公开(公告)号：US12008824B2

公开(公告)日：2024-06-11

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 ,  G06T7/70 ,  G06V10/75 ,  G06V20/13 ,  G06V20/64 ,  B64U50/00 ,  B64U101/30

CPC classification number: G06V20/653 ,  B64C39/024 ,  G01S17/894 ,  G06T7/521 ,  G06T7/70 ,  G06V10/757 ,  G06V20/13 ,  B64U50/00 ,  B64U2101/30 ,  G06T2207/10028

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：US12032390B2

公开(公告)日：2024-07-09

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 ,  G05D1/00 ,  B64U10/13 ,  B64U70/00

CPC classification number: G05D1/101 ,  B64C39/024 ,  G01C21/3889 ,  G01C21/3896 ,  B64U10/13 ,  B64U70/00

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：US20220055748A1

公开(公告)日：2022-02-24

申请号：US17352721

申请日：2021-06-21

Applicant: AUTEL ROBOTICS CO., LTD.

Inventor： Xin Zheng

IPC: B64C39/02 ,  G05D1/10

Abstract: Embodiments of the present invention relate to the field of unmanned aerial vehicle (UAV) control technologies, and in particular, to an obstacle avoidance method and apparatus for UAV landing and a UAV. The obstacle avoidance method for UAV landing includes: obtaining a point cloud distribution map of a to-be-landed zone; determining a safe zone in the to-be-landed zone according to the point cloud distribution map; determining a target position in the safe zone; and controlling the UAV to move to the target position, to enable the UAV to be away from an obstacle in the to-be-landed zone. According to the foregoing manner, the embodiments of the present invention may avoid an obstacle in the to-be-landed zone and reduce a risk of crashing of the UAV.

公开(公告)号：US12015757B2

公开(公告)日：2024-06-18

申请号：US17310718

申请日：2020-02-26

Applicant: AUTEL ROBOTICS CO., LTD.

Inventor： Xin Zheng

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

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.