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US 10,591,292 B2Granted
Method and device for movable object distance detection, and aerial vehicle
AssigneeSz Dji Technology Co., Ltd.
InventorsZhenyu Zhu, Zihan Chen, Zhiyuan Zhang, Weifeng Liu, Chaobin Chen
Life of this patent
Estimating the term…
Abstract
A method for distance detection includes detecting a first distance value between a movable object and a target object in a target direction of the movable object, obtaining an inclination angle of the movable object at the target direction, and calculating a second distance value from the movable object to the target object based upon the inclination angle and the first distance value.
Claims15
A method for distance detection comprising:
- sensing, using a distance sensor configured on an aerial vehicle, a distance value corresponding to a target object in a target direction of the aerial vehicle, the distance sensor including one or more of an ultrasonic sensor, an infrared sensor, a radar sensor, and a laser sensor;
- determining, by a processor configured on the aerial vehicle, whether the distance value is less a preset distance threshold;
- in response to the distance value being less the preset distance threshold, determining, by the processor, the sensed distance value as the first distance value;
- in response to the distance value being no less than the preset distance threshold, obtaining, using two visual sensors and the processor, a visual distance value corresponding to the target object, and determining, by the processor, the visual distance value as the first distance value;
- obtaining, using an inclination sensor configured on the aerial vehicle, an inclination angle of the aerial vehicle at the target direction, the inclination sensor including a gyroscope or an accelerometer;
- calculating, by the processor, a second distance value from the aerial vehicle to the target object based upon the inclination angle and the first distance value;
- and
- controlling, by a flight controller configured on the aerial vehicle, a movement of the aerial vehicle based upon the second distance value.
5 more elements
A device for distance detection comprising:
- a processor;
- and
- a memory storing instructions that, when executed by the processor, cause the processor to:
- control a distance sensor configured on an aerial vehicle to sense a distance value corresponding to a target object in a target direction of the aerial vehicle, the distance sensor including one or more of an ultrasonic sensor, an infrared sensor, a radar sensor, and a laser sensor;
- determine whether the distance value is less a preset distance threshold;
- in response to the distance value being less the preset distance threshold, determine the sensed distance value as the first distance value;
- in response to the distance value being no less than the preset distance threshold, control two visual sensors to obtain a visual distance value corresponding to the target object, and determine the visual distance value as the first distance value;
- control an inclination sensor configured on the aerial vehicle to obtain an inclination angle of the aerial vehicle at the target direction, the inclination sensor including a gyroscope or an accelerometer;
- and
- calculate a second distance value corresponding to the target object based upon the inclination angle and the first distance value;
- and
- control a movement of the aerial vehicle based upon the second distance value.
9 more elements
An aerial vehicle comprising:
- a propulsion device;
- a distance sensor configured to sense a distance value corresponding to a target object, the distance sensor including one or more of an ultrasonic sensor, an infrared sensor, a radar sensor, and a laser sensor;
- two visual sensors configured to obtain a visual distance value corresponding to the target object;
- an inclination sensor configured to obtain an inclination angle of the aerial vehicle at the target direction, the inclination sensor including a gyroscope or an accelerometer;
- and
- a flight controller configured to:
- determine whether the sensed distance value is less a preset distance threshold;
- in response to the sensed distance value being less the preset distance threshold, determine the sensed distance value as the first distance value;
- in response to the distance value being no less than the preset distance threshold, determine the visual distance value as the first distance value;
- calculate a second distance value from the aerial vehicle to the target object based upon the inclination angle and the first distance value;
- and
- provide a control instruction to the propulsion device to control the propulsion device to effect a movement of the aerial vehicle based upon the second distance value.
9 more elements
Dependencies are inferred from the claim text.