Rotating Stereo Camera Assembly for Omnidirectional UAV Obstacle Avoidance

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Solution Overview

Problem

Current unmanned aerial vehicles (UAVs) face challenges in achieving full 360-degree omnidirectional depth sensing and obstacle avoidance due to limitations in stereovision systems, which are inefficient and vulnerable to vibrations, and existing solutions are either bulky or lack compactness.

Innovation Solution

A UAV system equipped with a pair of stereovision cameras mounted on a platform assembly that rotates via a one-axis motor, allowing for spherical video image processing and rectification to determine object distances and orientations, enabling efficient obstacle avoidance and navigation.

Engineering Contradictions & Design Principles

VSEngineering Contradiction Analysis

1Adaptability or versatility

If multiple stereovision pairs are stacked to achieve broader coverage, then the coverage range is improved, but the device complexity and size increase significantly

Engineering Contradiction:

Improvecoverage rangeVSAvoiddevice complexity

Core Design Contradiction:

Adaptability or versatilityVSDevice complexity

Solution Approach 1:

The patent employs a rotatable platform that can dynamically change the orientation of the stereovision pair to cover different directions. Instead of stacking multiple fixed stereovision pairs, a single pair rotates to achieve 360-degree horizontal coverage, reducing device complexity while maintaining versatility

Inventive Principle:

Principle #15Dynamics

Solution Approach 2:

The rotatable platform enables a single stereovision pair to perform multiple functions by pointing in different directions. The same camera pair can survey forward, backward, left, and right by rotating the platform, making one component serve the role of what would otherwise require multiple components

Inventive Principle:

Principle #6Universality (Multi-functionality)

2Adaptability or versatility

If wide-angle lens or catadioptric lens is used to capture omnidirectional video, then the coverage is improved, but the system becomes vulnerable to vibration and angular movement

Engineering Contradiction:

Improveomnidirectional coverageVSAvoidvulnerability to vibration

Core Design Contradiction:

Adaptability or versatilityVSReliability

Solution Approach 1:

The system uses a rotatable platform with controlled rotation to achieve omnidirectional coverage dynamically, rather than relying on fixed wide-angle or catadioptric lenses that are statically vulnerable to vibration. The active rotation allows the system to maintain stable imaging by controlling the rotation speed and positioning

Inventive Principle:

Principle #15Dynamics

Solution Approach 2:

The patent replaces the optical solution (wide-angle/catadioptric lenses) with a mechanical rotation solution. Instead of using special lenses that are inherently vulnerable to vibration, the system uses a controlled rotation mechanism to achieve the same omnidirectional effect with better vibration resistance

Inventive Principle:

Principle #28Mechanics substitution (Replace mechanical system)

3Ease of manufacture

If omnistereo system with hyperboloidal mirrors is used, then cost-effectiveness is improved, but the system size cannot be miniaturized

Engineering Contradiction:

Improvecost-effectivenessVSAvoidsystem size

Core Design Contradiction:

Ease of manufactureVSVolume of moving object

Solution Approach 1:

The patent uses a rotatable platform with a compact stereovision pair to achieve omnidirectional depth sensing, allowing the system to be miniaturized compared to fixed omnistereo systems with hyperboloidal mirrors. The rotation mechanism enables a smaller field of view per camera to cover the entire 360 degrees over time

Inventive Principle:

Principle #15Dynamics

Solution Approach 2:

The system adds the time dimension to achieve omnidirectional coverage. Instead of capturing all directions simultaneously with large mirrors, the rotatable platform sweeps through different angles over time, converting a spatial problem into a temporal solution that allows miniaturization

Inventive Principle:

Principle #17Another dimension (Dimensionality change)

4Measurement precision

If stereovision pair is used for depth sensing, then depth information is obtained, but full 360-degree coverage cannot be achieved

Engineering Contradiction:

Improvedepth sensing capabilityVSAvoidangular coverage

Core Design Contradiction:

Measurement precisionVSAdaptability or versatility

Solution Approach 1:

The rotatable platform dynamically repositions the stereovision pair to scan different angular positions, allowing depth sensing capability to be extended from a fixed narrow field of view to full 360-degree coverage through controlled rotation over time

Inventive Principle:

Principle #15Dynamics

Data Source

PatentUS10901437B2Unmanned aerial vehicle including an omnidirectional depth sensing and obstacle avoidance aerial system and method of operating same

Publication Date: 2021.01.26 HANGZHOU ZERO ZERO TECH CO LTD

AI summary

An unmanned aerial vehicle is described herein. The unmanned aerial vehicle includes a fuselage body, a lift mechanism coupled to the fuselage body, and a depth sensing and obstacle avoidance system coupled to the fuselage body. The depth sensing and obstacle avoidance system includes a platform assembly, a pair of stereovision cameras coupled to a platform assembly, and a motor assembly coupled to the fuselage body and to the platform assembly. The platform assembly includes a support member extending between a first end and an opposite second end along a longitudinal axis. The pair of stereovision cameras includes each stereovision camera positioned at an opposite end of the support member. The motor assembly is configured to rotate the platform assembly with respect to the fuselage body about a rotational axis perpendicular to the longitudinal axis of the platform assembly.