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US 12,153,443 B2Granted
Method for controlling a flight movement of an aerial vehicle for landing or for dropping a cargo, and aerial vehicle
AssigneeSpleenlab GmbH
InventorsChris Hagen, Florian Ölsner, Stefan Milz
Life of this patent
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Abstract
The preferred embodiments relate to a method for controlling a flight movement of an aerial vehicle for landing the aerial vehicle, including: recording of first image data by means of a first camera device, which is provided on an aerial vehicle, and is configured to record an area of ground, wherein the first image data is indicative of a first sequence of first camera images. The method also includes recording of second image data by means of a second camera device, which is provided on the aerial vehicle, and is configured to record the area of ground, wherein the second image data is indicative of a second sequence of second camera images.
Claims10
A method for controlling a flight movement of an aerial vehicle for landing the aerial vehicle, comprising:
- recording first image data using a first camera, wherein the first camera is provided on an aerial vehicle, and is configured to record an area of ground, wherein the first image data is indicative of a first sequence of first camera images;
- recording of second image data using a second camera, wherein the second camera is provided on an aerial vehicle and is configured to record an area of ground, wherein the second image data is indicative a second sequence of second camera images;
- processing the first and the second image data using an evaluation computer, comprising:
- performing a first image analysis using a neural network and an artificial intelligence algorithm based on machine learning, of the first image data, wherein at least a first landing zone is hereby determined in the recorded area of ground;
- performing a second image analysis, which is conducted free of use of the artificial intelligence algorithm, of the second image data, wherein at least a second landing zone is hereby determined in the recorded area of ground;
- determining position coordinates of a clear landing zone, which is comprised by the first and second landing zones, when a comparison reveals that the first and second landing zones overlap in the area of ground, at least in the clear landing zone;
- receiving position coordinates of a target landing site by a control processor of the aerial vehicle;
- determining release characteristics, when a comparison of the position coordinates of the clear landing zone and the position coordinates of the target landing zone reveals a match;
- and
- transmitting the release characteristics, which are indicative of an availability of the target landing site for a landing, to the control processor of the aerial vehicle;
- and
- controlling of a flight movement of the aerial vehicle by the control processor, so as to land the aerial vehicle on the target landing site;
- wherein the first camera is a visual imaging camera, and wherein performing the first image analysis comprises determining a ground obstacle via determining movement in the first image data based on an optical stream;
- wherein the second camera is a thermal imaging camera, and wherein performing the second image analysis comprises determining heat in the second image data based on a threshold filter;
- and
- wherein at least one of the first and second landing zones is determined as unsuitable for landing when, during the first and/or the second image analysis, it is determined that a ground obstacle is located in the at least one of the first and second landing zones.
13 more elements
An aerial vehicle, comprising:
- a sensor device, comprising a first and a second camera;
- an evaluation computer, comprising at least one processor;
- and
- a control processor, configured to control an operation of the aerial vehicle so as to land the aerial vehicle;
- wherein the control processor is further configured for:
- recording first image data using a first camera, wherein the first camera is provided on an aerial vehicle, and is configured to record an area of ground, wherein the first image data is indicative of a first sequence of first camera images;
- recording second image data using a second camera, wherein the second camera is provided on an aerial vehicle, and is configured to record an area of ground, wherein the second image data is indicative of a second sequence of second camera images;
- processing of the first and the second image data using the evaluation computer, comprising:
- wherein the evaluation computer is configured for:
- performing a first image analysis using a neural network and an artificial intelligence algorithm based on machine learning, of the first image data, wherein at least a first landing zone is hereby determined in the recorded area of ground;
- performing a second image analysis, which is conducted free of use of the artificial intelligence algorithm, of the second image data, wherein at least a second landing zone is hereby determined in the recorded area of ground;
- determining position coordinates of a clear landing zone, which is comprised by the first and second landing zones, when a comparison reveals that the first and second landing zones overlap in the area of ground, at least in the clear landing zone;
- receiving position coordinates of a target landing site by the control processor of the aerial vehicle;
- determining release characteristics, if when a comparison of the position coordinates of the clear landing zone and the position coordinates of the target landing site reveals a match;
- and
- transmitting release characteristics, which are indicative of the availability of the target landing site for landing, to the control processor of the aerial vehicle;
- and
- controlling of a flight movement of the aerial vehicle by the control processor, so as to land the aerial vehicle on the target landing site;
- wherein the first camera is a visual imaging camera, and wherein performing the first image analysis comprises determining a ground obstacle via determining movement in the first image data based on an optical stream;
- wherein the second camera is a thermal imaging camera, and wherein performing the second image analysis comprises determining heat in the second image data based on a threshold filter;
- and
- wherein at least one of the first and second landing zones is determined as unsuitable for landing when, during the first and/or the second image analysis, it is determined that a ground obstacle is located in the one of the first and second landing zones.
19 more elements
Dependencies are inferred from the claim text.