US 11,858,635 B2
Automatic spraying unmanned aerial vehicle system based on dynamic adjustment of early warning range, and method thereof
Chaucer Chiu, Taipei (TW); and Hong Fu, Shanghai (CN)
Assigned to SQ Technology (Shanghai) Corporation, Shanghai (CN); and Inventec Corporation, Taipei (TW)
Filed by SQ Technology (Shanghai) Corporation, Shanghai (CN); and Inventec Corporation, Taipei (TW)
Filed on Feb. 24, 2022, as Appl. No. 17/679,878.
Claims priority of application No. 202111367913.3 (CN), filed on Nov. 18, 2021.
Prior Publication US 2023/0150665 A1, May 18, 2023
Int. Cl. B64D 1/18 (2006.01); B64C 39/02 (2023.01); B64D 47/08 (2006.01); B64U 101/00 (2023.01); B64U 101/30 (2023.01)
CPC B64D 1/18 (2013.01) [B64C 39/024 (2013.01); B64D 47/08 (2013.01); B64U 2101/00 (2023.01); B64U 2101/30 (2023.01); B64U 2201/10 (2023.01)] 10 Claims
OG exemplary drawing
 
1. An automatic spraying unmanned aerial vehicle (UAV) system based on dynamic adjustment of an early warning range, comprising:
an unmanned aerial vehicle (UAV) comprising:
a UAV transmission module configured to receive an operation path, transmit a recorded flight path of the unmanned aerial vehicle, and receive a second operation path;
a flight control module configured to control the unmanned aerial vehicle to perform an automatic spraying operation with a spraying range based on a flight altitude, a flight speed and an operation path, and control the unmanned aerial vehicle to perform the automatic spraying operation with the spraying range again based on the flight altitude, the flight speed and a second operation path;
an image analysis module configured to obtain an environment video during the automatic spraying operation of the unmanned aerial vehicle, and analyze a forward direction and a forward speed of a staff in the environment video;
a range calculation module, wherein when determining that the forward direction is intersected with the spraying range, the range calculation module calculates a relative speed between the forward speed and the flight speed, calculates a preset distance based on the relative speed and an early-warning time, and calculates an early-warning range by extending outwardly from the spraying range by a preset distance; and
a spraying control module, wherein when determining that the staff appears within the early-warning range in the environment video, the spraying control module pauses the automatic spraying operation, and records a flight path where the unmanned aerial vehicle pauses the automatic spraying operation, wherein when determining that no staff appears within the early-warning range in the environment video, the spraying control module resumes the automatic spraying operation and stops recording the flight path of the unmanned aerial vehicle; and
a path server comprising:
a server transmission module configured to receive the recorded flight path of the unmanned aerial vehicle from the UAV transmission module, and transmit the second operation path to the UAV transmission module; and
a path generation module configured to generate the second operation path based on position information and the flight path of the unmanned aerial vehicle, and at least one marked range generated with reference to the early-warning range.