초록 ▼

A method for autonomously operating an unmanned aerial vehicle (UAV) that includes one or more imaging devices is provided. The imaging devices are pointed away from a direction in which the UAV is flying, and subsequently, an upcoming portion of a current flight path of the UAV is imaged, using the

A method for autonomously operating an unmanned aerial vehicle (UAV) that includes one or more imaging devices is provided. The imaging devices are pointed away from a direction in which the UAV is flying, and subsequently, an upcoming portion of a current flight path of the UAV is imaged, using the imaging devices. In response to the imaging, an obstacle on the current flight path is detected, and an alternate flight path is planned in response thereto. The UAV is then flown along the alternate flight path, instead of the current flight path. Other embodiments are also described.

대표청구항 ▼

1. A method for autonomously operating an unmanned aerial vehicle (UAV), the method comprising: pointing one or more imaging devices, which are coupled to the UAV and are used by the UAV for obstacle detection and avoidance, away from a first portion of a current flight path of the UAV that was alre

1. A method for autonomously operating an unmanned aerial vehicle (UAV), the method comprising: pointing one or more imaging devices, which are coupled to the UAV and are used by the UAV for obstacle detection and avoidance, away from a first portion of a current flight path of the UAV that was already checked for obstacles, such that the first portion of the current flight path is outside a current field-of-view of the imaging devices;subsequently, while the imaging devices are pointed away from the first portion of the current flight path, imaging, using the imaging devices, a second, upcoming portion of the current flight path of the UAV, while flying the UAV along the first portion of the current flight path;in response to the imaging, detecting an obstacle on the second, upcoming portion of the current flight path, and planning an alternate flight path in response thereto; andsubsequently, flying the UAV along the alternate flight path, instead of the current flight path. 2. The method according to claim 1, wherein imaging the upcoming portion of the current flight path comprises imaging the upcoming portion of the current flight path with an angle-of-view that is less than 60 degrees. 3. The method according to claim 1, wherein the imaging devices are coupled to a main body of the UAV, and wherein pointing the imaging devices away from the first portion of the current flight path comprises pointing the imaging devices away from the first portion of the current flight path by rotating the main body of the UAV. 4. The method according to claim 3, wherein rotating the main body of the UAV comprises rotating the main body of the UAV about a yaw axis of the UAV. 5. The method according to claim 1, wherein the method further comprises, while the UAV is flying, imaging a target, using a payload imaging device that is coupled to the UAV and is not one of the imaging devices used for obstacle detection and avoidance. 6. The method according to claim 5, wherein pointing the imaging devices away from the first portion of the current flight path comprises centering a field-of-view of at least one of the imaging devices between (i) the upcoming portion of the current flight path, and (ii) the target. 7. The method according to claim 5, wherein the alternate flight path passes between (i) the upcoming portion of the current flight path, and (ii) the target. 8. The method according to claim 1, further comprising imaging the obstacle, using the imaging devices, while flying the UAV along the alternate flight path. 9. The method according to claim 8, wherein imaging the obstacle while flying the UAV along the alternate flight path comprises imaging the obstacle in response to ascertaining that the obstacle is moving. 10. The method according to claim 1, further comprising, prior to imaging the upcoming portion of the current flight path, adjusting a zoom of the imaging devices, at least in response to a current speed of the UAV. 11. The method according to claim 1, wherein imaging the upcoming portion of the current flight path comprises imaging the upcoming portion of the current flight path by imaging a portion of a field-of-view (FOV) of the imaging devices, without imaging the entire FOV. 12. The method according to claim 1, wherein the second, upcoming portion of the current flight path follows an upcoming turn in the current flight path. 13. The method according to claim 1, wherein the pointing comprises pointing the imaging devices away from the first portion of the current flight path such that the first portion of the current flight path is not within the current field-of-view of any imaging device that is coupled to the UAV. 14. Apparatus, comprising: an unmanned aerial vehicle (UAV), comprising a processor; andone or more imaging devices, which are coupled to the UAV and are used by the UAV for obstacle detection and avoidance,the processor being configured to: point the imaging devices away from a first portion of a current flight path of the UAV that was already checked for obstacles, such that the first portion of the current flight path is outside a current field-of-view of the imaging devices,subsequently, while the imaging devices are pointed away from the first portion of the current flight path, image, using the imaging devices, a second, upcoming portion of the current flight path of the UAV, while flying the UAV along the first portion of the current flight path,in response to the imaging, detect an obstacle on the second, upcoming portion of the current flight path, and plan an alternate flight path in response thereto, andsubsequently, fly the UAV along the alternate flight path, instead of the current flight path. 15. The apparatus according to claim 14, wherein the imaging devices are coupled to a main body of the UAV, and wherein the processor is configured to point the imaging devices away from the first portion of the current flight path by rotating the main body of the UAV. 16. The apparatus according to claim 15, wherein a yaw of the imaging devices with respect to the main body of the UAV is fixed. 17. The apparatus according to claim 14, wherein the imaging devices have an adjustable zoom, and wherein the processor is further configured to, prior to imaging the upcoming portion of the current flight path, adjust the zoom of the imaging devices, at least in response to a current speed of the UAV. 18. The apparatus according to claim 14, wherein at least one of the imaging devices has a resolution that is greater at a center of a field-of-view (FOV) of the imaging device than at an edge of the FOV. 19. The apparatus according to claim 14, wherein a minimum lateral angle-of-view of at least one of the imaging devices is less than 60 degrees. 20. The apparatus according to claim 14, wherein the second, upcoming portion of the current flight path follows an upcoming turn in the current flight path. 21. The apparatus according to claim 14, wherein the processor is configured to point the imaging devices away from the first portion of the current flight path such that the first portion of the current flight path is not within the current field-of-view of any imaging device that is coupled to the UAV. 22. A computer software product comprising a tangible non-transitory computer-readable medium in which program instructions are stored, which instructions, when read by a processor of an unmanned aerial vehicle (UAV), cause the processor to: point one or more imaging devices, which are coupled to the UAV and are used by the UAV for obstacle detection and avoidance, away from a first portion of a current flight path of the UAV that was already checked for obstacles, such that the first portion of the current flight path is outside a current field-of-view of the imaging devices,subsequently, while the imaging devices are pointed away from the first portion of the current flight path, image, using the imaging devices, a second, upcoming portion of the current flight path of the UAV, while flying the UAV along the first portion of the current flight path,in response to the imaging, detect an obstacle on the second, upcoming portion of the current flight path, and plan an alternate flight path in response thereto, andsubsequently, fly the UAV along the alternate flight path, instead of the current flight path.