公开(公告)号：US20240297973A1

公开(公告)日：2024-09-05

申请号：US18663870

申请日：2024-05-14

Applicant: AUTEL ROBOTICS CO., LTD.

Inventor： Xin ZHENG

IPC: H04N13/254 ,  B64C39/02 ,  B64D47/00 ,  B64U101/00 ,  G01J1/42 ,  G06V20/58 ,  H04N13/239 ,  H04N13/296

CPC classification number: H04N13/254 ,  B64C39/024 ,  B64D47/00 ,  G01J1/4204 ,  G06V20/58 ,  H04N13/239 ,  H04N13/296 ,  B64U2101/00

Abstract: Embodiments of the present invention relate to an obstacle detection method and apparatus and an unmanned aerial vehicle. The unmanned aerial vehicle includes a binocular photographing component and a laser texture component. The method includes: determining to start the laser texture component; starting the laser texture component, to emit a laser texture; obtaining a binocular view that is collected by the binocular photographing component and that includes the laser texture, and setting the binocular view that includes the laser texture as a target binocular view; and performing obstacle detection based on the target binocular view. In the above technical solutions, according to the embodiments of the present invention, precision of binocular stereo matching can be improved without changing an original binocular matching algorithm and structure, thereby improving precision of obstacle detection. In addition, the unmanned aerial vehicle can perform binocular sensing while flying at night.

公开(公告)号：US20240153122A1

公开(公告)日：2024-05-09

申请号：US18178220

申请日：2023-03-03

Applicant: AUTEL ROBOTICS CO.,LTD.

Inventor： Xin ZHENG

IPC: G06T7/593 ,  B64U20/70 ,  G05D1/243 ,  H04N13/239 ,  H04N13/282 ,  H04N23/90

CPC classification number: G06T7/596 ,  B64U20/70 ,  G05D1/2435 ,  H04N13/239 ,  H04N13/282 ,  H04N23/90 ,  G05D2109/254

Abstract: A binocular vision-based environment sensing method and apparatus, is applied to an unmanned aerial vehicle. The unmanned aerial vehicle is provided with five binocular cameras. The first binocular camera is disposed at the front portion of the fuselage of the unmanned aerial vehicle. The second binocular camera is inclined upward and disposed between the left side of the fuselage and the upper portion of the fuselage of the unmanned aerial vehicle. The third binocular camera is inclined upward and disposed between the right side of the fuselage and the upper portion of the fuselage of the unmanned aerial vehicle. The fourth binocular camera is disposed at the lower portion of the fuselage of the unmanned aerial vehicle. The fifth binocular camera disposed at the rear portion of the fuselage of the unmanned aerial vehicle. The method can simplify an omni-directional sensing system while reducing the sensing blind area.

公开(公告)号：US20220075391A1

公开(公告)日：2022-03-10

申请号：US17352697

申请日：2021-06-21

Applicant: AUTEL ROBOTICS CO., LTD.

Inventor： Xin ZHENG

IPC: G05D1/10 ,  B64C39/02 ,  G01C21/00

Abstract: The autonomous landing method of a UAV includes: obtaining a point cloud distribution map of a planned landing region; determining a detection region in the point cloud distribution map according to an actual landing region of the UAV in the point cloud distribution map; dividing the detection region into at least two designated regions, each of the at least two designated regions corresponding to a part of the planned landing region; determining whether a quantity of point clouds in each of the at least two designated regions is less than a preset threshold; and if a quantity of point clouds in a designated region is less than the preset threshold, controlling the UAV to fly away from the designated region of which the quantity of point clouds is less than the preset threshold, or controlling the UAV to stop landing.

公开(公告)号：US20210319575A1

公开(公告)日：2021-10-14

申请号：US17357346

申请日：2021-06-24

Applicant: AUTEL ROBOTICS CO., LTD.

Inventor： Xin ZHENG

IPC: G06T7/521 ,  B64C39/02 ,  G01S17/894 ,  G06K9/00 ,  G06T7/70

Abstract: The present invention relates to a target positioning method and device, and an unmanned aerial vehicle. The method includes: acquiring a target image through an image acquisition device; acquiring the position information of a target in the target image according to the target image; acquiring original point clouds of an environment in front of the unmanned aerial vehicle through a depth sensor; acquiring the point clouds corresponding to the target in the original point clouds according to the original point clouds and the position information of the target in the target image; and acquiring the position information of the target in a three-dimensional space according to the point clouds corresponding to the target.

公开(公告)号：US20220191460A1

公开(公告)日：2022-06-16

申请号：US17310718

申请日：2020-02-26

Applicant: AUTEL ROBOTICS CO. , LTD.

Inventor： Xin ZHENG

IPC: H04N13/254 ,  G01J1/42 ,  B64C39/02 ,  B64D47/00 ,  G06V20/58 ,  H04N13/296 ,  H04N13/239

Abstract: Embodiments of the present invention relate to an obstacle detection method and apparatus and an unmanned aerial vehicle. The unmanned aerial vehicle includes a binocular photographing component and a laser texture component. The method includes: determining to start the laser texture component; starting the laser texture component, to emit a laser texture; obtaining a binocular view that is collected by the binocular photographing component and that includes the laser texture, and setting the binocular view that includes the laser texture as a target binocular view; and performing obstacle detection based on the target binocular view. In the above technical solutions, according to the embodiments of the present invention, precision of binocular stereo matching can be improved without changing an original binocular matching algorithm and structure, thereby improving precision of obstacle detection. In addition, the unmanned aerial vehicle can perform binocular sensing while flying at night.