Systems and methods for providing flight control for an unmanned aerial vehicle based on opposing fields of view with overlap

• US 10,571,915 B1
• Filed: 07/28/2017
• Issued: 02/25/2020
• Est. Priority Date: 12/21/2015
• Status: Active Grant

• Current Assignee: GoPro, Inc.
• Original Assignee: GoPro, Inc.
• Inventors: Lema, Pablo, Fong, Gary, Ip, Shu Ching
• Primary Examiner(s): Almatrahi, Faris S
• Assistant Examiner(s): Taveras, Kenny A.
• Application Number:
  US15/663,370
• Time in Patent Office: 942 Days
• Field of Search: None
• CPC Class Codes: B64C 13/18 using automatic pilot
• CPC Class Codes: B64C 39/024 of the remote controlled vehicle type, i.e. RPV
• CPC Class Codes: B64U 10/13 Flying platforms
• 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: G05D 1/0088 characterized by the autonomous decision making process, e.g. artificial intelligence, predefined behaviours using knowledge based models G06N5/00
• CPC Class Codes: G05D 1/102 specially adapted for vertical take-off of aircraft

Abstract

This disclosure relates to providing flight control for an unmanned aerial vehicle based on opposing fields of view with overlap. The UAV may include a housing, a motor, a first image sensor, a second image sensor, a first optical element having a first field of view greater than 180 degrees, a second optical element having a second field of view greater than 180 degrees, and one or more processors. The first optical element and the second optical element may be carried by the housing such that a centerline of the second field of view is substantially opposite from a centerline of the first field of view, and a peripheral portion of the first field of view and a peripheral portion of the second field of view overlap. Flight control for the UAV may be provided based on parallax disparity of an object within the overlapping fields of view.

Claims

1. An unmanned aerial vehicle comprising:

a housing;

a motor carried by the housing, the motor configured to drive a rotor;

a first image sensor carried within the housing and configured to generate a first output signal conveying first visual information based on light that becomes incident thereon;

a second image sensor carried within the housing and configured to generate a second output signal conveying second visual information based on light that becomes incident thereon;

a first optical element configured to guide light within a first field of view to the first image sensor, the first field of view being greater than 180 degrees, the first optical element being carried by the housing and being vertically oriented such that the first field of view is directed upwards when the unmanned aerial vehicle operates leveled with respect to ground;

a second optical element configured to guide light within a second field of view to the second image sensor, the second field of view being greater than 180 degrees, the second optical element being carried by the housing such that a peripheral portion of the first field of view and a peripheral portion of the second field of view overlap, and being vertically oriented such that the second field of view is directed downwards when the unmanned aerial vehicle operates leveled with respect to ground, wherein the peripheral portion of the first field of view and the peripheral portion of the second field of view that overlap circumscribe the unmanned aerial vehicle and include 360 degrees of lateral directions around the unmanned aerial vehicle; and

one or more processors carried by the housing, wherein the one or more processors are configured by machine readable instructions to provide flight control for the unmanned aerial vehicle.

2. The unmanned aerial vehicle of claim 1, wherein the first optical element is carried by the housing such that a centerline of the first field of view is substantially parallel to the vertical axis of the unmanned aerial vehicle.

3. The unmanned aerial vehicle of claim 1, wherein the first optical element is carried by the housing such that a centerline of the first field of view is coincident with the vertical axis of the unmanned aerial vehicle.

4. The unmanned aerial vehicle of claim 1, wherein the first optical element is carried by the housing such that a centerline of the first field of view is not coincident with the vertical axis of the unmanned aerial vehicle.

5. The unmanned aerial vehicle of claim 1, wherein the first optical element is carried by the housing such that a centerline of the first field of view is offset from the vertical axis of the unmanned aerial vehicle by ten degrees or less.

6. The unmanned aerial vehicle of claim 1, wherein the first optical element is carried by the housing such that an offset of a centerline of the first field of view from the vertical axis of the unmanned aerial vehicle changes based on a tilt of the unmanned aerial vehicle.

7. The unmanned aerial vehicle of claim 1, wherein the peripheral portion of the first field of view and the peripheral portion of the second field of view that overlap circumscribe the unmanned aerial vehicle around the vertical axis of the unmanned aerial vehicle.

8. The unmanned aerial vehicle of claim 1, wherein the first optical element and the second optical element are carried by the housing such that a centerline of the first field of view is coincident with a centerline of the second field of view.

9. The unmanned aerial vehicle of claim 1, wherein the first optical element and the second optical element are carried by the housing such that a centerline of the first field of view is not coincident with a centerline of the second field of view.

10. The unmanned aerial vehicle of claim 1, wherein the first optical element is carried by the housing such that a centerline of the first field of view is substantially parallel to the vertical axis of the unmanned aerial vehicle.