes: G06T 2207/10032 Satellite or aerial image; Remote sensing
• CPC Class Codes: G06T 2207/30204 Marker
• CPC Class Codes: G06T 7/136 involving thresholding
• CPC Class Codes: G06T 7/194 involving foreground-background segmentation
• CPC Class Codes: G06T 7/70 Determining position or orientation of objects or cameras camera calibration G06T7/80
• CPC Class Codes: G06T 7/74 involving reference images or patches

Abstract

A system for localizing an autonomous vehicle to a target area can include a position indicator adapted for association with the vehicle in a three dimensional configuration, a detection device configured to detect the position indicator, a computation device configured to compute a position of the vehicle based on the detected position indicator and the relationship of the configuration to the vehicle orientation, a transmitter configured to receive information from the computation device and produce a signal carrying the information, a receiver configured to receive the signal from the transmitter and filter the information therefrom, and a control system configured for association with and control of one or more directional control components of the vehicle, the control being based on the information received from the receiver relating to localizing the vehicle to the target area. A method of for localizing a vehicle to a target area is also disclosed.

Claims

1. A system for localizing an autonomous vehicle to a target landing area, comprising:

an unmanned aerial vehicle with a plurality of directional control components, the unmanned aerial vehicle including a control system for controlling the directional control components, and having three separated light emitting diodes providing a position indicator;

a camera proximate the target landing area, the camera for detecting the three LEDs on the unmanned aerial vehicle;

a computation device proximate or in association with the camera and the target landing area, the computation device in communication with the camera and configured to compute a position of the vehicle based on the detected three LEDs and the relationship of the three LEDs to the vehicle orientation and to provide a path to the target landing area;

a transmitter proximate the computation device in communication with the computation device and configured to receive information from the computation device and produce a signal carrying the information;

a receiver on the vehicle and configured to receive the signal from the transmitter, the control system in communication with the receiver, the control system configured to control the plurality of directional control components of the vehicle based on the information received from the receiver to localize the unmanned aerial vehicle to the target area.

2. The system of claim 1 wherein the unmanned aerial vehicle is a fixed wing vehicle and wherein two of the three LEDs are mounted on opposing wings of the unmanned aerial vehicle.

3. The system of claim 2 wherein the camera is located on the ground near the landing area.

4. The system of claim 2 wherein the unmanned aerial vehicle comprises an inertial measurement unit.

5. The system of claim 2 wherein the landing area and the camera are located on a movable vehicle.

6. The system of claim 2 wherein the landing area and the camera are located on an aerial craft.

7. A system for localizing an autonomous unmanned aerial vehicle to a target landing area, comprising:

the unmanned aerial vehicle with a plurality of directional control components, the unmanned aerial including a control system for controlling the directional control components, and having three separated LEDs providing a position indicator;

a camera proximate the target landing area, the camera for detecting the three LEDs on the unmanned aerial vehicle;

a computation device in communication with the camera and configured to compute a position of the vehicle based on the detected three LEDs and the relationship of the three LEDs to the vehicle orientation and to compute a path of the vehicle to the target landing area;

the computation device in communication with the control system to provide direction to the control system to localize the unmanned aerial vehicle to the target area.

8. The system of claim 7 wherein the computation device is on the unmanned aerial vehicle.

9. The system of claim 7 wherein the computation device is positioned proximate or in association with the camera, the camera connecting to a transmitter, the transmitter configured to send signals to a receiver positioned in the unmanned aerial vehicle, the receiver connecting to the control system.

10. The system of claim 9 wherein the landing area is on the ground and the camera is positioned next to the landing area.

11. A system for localizing an autonomous vehicle to a target landing area, comprising:

a fixed wing unmanned aerial vehicle with a plurality of flight control components, the unmanned aerial vehicle including a control system for controlling the flight control components, the unmanned aerial vehicle having three separated LEDs providing a position indicator, two of the three LEDs positioned on opposing wing tips;

a camera proximate the target landing area, the camera for detecting the three LEDs on the unmanned aerial vehicle;

a computation device proximate or in association with the camera and proximate the target landing area, the computation device in communication with the camera and configured to compute a position of the vehicle based on the detected three LEDs and the relationship of the three LEDs to the vehicle orientation and to compute a path to the target landing area;

a transmitter proximate the computation device in communication with the computation device and configured to receive information from the computation device and produce a signal carrying the information;

a receiver on the vehicle and configured to receive the signal from the transmitter, the control system in communication with the receiver, the control system configured to control the plurality of flight control components of the vehicle based on the information received from the receiver to localize the unmanned aerial vehicle to the target area.

12. The system of claim 11 wherein the landing area is on the ground and the camera is positioned next to the landing area.

13. The system of claim 11 wherein the unmanned aerial vehicle comprises an inertial measurement unit.

14. The system of claim 11 wherein the landing area and the camera are located on a movable vehicle.

15. The system of claim 11 wherein the landing area and the camera are located on an aerial craft.

16. The system of claim 11 wherein the landing area comprises a net.

17. The system of claim 16 wherein the landing area and camera are located on an aerial vehicle.