Vehicle inspection system and method

Abstract

Exemplary vehicle inspection systems and methods are described. In one embodiment, a method activates an unmanned aerial vehicle (UAV) inside a vehicle to capture images of the interior of the vehicle. The method accesses a flight path of the UAV and receives data associated with a current movement of the vehicle. The method adjusts the flight path of the UAV to compensate for the current movement of the vehicle.

Description

Technical Field

[0001] The present disclosure relates to vehicle systems and, more particularly, to systems and methods for inspecting the interior of a vehicle. Background Art

[0002] Automobiles and other vehicles provide a large portion of transportation for businesses, governments, and private entities. Vehicles such as autonomous vehicles travel on roads, parking lots, and other areas when transporting passengers or objects from one location to another. An exemplary application of an autonomous vehicle acts as a taxi or shuttle service that picks up one or more passengers in response to a transportation request. When acting as a taxi or shuttle service, the autonomous vehicle will drive to the pick-up location so that the passenger requesting the service can enter the vehicle. The vehicle then drives to the destination and allows the passenger to exit the vehicle. Before picking up another passenger, the interior of the vehicle is preferably cleaned for the next passenger. Summary of the invention

[0003] A system activates an unmanned aerial vehicle (UAV) within a vehicle, wherein the UAV includes a camera for capturing images of the vehicle interior. The system accesses a flight path of the UAV, the UAV capturing images of specific portions of the vehicle interior. Additionally, the system receives data associated with the current movement of the vehicle and adjusts the flight path to compensate for the current movement of the vehicle. BRIEF DESCRIPTION OF THE DRAWINGS

[0004] Non-limiting and non-exhaustive embodiments of the present disclosure are described with reference to the following figures, wherein like reference numerals refer to like parts throughout the various figures unless otherwise specified.

[0005] Figure 1 is a block diagram illustrating an embodiment of a vehicle control system including a vehicle inspection system.

[0006] Figure 2 is a block diagram illustrating an embodiment of a vehicle inspection system.

[0007] Figure 3 An embodiment of a vehicle is shown having multiple interior cameras and an unmanned aerial vehicle within the vehicle.

[0008] Figure 4 An embodiment of a method for inspecting the interior of a vehicle using an unmanned aerial vehicle is shown.

[0009] Figure 5 An embodiment of a method for adjusting a flight path of an unmanned aerial vehicle is shown.

[0010] Figure 6 An embodiment of a method for detecting dirt or trash in a vehicle is shown.

[0011] Figure 7 An embodiment of a vehicle interior is shown having an unmanned aerial vehicle within the vehicle.

[0012] Figure 8 is a block diagram illustrating an embodiment of an unmanned aerial vehicle. DETAILED DESCRIPTION

[0013] In the following disclosure, reference is made to the accompanying drawings, which form a part of the present disclosure and in which specific embodiments in which the present disclosure may be practiced are shown by way of illustration. It should be understood that other embodiments may be utilized and structural changes may be made without departing from the scope of the present disclosure. References in the specification to "one embodiment," "embodiment," "example embodiment," etc. indicate that the described embodiment may include specific features, structures, or characteristics, but each embodiment may not necessarily include the specific features, structures, or characteristics. In addition, such phrases do not necessarily refer to the same embodiment. In addition, when specific features, structures, or characteristics are described in conjunction with an embodiment, whether or not explicitly described, it is within the knowledge of a technician in the field to implement such features, structures, or characteristics in conjunction with other embodiments.

[0014] Implementations of the systems, devices, and methods disclosed herein may include or utilize a dedicated or general-purpose computer including computer hardware (such as, for example, one or more processors and system memory discussed herein). Embodiments within the scope of the present disclosure may also include physical and other computer-readable media for carrying or storing computer-executable instructions and / or data structures. Such computer-readable media may be any available media that can be accessed by a general-purpose or special-purpose computer system. A computer-readable medium that stores computer-executable instructions is a computer storage medium (device). A computer-readable medium that carries computer-executable instructions is a transmission medium. Therefore, by way of example and not limitation, embodiments of the present disclosure may include at least two distinct computer-readable media: a computer storage medium (device) and a transmission medium.

[0015] Computer storage media (devices) include RAM, ROM, EEPROM, CD-ROM, solid-state drives ("SSD") (e.g., RAM-based), flash memory, phase-change memory ("PCM"), other types of memory, other optical disk storage devices, magnetic disk storage devices or other magnetic storage devices, or any other medium that can be used to store desired program code devices in the form of computer-executable instructions or data structures and that can be accessed by a general or special purpose computer.

[0016] The implementation of the device, system and method disclosed herein can communicate through a computer network. "Network" is defined as one or more data links that can transmit electronic data between a computer system and / or module and / or other electronic device. When information is transmitted or provided to a computer through a network or another communication connection (hard wiring, wireless or a combination of hard wiring or wireless), the computer appropriately regards the connection as a transmission medium. The transmission medium may include a network and / or a data link, which may be used to carry the required program code means in the form of a computer executable instruction or a data structure and may be accessed by a general or special purpose computer. The above combination should also be included in the scope of a computer-readable medium.

[0017] Computer executable instructions include instructions and data that, when executed in a processor, cause a general purpose computer, a special purpose computer, or a special purpose processing device to perform a function or group of functions. Computer executable instructions may be, for example, binary files, intermediate format instructions (such as assembly language), or even source code. Although the subject matter is described in language specific to structural features and / or method actions, it should be understood that the subject matter defined in the appended claims is not necessarily limited to the features or actions described above. Rather, the features and actions are disclosed as exemplary forms of implementing the claims.

[0018] Those skilled in the art will appreciate that the present disclosure can be practiced in a network computing environment using many types of computer system configurations, including built-in vehicle computers, personal computers, desktop computers, laptop computers, message processors, handheld devices, multiprocessor systems, microprocessor-based or programmable consumer electronics, network PCs, minicomputers, mainframe computers, mobile phones, PDAs, tablet computers, pagers, routers, switches, various storage devices, etc. The present disclosure can also be practiced in a distributed system environment, where local and remote computer systems linked by a network (by hardwired data links, wireless data links, or by a combination of hardwired and wireless data links) all perform tasks. In a distributed system environment, program modules may be located in both local and remote memory storage devices.

[0019] In addition, where appropriate, the functions described herein may be performed in one or more of the following: hardware, software, firmware, digital components, or analog components. For example, one or more application specific integrated circuits (ASICs) may be programmed to perform one or more of the systems and processes described herein. Certain terms are used throughout the description and claims to refer to specific system components. It should be understood by those skilled in the art that components may be referred to by different names. This document is not intended to distinguish between components that have different names but the same function.

[0020] It should be noted that the sensor embodiments discussed herein may include computer hardware, software, firmware, or any combination thereof to perform at least a portion of their functionality. For example, the sensor may include computer code configured to be executed in one or more processors, and may include hardware logic / circuitry controlled by the computer code. These exemplary devices are provided herein for illustrative purposes and are not intended to be limiting. As known to those skilled in the relevant art, the embodiments of the present disclosure may be implemented in other types of devices.

[0021] At least some embodiments of the present disclosure relate to computer program products that include such logic stored on any computer usable medium (eg, in software form). Such software, when executed in one or more data processing devices, causes the devices to operate as described herein.

[0022] Figure 1 is a block diagram illustrating an embodiment of a vehicle control system 100 including a vehicle inspection system 104 within a vehicle. The autonomous driving / assistance system 102 may be used to automate or control the operation of a vehicle or provide assistance to a human driver. For example, the autonomous driving / assistance system 102 may control one or more of the vehicle's braking, steering, seat belt tensioning, acceleration, lights, alarms, driver notifications, radio, vehicle locks, or any other assistance system. In another example, the autonomous driving / assistance system 102 may not provide any control over driving (e.g., steering, acceleration, or braking), but may provide notifications and alarms to assist a human driver in driving safely. The vehicle control system 100 includes a vehicle inspection system 104 that interacts with various components in the vehicle to inspect the interior of the vehicle for stains, dirt, trash, and other items within the vehicle. Although the vehicle inspection system 104 is Figure 1 104 is shown as a separate component, but in alternative embodiments, the vehicle inspection system 104 may be incorporated into the autonomous driving / assistance system 102 or any other vehicle component.

[0023] The vehicle control system 100 also includes one or more sensor systems / devices for detecting the presence of nearby objects (or obstacles) or determining the location of the host vehicle (e.g., a vehicle including the vehicle control system 100). For example, the vehicle control system 100 may include one or more radar (radio detection and ranging) systems 106, one or more lidar (light detection and ranging) systems 108, one or more camera systems 110, a global positioning system (GPS) 112, and / or an ultrasound system 114. The one or more camera systems 110 may include a rear camera, a front camera, and a side camera mounted on the vehicle (e.g., the rear of the vehicle). The camera system 110 may also include one or more interior cameras that capture images of the interior of the vehicle (such as dirt, trash, stains, and other objects inside the vehicle). The lidar system 108 may include one or more interior lidar sensors that capture data associated with an area inside the vehicle. The vehicle control system 100 may include a data storage area 116 for storing relevant or useful data related to navigation and safety, such as map data, driving history, or other data. The vehicle control system 100 may also include a transceiver 118 for wirelessly communicating with mobile or wireless networks, other vehicles, infrastructure, or any other communication system.

[0024] The vehicle control system 100 may include vehicle control actuators 120 to control various aspects of vehicle driving (such as electric motors, switches or other actuators) so as to control braking, acceleration, steering, seat belt tensioning, door locks, etc. The vehicle control system 100 may also include one or more displays 122, speakers 124, or other devices so that notifications can be provided to a human driver or passenger. The display 122 may include a heads-up display, a dashboard display or indicator, a display screen, or any other visual indicator that can be seen by a driver or passenger of the vehicle. The speaker 124 may include one or more speakers of the vehicle's sound system, or may include a speaker dedicated to driver or passenger notifications.

[0025] You should understand that Figure 1 The embodiments are given by way of example only. Other embodiments may include fewer or additional components without departing from the scope of the present disclosure. In addition, the components shown may be combined or included in other components without limitation.

[0026] In one embodiment, the automatic driving / assistance system 102 is configured to control the driving or navigation of the main vehicle. For example, the automatic driving / assistance system 102 can control the vehicle control actuator 120 to drive along a certain path on a road, parking lot, lane, or other location. For example, the automatic driving / assistance system 102 can determine the path based on information or perception data provided by any one of the components 106 to 118. The path can also be determined based on the route of manipulating the vehicle to avoid or mitigate a potential collision with another vehicle or object. The sensor systems / devices 106 to 110 and 114 can be used to obtain real-time sensor data so that the automatic driving / assistance system 102 can assist the driver or drive the vehicle in real time.

[0027] Figure 2 is a block diagram illustrating an embodiment of a vehicle inspection system 104. Figure 2 As shown in FIG. 1 , the vehicle inspection system 104 includes a communication manager 202, a processor 204, and a memory 206. The communication manager 202 allows the vehicle inspection system 104 to communicate with other systems, such as the autonomous driving / assistance system 102. The processor 204 executes various instructions to implement the functionality provided by the vehicle inspection system 104, as discussed herein. The memory 206 stores these instructions and other data used by the processor 204 and by other modules and components included in the vehicle inspection system 104.

[0028] In addition, the vehicle inspection system 104 includes an image processing module 208, which receives image data from one or more camera systems 110. The vehicle inspection system 104 can also receive images from an unmanned aerial vehicle inside the vehicle. The unmanned aerial vehicle includes one or more cameras to capture images of the interior of the vehicle. In a specific embodiment, the unmanned aerial vehicle includes at least one RGB (red, green and blue) camera and at least one IR (infrared) camera. In some embodiments, the image captured by the camera of the unmanned aerial vehicle is wirelessly transmitted to the vehicle inspection system 104. The unmanned aerial vehicle includes any type of aircraft or device that can fly and does not require a human pilot on the aircraft. For example, the unmanned aerial vehicle can be self-driving (e.g., autonomous) or remotely controlled by another system or operator. In some embodiments, the unmanned aerial vehicle is a small drone, such as a nano drone, a small drone, a micro drone, etc. As discussed in more detail below, the unmanned aerial vehicle is small enough to fly around the interior of the vehicle. In some embodiments, the unmanned aerial vehicle can be stored in a vehicle compartment (e.g., a glove box) when not in use. As used herein, an unmanned aerial vehicle may also be referred to as an unmanned aerial vehicle (UAV), an unmanned system, or an unmanned device.

[0029] In some embodiments, the image processing module 208 includes an image management algorithm or process that manages one or more clean images, which represent images of the vehicle interior when the vehicle interior is clean (e.g., there are no stains, dirt, trash, or other items in the vehicle). In addition, the image processing module 208 can manage one or more additional images captured after the passenger leaves the vehicle. As discussed herein, these additional images (also referred to as "current images") are compared to the clean image to determine whether there are stains, trash, dirt, or other items in the vehicle interior due to the passenger traveling in the vehicle.

[0030] The vehicle inspection system 104 also includes an image subtraction module 210 that subtracts an additional image (e.g., the current image) from the clean image to identify differences between the images. These differences may represent stains, dirt, trash, or other items left by a previous passenger. An anomaly detection module 212 identifies one or more anomalies based on an analysis of the differences between the current image and the clean image. These anomalies may include, for example, stains, dirt, trash, or other items left by a previous passenger.

[0031] The flight path manager 214 controls the movement and flight path of the UAV within the vehicle interior. In some embodiments, the UAV may follow a predefined flight path that allows the UAV's camera to capture images of the vehicle interior to check all areas for stains, dirt, trash, or other items. The flight path manager 214 may wirelessly communicate with the UAV to control the path of the UAV within the vehicle interior. In some embodiments, the flight path manager 214 also instructs the UAV when to capture images of the vehicle interior.

[0032] The adaptive flight controller 216 identifies the movement of the vehicle while the unmanned aerial vehicle is flying inside the vehicle and adjusts the flight path of the aircraft to compensate for the movement of the vehicle when necessary. Additional details about adjusting the flight path based on vehicle movement are provided herein. The trash / stain classification module 218 detects the location and type of stains, dirt, trash, and other items in the vehicle based on the captured images. For example, the trash / stain classification module 218 analyzes the identified differences between the current image and the clean image to classify the type of trash or stain. For example, a specific anomaly can be classified as a liquid stain, trash, or dirt on a floor or seating surface.

[0033] The vehicle maintenance manager 220 manages the cleaning and maintenance of the vehicle. For example, if stains, dirt, trash, or other items are detected in the vehicle after a passenger leaves the vehicle, the vehicle maintenance manager 220 can determine whether the vehicle needs to be taken out of service before accommodating the next passenger. If cleaning is required, the vehicle maintenance manager 220 can instruct the autonomous driving / assistance system 102 to drive the vehicle to the nearest cleaning or service facility. When determining whether cleaning is required, the vehicle maintenance manager 220 can consider the size or classification of the detected stains, dirt, trash, or other items. In addition, if cleaning is required, the vehicle maintenance manager 220 can determine what kind of cleaning is required.

[0034] Figure 3 An embodiment of a vehicle 300 is shown having multiple internal cameras and an unmanned aerial vehicle inside the vehicle. Figure 3 , a vehicle 300 is shown with four interior cameras 302, 304, 306, and 308. In some embodiments, the cameras 302 to 308 are positioned and oriented in the vehicle 300 so that all seating surfaces (e.g., seat bottoms and seat backs) are within the field of view of at least one camera 302 to 308. Other areas of the interior of the vehicle 300, such as the vehicle floor, may also be within the field of view of one or more cameras 302 to 308.

[0035] In addition, the unmanned aerial vehicle 310 Figure 3 300. As discussed herein, the UAV 310 includes one or more cameras (such as an RGB camera and an IR camera) that capture images of the interior of the vehicle 300 as the UAV 310 flies throughout the interior of the vehicle. The UAV 310 can fly in any accessible area of ​​the interior of the vehicle to capture images that are analyzed to identify dirt, stains, trash, and other objects in the vehicle 300. In some embodiments, after one or more passengers leave the vehicle 300, the UAV 310 is activated to fly throughout the interior of the vehicle 300. The vehicle compartment 312 provides a storage location for the UAV 310 when not in use. For example, the vehicle compartment 312 can be a glove box or other compartment in the vehicle 300. In some embodiments, the UAV 310 is recharged while in the vehicle compartment 312.

[0036] although Figure 3 Four interior cameras 302 to 308 are shown in FIG. 3 , but in alternative embodiments, vehicle 300 may have any number of interior cameras located at various locations throughout the vehicle and pointed at different angles. Figure 3 One UAV 310 is shown in FIG. 3 , but in alternative embodiments, vehicle 300 may include any number of UAVs 310 flying within the vehicle.

[0037] Figure 4 An embodiment of a method 400 for inspecting a vehicle interior using an unmanned aerial vehicle is shown. First, a vehicle inspection system activates 402 an unmanned aerial vehicle inside a vehicle. For example, when one or more passengers leave the vehicle 300, an unmanned aerial vehicle 310 can be released from a vehicle compartment 312 to inspect the vehicle interior for stains, dirt, trash, or other objects left behind by a previous passenger. The unmanned aerial vehicle follows a flight path to maneuver 404 around the vehicle interior to capture images of the vehicle interior. In some embodiments, the flight path allows a camera on the unmanned aerial vehicle to capture images of all relevant portions of the vehicle interior (e.g., all areas where there may be stains, dirt, trash, or other objects left behind by a previous passenger).

[0038] In some embodiments, the UAV maneuvers around the interior of the vehicle as the vehicle is driven to another location. As the UAV maneuvers around the interior of the vehicle, the vehicle inspection system receives 406 data associated with the current movement of the vehicle. The data associated with the current movement of the vehicle includes, for example, data regarding the acceleration of the vehicle, the deceleration of the vehicle, or the turning of the vehicle (including the direction of the turn). The vehicle inspection system then determines 408 whether the flight path of the UAV needs to be adjusted based on the current movement of the vehicle. The movement of the vehicle may change the flight path of the UAV because the movement of the vehicle causes the air in the vehicle to move, thereby "pushing" the UAV in different directions. For example, if the vehicle slows down, the air inside the vehicle moves forward (e.g., toward the front of the cabin). This forward movement of the air may "push" the UAV forward because the UAV is in an airflow that moves toward the front of the vehicle. Other vehicle movements may "push" the UAV in different directions. For example, vehicle acceleration may "push" the UAV toward the rear of the cabin, and turning right or left may "push" the UAV to the right or left side of the cabin, respectively. This document and in particular with respect to Figure 5 Additional details regarding how the system determines 408 whether to adjust the flight path are discussed.

[0039] If adjustment of the flight path is required 410, the vehicle inspection system adjusts 412 the flight path of the UAV to compensate for the current movement of the vehicle. Flight path adjustment is important to prevent the UAV from flying into seats, windows, or other vehicle surfaces. In addition, to ensure that the UAV is capturing images from predefined locations, the UAV needs to follow a predefined flight plan. In some embodiments, the vehicle inspection system transmits the adjusted flight path to the UAV via a wireless communication link. If adjustment of the flight path is not required 410, the method determines whether the flight path is complete 414. If the flight path is not complete, the method returns to 404, where the UAV continues to maneuver around the interior of the vehicle by following the flight path.

[0040] If the flight path is complete at 414, the UAV transmits 416 the captured images to the vehicle inspection system. In some embodiments, as the UAV maneuvers around the interior of the vehicle, the UAV transmits the images to the vehicle inspection system. For example, the UAV can transmit the images to the vehicle inspection system as they are captured by a camera mounted on the UAV. Additionally, the UAV is returned to the vehicle compartment for storage and, in some embodiments, to charge a battery or other power source in the UAV. Finally, the vehicle inspection system analyzes 418 the captured images to identify stains, dirt, trash, or other objects in the vehicle. Figure 6 Additional details are discussed regarding how the system identifies stains, dirt, trash or other objects in the vehicle.

[0041] In some embodiments, the flight path of the UAV can be modified to avoid obstacles in the cabin of the vehicle and obtain additional details about specific parts of the vehicle interior. For example, if the initial analysis of the captured images indicates that there are stains, dirt, trash or other objects, the UAV may return to that location in the vehicle to capture additional images, such as close-up images or images taken from different angles, to better analyze or classify the stains, dirt, trash or other objects. In some embodiments, the vehicle inspection system transmits one or more of the captured images to a remote location with more powerful computing resources and / or can further analyze the human user who identified the stains, dirt, trash or other objects and determine what kind of cleaning or vehicle service is needed before picking up new passengers.

[0042] Figure 5An embodiment of a method 500 for adjusting the flight path of an unmanned aerial vehicle is shown. First, a vehicle inspection system receives 502 data associated with the current movement of a vehicle. As mentioned above, the movement of a vehicle may include the acceleration of the vehicle, the deceleration of the vehicle, or the turning of the vehicle (including the direction of the turn). In some embodiments, the systems and methods discussed herein may also take into account changes in the movement of a vehicle when the vehicle is traveling up or down a hillside or other road conditions where the altitude of the vehicle changes. The vehicle inspection system determines 504 whether the vehicle is currently accelerating, decelerating, or turning based on data such as from vehicle control inputs (accelerator pedal, brake pedal), accelerometers, gyroscopes, etc. In some embodiments, the vehicle inspection system determines 504 whether the vehicle is currently accelerating, decelerating, or turning based on data from the automatic driving / assistance system 102. When driving in autonomous mode, the automatic driving / assistance system 102 may provide data on inputs provided to vehicle control actuators and other vehicle systems, the inputs indicating that the vehicle is (or will be) accelerating, decelerating, or turning.

[0043] If the vehicle is not accelerating, decelerating, or turning at 506, the method returns to 504, where the vehicle inspection system continues to determine whether the vehicle is accelerating, decelerating, or turning. In this case, the vehicle can be considered to be in a stable state (i.e., not accelerating, decelerating, or turning). At 506, if the vehicle is performing one or more movements (e.g., accelerating, decelerating, and / or turning), the vehicle inspection system determines 508 the magnitude of the acceleration, deceleration, and / or turning. The vehicle inspection system then identifies 510 the appropriate drone flight path adjustment to compensate for the acceleration, deceleration, and / or turning of the vehicle. The amount of adjustment required can vary depending on the magnitude of the acceleration, deceleration, and / or turning.

[0044] The method 500 continues when the vehicle inspection system adjusts 512 the flight path of the UAV based on the appropriate adjustments determined above. The vehicle inspection system transmits 514 the adjusted flight path to the UAV via, for example, a wireless communication link. The UAV adjusts its operation based on the adjusted flight path, which should allow the UAV to more accurately follow its predefined flight path, which allows the UAV's camera to capture images of the vehicle interior to inspect all areas for stains, dirt, trash, or other items. After communicating 514 the adjusted flight path to the UAV, the method 500 returns to 504 to continue determining whether the vehicle is accelerating, decelerating, or turning.

[0045] In some embodiments, the UAV is able to independently determine its position inside the vehicle. Although the UAV can receive flight control (or flight path) instructions from the vehicle inspection system (or other system), the UAV can determine its position in the vehicle based on visual cues from images captured by the camera of the UAV, for example. In some embodiments, the visual cues are associated with predefined points or predefined positions in the vehicle. When the UAV identifies one of these predefined points, the UAV can determine (or at least roughly determine) its position inside the vehicle based on the position of the predefined point in the captured image and the known angle or viewing angle at which the UAV captures the image. Exemplary predefined points include objects or items that usually have fixed positions, such as steering wheels, company logos in the middle of steering wheels, seat belt receivers, door handles, vents, headrests, etc. In some embodiments, the predefined points are specific marks or codes in the vehicle, such as bar codes, ArUco marks, etc. Because the UAV moves inside the vehicle, techniques such as "Structure from Motion" (SfM) can be used to estimate the position of the UAV inside the vehicle. In some embodiments, the UAV uses one or more other sensors to help determine the position of the UAV within the vehicle. In some embodiments, the UAV transmits its current position to the vehicle inspection system, thereby allowing the vehicle inspection system to confirm the position of the UAV on the flight path. If the UAV is not on the correct flight path, appropriate adjustments can be transmitted from the vehicle inspection system to the UAV.

[0046] Figure 6 An embodiment of a method 600 for detecting stains or garbage in a vehicle is shown. First, a vehicle inspection system accesses 602 one or more clean images associated with a clean vehicle interior. When there are no stains, dirt, garbage or other items on the vehicle, these clean images are captured. In some embodiments, clean images are captured from a specific position and angle in the vehicle. For example, clean images can be captured by one or more cameras installed at a specific position in the vehicle interior. In addition, some (or all) clean images can be captured by an unmanned aerial vehicle at a specific position along the flight path in the vehicle. The vehicle inspection system also receives 604 one or more images (referred to as "current images") of the current vehicle interior. The current image can be captured by a camera installed in the vehicle and / or a camera installed to an unmanned aerial vehicle operated in the vehicle interior.

[0047] When the vehicle inspection system subtracts 606 the current image from the clean image, the method 600 continues. This subtraction process identifies 608 the differences between the current image and the clean image. These differences may represent stains, dirt, garbage or other objects left by the previous passenger. The vehicle inspection system analyzes 610 the differences between the current image and the clean image, and determines whether there are stains, dirt, garbage or other items in the vehicle. In some embodiments, the analysis of the differences between the current image and the clean image identifies one or more contours in the identified differences. The contour includes, for example, the contour of a stain, dirt, garbage or other item. Based on the shape of the contour and the smoothness of the contour edge, the vehicle inspection system determines the type of stain, dirt, garbage or other item in the image. For example, if the contour is roughly circular with smooth edges, it may be a stain. However, if the contour has an irregular shape and / or sharp / jagged edges, it is likely to be garbage or other items left in the car by the previous passenger. Based on the analysis and determination of stains, dirt, garbage or other objects, the method determines 612 whether the vehicle should be taken out of service for cleaning. Specifically, the method determines whether the vehicle needs to be cleaned before allowing another passenger to enter the vehicle. Such a determination as to whether the vehicle needs to be cleaned can include determining the size of the stain, dirt, trash, or other item. For example, a small pile of trash on the floor may not require vehicle cleaning, but a significant stain on a seat may require vehicle cleaning.

[0048] If the vehicle needs to be taken out of service for cleaning 612, appropriate cleaning is performed 614 on the vehicle before accepting the next passenger. Such cleaning may be performed by a mobile cleaning service, or at a vehicle cleaning and / or repair facility, depending on the amount of cleaning required and the proximity of the vehicle to the mobile cleaning service and / or cleaning / repair facility. After the vehicle is cleaned (or if the vehicle does not require cleaning), the vehicle is made available to pick up new passengers and awaits instructions 616 to pick up the next passenger.

[0049] Figure 7 An embodiment of a vehicle interior 700 is shown having an unmanned aerial vehicle 704 operating within the vehicle interior. The vehicle interior 700 includes seating surfaces 702, and a stain 706 on one of the surfaces is shown. Figure 7 As shown in FIG. 7 , a camera mounted on UAV 704 captures an image of stain 706 and transmits the captured image to a vehicle inspection system associated with the vehicle.

[0050] Figure 8 is a block diagram illustrating an embodiment of an unmanned aerial vehicle 704. Figure 8As shown in FIG. 7 , the UAV 704 includes a communication manager 802, a processor 804, and a memory 806. The communication manager 802 allows the UAV 704 to communicate with other systems, such as the autopilot / assistance system 102 and the vehicle inspection system 104. The processor 804 executes various instructions to implement the functionality provided by the UAV 704, as discussed herein. The memory 806 stores these instructions and other data used by the processor 804 and other modules and components included in the UAV 704. In addition, the UAV 704 includes an RGB camera 808 and an IR camera 810.

[0051] The UAV 704 also includes an image capture module 812 that captures images from the RGB camera 808 and / or the IR camera 810. As discussed herein, these captured images can be transmitted to the vehicle inspection system 104 or other components or systems. The flight path module 814 maintains information related to the predefined flight path that the UAV 704 attempts to follow. In some embodiments, the flight path information is received from the vehicle inspection system 104. The position determination module 816 determines the position of the UAV 704 within the vehicle. For example, the position determination module 816 can analyze visual cues contained in the images captured by the RGB camera 808 and / or the IR camera 810.

[0052] The rotor control module 818 controls the operation of multiple rotors 820 associated with the UAV 704. In some embodiments, the UAV 704 has three or four rotors 820, which assist the UAV 704 in flying throughout the vehicle. For example, the rotor control module 818 can control the rotation speed of each rotor 820 to steer and maneuver the UAV 704 throughout the vehicle's cabin. Thus, the rotor control module 818 can assist in maneuvering the UAV 704 along a particular flight path, thereby avoiding obstacles in the vehicle, etc. In certain embodiments, one or more functions performed by the rotor control module 818 are instead performed by the vehicle inspection system 104, which sends appropriate rotor control instructions to the rotor control module 818 for implementation.

[0053] In some embodiments, the adaptive flight control process discussed herein determines the forces applied to the UAV 704 due to vehicle movement (acceleration, deceleration, turning, etc.) and applied vehicle controls (accelerator, brakes, steering, etc.). Based on the forces applied to the UAV 704, the rotor control module 818 can estimate the rotor speed necessary for each rotor to compensate for the applied forces. The rotor control module 818 then adjusts the speed of each of the multiple rotors to keep the UAV 704 on a specific flight path.

[0054] In some embodiments, the systems and methods discussed herein are also used to detect interior vehicle damage, such as seating surface tears, trim damage, trim hanging, armrest damage, seat belt damage, etc.

[0055] Although various embodiments of the present disclosure have been described herein, it should be understood that these embodiments are presented only by way of example and not limitation. It should be understood by those skilled in the relevant art that various changes in form and detail can be made without departing from the spirit and scope of the present disclosure. Therefore, the breadth and scope of the present disclosure should not be limited by any of the exemplary embodiments described, but should only be limited according to the attached claims and their equivalents. This description is presented for illustration and description purposes. It is not intended to be exhaustive or to limit the present disclosure to the precise form disclosed. In view of the disclosed teachings, many modifications and variations are possible. In addition, it should be noted that any or all of the optional embodiments discussed herein can be used in any combination as desired to form additional hybrid embodiments of the present disclosure.

Claims

1. A method comprising: activating an unmanned aerial vehicle within a vehicle, wherein the unmanned aerial vehicle includes a camera configured to capture an image of the interior of the vehicle; accessing, using one or more processors, a flight path of the UAV, the UAV capturing an image of a particular portion of the interior of the vehicle; receiving data associated with current movement of the vehicle; as well as adjusting, using the one or more processors, the flight path to compensate for the current movement of the vehicle; It also includes: accessing a clean image associated with a clean vehicle interior; receiving a second image associated with the vehicle interior from the UAV; identifying a difference between the clean image and the second image; and The cleanliness of the vehicle interior is determined based on the difference between the clean image and the second image. 2 . The method of claim 1 , wherein the data associated with the current movement of the vehicle includes at least one of vehicle acceleration, vehicle deceleration, and vehicle turning. 3 . The method of claim 1 , wherein determining the cleanliness of the vehicle interior comprises determining whether the vehicle interior includes at least one of stains, dirt, or trash. 4 . The method of claim 1 , wherein determining the cleanliness of the vehicle interior based on the difference between the clean image and the second image comprises subtracting the second image from the clean image. 5 . The method of claim 1 , wherein adjusting the flight path to compensate for the current movement of the vehicle comprises receiving vehicle data comprising at least one of a vehicle speed, a vehicle acceleration, or a vehicle turn signal.

6. The method of claim 1, wherein the UAV is activated in response to a passenger exiting the vehicle.

7. The method of claim 1, wherein the UAV camera comprises an RGB (red, green, and blue) sensor and an IR (infrared) sensor, and wherein both the RGB sensor and the IR sensor are configured to capture images of the interior of the vehicle.

8. The method of claim 1, wherein the unmanned aerial vehicle is one of a drone, a nanodrone, a mini-drone, or a micro-drone.

9. The method of claim 1, further comprising determining whether the vehicle interior requires cleaning based on determining whether the vehicle interior includes at least one of stains, dirt, or trash.

10. The method of claim 1, wherein adjusting the flight path comprises adjusting a speed of at least one rotor of the UAV.

11. The method of claim 1 , wherein receiving data associated with the current movement of the vehicle comprises receiving data associated with activation of at least one of a vehicle brake, an accelerator, or a steering system.

12. The method of claim 1, wherein the vehicle is an autonomous vehicle.

13. An apparatus comprising: a communications manager configured to communicate with an unmanned aerial vehicle in the vehicle; a flight path manager configured to access a flight path of the UAV; as well as an adaptive flight controller coupled to the communication manager and the flight path module, wherein the adaptive flight controller is configured to receive data associated with a current movement of the vehicle, and wherein the adaptive flight controller is further configured to adjust the flight path to compensate for the current movement of the vehicle; It also includes an image processing module, which is configured to: accessing a clean image associated with a clean vehicle interior; receiving a second image associated with a current vehicle interior; identifying a difference between the clean image and the second image; as well as The cleanliness of the vehicle interior is determined based on a difference between the clean image and the second image.

14. The apparatus of claim 13, wherein the adaptive flight controller is further configured to transmit the adjusted flight path to the UAV.

15. The apparatus of claim 13, wherein the data associated with the current movement of the vehicle includes at least one of a vehicle speed, a vehicle acceleration, or a vehicle turn signal.

Images