公开(公告)号：US12025996B2

公开(公告)日：2024-07-02

申请号：US17322135

申请日：2021-05-17

Applicant: AUTEL ROBOTICS CO., LTD.

Inventor： Jinxin Huang

IPC: G05D1/10 ,  B64C39/02 ,  G05D1/606 ,  G05D1/652 ,  G06T7/50 ,  G06V20/10 ,  G08G5/00 ,  G08G5/04 ,  B64U10/13

CPC classification number: G05D1/606 ,  B64C39/024 ,  G05D1/652 ,  G06T7/50 ,  G06V20/10 ,  G08G5/0021 ,  G08G5/0039 ,  G08G5/0069 ,  G08G5/0086 ,  G08G5/045 ,  B64U10/13

Abstract: Embodiments of the present application relate to the technical field of robot control, and in particular, to an unmanned aerial vehicle (UAV) path planning method and apparatus and a UAV. The UAV path planning method includes: acquiring a depth map of an environment in front of a UAV; acquiring a grid map centered on a body of the UAV according to the depth map; determining candidate flight directions for the UAV according to the grid map; determining an optimal flight direction for the UAV from the candidate flight directions; and controlling the UAV to fly in the optimal flight direction to avoid an obstacle in the environment in front of the UAV. In this way, the embodiments of the present application can accurately determine an obstacle that suddenly appears in an unknown environment and a dynamic environment, so as to achieve real-time path planning.

公开(公告)号：US11747833B2

公开(公告)日：2023-09-05

申请号：US17356656

申请日：2021-06-24

Applicant: AUTEL ROBOTICS CO., LTD.

Inventor： Jinxin Huang

IPC: G05D1/12 ,  B64C39/02 ,  B64D47/08 ,  G05D1/00 ,  G05D1/08 ,  G06V20/40 ,  G01C21/16 ,  H04N23/69 ,  H04N23/695 ,  B64U101/30

CPC classification number: G05D1/12 ,  B64C39/024 ,  B64D47/08 ,  G01C21/16 ,  G05D1/0094 ,  G05D1/0808 ,  G06V20/46 ,  H04N23/69 ,  H04N23/695 ,  B64U2101/30 ,  B64U2201/10 ,  G06V2201/07

Abstract: The present invention relates to a method and device for estimating a distance to a target, and a unmanned aerial vehicle. The method is applicable to a unmanned aerial vehicle including a photographing device. The method includes: acquiring a current frame of image of the target captured by the photographing device; acquiring location information of the target according to the current frame of image, where the location information includes a height of the target and two-dimensional pixel coordinates of the target in the image; acquiring attitude information of the photographing device, where the attitude information includes a pitch angle of the photographing device; and acquiring a distance between the target and the unmanned aerial vehicle according to the location information of the target and the attitude information of the photographing device.