Topology-based data gathering
Topology based adaptive data gathering is disclosed herein. Payload data gathering by an unmanned aerial vehicle can be adjusted based on topological or topographical characteristics of the area of flight by the unmanned aerial vehicle. The unmanned aerial vehicle collects payload data over an area and may scale up the rate of payload data gathering or slow down the flight as the unmanned aerial vehicle flies over a high or complex structure. Conversely, the unmanned aerial vehicle may advantageously scale down the rate of payload data gathering or speed up the flight as the unmanned aerial vehicle flies over a simple structure or an empty area.
1. An unmanned aerial vehicle comprising:
a camera configured to generate photographic images;
one or more sensors configured to generate sensor data; and
one or more processors configured to:
during a flight, estimate topology along at least a portion of a flight path based at least in part on the generated sensor data;
detect a change in the estimated topology; and
change the rate at which photographic images are generated and/or processed based at least in part on the detected change in the estimated topology.
2. The unmanned aerial vehicle of claim 1 , wherein the one or more sensors comprise a distance detector.
3. The unmanned aerial vehicle of claim 1 , wherein the change in estimated topology indicates approaching an above-ground structure, and wherein the rate at which photographic images are generated and/or processed is increased.
4. The unmanned aerial vehicle of claim 1 , wherein the generated sensor data is indicative of the unmanned aerial vehicle flying away from an above-ground structure, and wherein the rate at which photographic images are generated and/or processed is decreased.
5. The unmanned aerial vehicle of claim 1 , wherein the sensor data comprise distance data between the unmanned aerial vehicle and one or more ground structures in the flight path, and wherein the estimated topology is based at least in part on a shortest distance between the unmanned aerial vehicle and the one or more ground structures.
6. The unmanned aerial vehicle of claim 5 , wherein the photographic images are generated and/or processed at at least three different rates during the flight.
7. The unmanned aerial vehicle of claim 1 , wherein the one or more processors are configured to follow instructions to execute a mission, wherein the change in estimated topology comprises detecting an object of interest of the mission, and wherein the rate at which photographic images are generated and/or processed is increased.
8. The unmanned aerial vehicle of claim 1 , wherein the one or more processors are configured to estimate the topology based at least in part on one or more of the photographic images.
9. The unmanned aerial vehicle of claim 1 , wherein the one or more processors are further configured to change the velocity of the unmanned aerial vehicle based at least in part on the changed topology.
10. An unmanned aerial vehicle comprising:
one or more sensors configured to generate sensor data and payload data;
memory storing the payload data;
one or more processors configured to:
estimate topology along at least part of a flight path based at least in part on the sensor data; and
adjust the rate at which payload data is generated based at least in part on the estimated topology.
11. The unmanned aerial vehicle of claim 10 , wherein the one or more sensors comprise a distance detector.
12. The unmanned aerial vehicle of claim 10 , wherein the payload data comprises a plurality of images.
13. The unmanned aerial vehicle of claim 10 , wherein the one or more processors are configured to estimate the topology along at least part of the flight path based at least in part on at least some of the payload data.
14. The unmanned aerial vehicle of claim 10 , wherein adjusting the rate of payload data generation comprises adjusting resolution of acquired images.
15. An unmanned aerial vehicle comprising:
one or more sensors configured to generate payload data and sensor data;
memory storing the payload data; and
one or more processors configured to:
during a flight, estimate a topology along at least a portion of a flight path based at least in part on the generated sensor data;
detect a change in the estimated topology; and
change a velocity of the unmanned aerial vehicle based at least in part on the detected change in the estimated topology.
16. The unmanned aerial vehicle of claim 15 , wherein changing the velocity comprises reducing speed.
17. The unmanned aerial vehicle of claim 15 , wherein the one or more sensors comprise a camera.
18. The unmanned aerial vehicle of claim 17 , wherein the one or more sensors further comprise a distance detector.
19. A method of adaptive data gathering for an autonomous aerial vehicle comprising:
generating sensor data;
generating payload data;
storing the payload data;
estimating a topology along at least a portion of a flight path based at least in part on the sensor data; and
adjusting the generation of payload data based at least in part on the estimated topology so as to reduce a total size of the stored payload data.
20. The method of claim 19 , wherein the sensor data comprise distance data between the unmanned aerial vehicle and one or more ground structures in the flight path.
21. The method of claim 19 , wherein the estimated topology comprises a shortest distance between the autonomous aerial vehicle and the one or more ground structures.