US Patent No. 10,577,101

WATER SURFACE DETECTION METHOD AND APPARATUS, UNMANNED AERIAL VEHICLE LANDING METHOD AND APPARATUS AND UNMANNED AERIAL VEHICLE


Patent No. 10,577,101
Issue Date March 03, 2020
Title Water Surface Detection Method And Apparatus, Unmanned Aerial Vehicle Landing Method And Apparatus And Unmanned Aerial Vehicle
Inventorship Xu Wang, Guangdong (CN)
Xipeng Cui, Guangdong (CN)
Ning Jia, Guangdong (CN)
Yu Song, Guangdong (CN)
Assignee AUTEL ROBOTICS CO., LTD., Shenzhen, Guangdong (CN)

Claim of US Patent No. 10,577,101

1. A water surface detection method, applied to an unmanned aerial vehicle, wherein the detection method comprises:controlling the unmanned aerial vehicle to generate an airflow, wherein the airflow is used to generate a water surface ripple;
obtaining an image of a landing area of the unmanned aerial vehicle and a flight parameter of the unmanned aerial vehicle; and
processing the image, and determining, with reference to the flight parameter, whether the landing area has the water surface ripple;
wherein the processing the image, and determining, with reference to the flight parameter, whether the landing area has the water surface ripple comprises:
performing edge detection on the image to obtain a first sub-image;
obtaining a wavelength range of the water surface ripple according to the flight parameter;
filtering the first sub-image according to the wavelength range to obtain a ripple corresponding to the wavelength range;
calculating reliability of the ripple according to a vision algorithm and determining whether the reliability is greater than a preset threshold; and
if the reliability is greater than the preset threshold, determining that the landing area is a water surface.