Granted Patent B2

US 12,735,205 · App. 17/864,034 · Granted Sep 15, 2026

Inventors: William E. Dueease (Gainesville, FL); Isaac M. Reed (Gainesville, FL)

Assignee: Teledyne FLIR Defense, Inc.

B64U20/87G05D1/0094G05D1/101B64U10/13B64U50/00B64U2101/30

Abstract

Claims (130)

1 . A mobile platform comprising:

a propulsion system configured to provide motive force for the mobile platform in navigation about an environment;

an imaging system configured to capture images of a field of view of the environment;

a logic device in communication with the propulsion system and the imaging system, the logic device configured to:

receive, from a base station, a command comprising a selection of one of a plurality of operating modes for the mobile platform, wherein each operating mode is associated with a plurality of corresponding control operations, and

execute the control operations associated with the selected operating mode in response to the command; and

a video processing device comprising:

a pipeline configured to receive image data from the imaging system and process the image data at a first processing rate using a hardware-accelerated application and one or more hardware-accelerated plugins, and

an additional logic device in communication with the pipeline, wherein the additional logic device is configured to:

receive the image data from the pipeline,

process the image data at a second processing rate to determine telemetry information for the mobile platform, the telemetry information providing a geopoint and/or heading of the mobile platform, wherein the second processing rate is slower than the first processing rate, and

provide the telemetry information to the pipeline for output with the processed image data, wherein the slower processing rate of the additional logic device does not propagate to the pipeline.

2 . The mobile platform of claim 1 , wherein the control operations associated with the selected operating mode comprise:

navigating the mobile platform, using the propulsion system, to a predetermined offset position relative to a first geopoint, wherein the first geopoint is one of a plurality of geopoints for a navigation route;

adjusting a heading of the mobile platform, using the propulsion system, to direct the mobile platform toward the first geopoint; and

controlling a gimbal system of the mobile platform to orient the imaging system toward the first geopoint;

navigating the mobile platform, using the propulsion system, to a predetermined offset position relative to a second geopoint for the navigation route;

adjusting the heading of the mobile platform, using the propulsion system, to direct the mobile platform toward the second geopoint; and

controlling the gimbal system to orient the imaging system toward the second geopoint;

wherein the pipeline comprises:

a camera capture hardware configured to receive the image data from a selected one or more of a plurality of cameras, wherein the hardware-accelerated processing application and/or the one or more hardware-accelerated plugins are configured to process the image data, wherein the processing comprises at least one of: applying a filter; performing camera selection, setting a zoom, performing image stabilization, and/or processing user commands; and

a video encoding hardware configured to encode and output processed image data from the hardware-accelerated processing application and/or the one or more hardware-accelerated plugins;

wherein the additional logic device is configured to receive the image data from the hardware-accelerated processing application and/or the one or more hardware-accelerated plugins, and to provide the telemetry information to the hardware-accelerated processing application and/or the one or more hardware-accelerated plugins.

3 . The mobile platform of claim 1 , wherein the control operations associated with the selected operating mode comprise:

detecting a target in the field of view;

adjusting a heading of the mobile platform, using the propulsion system, to direct the mobile platform toward the target;

controlling a gimbal system of the mobile platform to orient the imaging system toward the target; and

navigating the mobile platform, using the propulsion system, to maintain an offset position relative to the target;

wherein the mobile platform is configured to use the geopoint and/or heading in real time to assist in navigating the mobile platform and/or adjusting the heading of the mobile platform and/or orienting the imaging system to direct a field of view toward a point of interest; and

wherein the processing the image data at the first processing rate by the pipeline comprises one or more of: applying a filter; selecting a camera of the imaging system; setting a zoom; performing image stabilization; and/or processing user commands.

4 . The mobile platform of claim 1 , wherein the control operations associated with the selected operating mode comprise:

navigating the mobile platform, using the propulsion system, to an offset position relative to a geopoint;

in response to a rate command received from the base station, causing the mobile platform to orbit the geopoint at a predetermined speed using the propulsion system; and

in response to a bump command received from the base station, causing the mobile platform to move by a predetermined amount in an orbit of the geopoint;

wherein the mobile platform is configured to use the geopoint and/or heading in real time to assist in navigating the mobile platform and/or adjusting the heading of the mobile platform and/or orienting the imaging system to direct a field of view toward a point of interest.

5 . A mobile platform comprising:

a propulsion system configured to provide motive force for the mobile platform in navigation about an environment;

an imaging system configured to capture images of a field of view of the environment; and

a logic device in communication with the propulsion system and the imaging system, the logic device configured to:

receive, from a base station, a command comprising a selection of one of a plurality of operating modes for the mobile platform, wherein each operating mode is associated with a plurality of corresponding control operations, and

execute the control operations associated with the selected operating mode in response to the command;

wherein the control operations associated with the selected operating mode comprise:

disabling a communication fail-safe for the mobile platform;

starting to record the field of view using the imaging system, wherein the field of view captures a point of interest;

descending, using the propulsion system, to a first altitude and adjusting the imaging system, using a gimbal system of the mobile platform, during the descent to maintain the field of view on the point of interest;

ascending, using the propulsion system, to a second altitude;

stopping the recording; and

reenabling the communication fail-safe.

6 . The mobile platform of claim 1 , wherein the control operations associated with the selected operating mode comprise:

determining a plurality of locations for the mobile platform on a security route;

determining a plurality of points of interest on the security route, wherein each of the locations is associated with a corresponding one of the points of interest;

determining a field of view for each of the locations to monitor its corresponding point of interest;

navigating the mobile platform, using the propulsion system, to each of the locations; and

controlling a gimbal system of the mobile platform at each of the locations to orient the imaging system toward the corresponding points of interest;

wherein the logic device is configured to use the geopoint and/or heading in real time to assist in orienting the imaging system to direct a field of view toward a point of interest.

7 . The mobile platform of claim 5 , further comprising a video processing device comprising a pipeline configured to:

receive image data from the imaging system; and

process the image data at a first processing rate using a hardware-accelerated application and one or more hardware-accelerated plugins.

8 . The mobile platform of claim 7 , wherein:

the imaging system comprises a plurality of cameras;

the image data is received from a selected one of the cameras; and

the pipeline is further configured to encode and output the processed image data.

9 . The mobile platform of claim 7 , wherein the video processing device further comprises an additional logic device in communication with the pipeline, wherein the additional logic device is configured to:

receive the image data from the pipeline;

process the image data at a second processing rate to determine telemetry information for the mobile platform, wherein the second processing rate is slower than the first processing rate; and

provide the telemetry information to the pipeline for output with the processed image data.

10 . The mobile platform of claim 9 , wherein the logic device is further configured to:

receive the telemetry information; and

execute at least one of the plurality of control operations using the telemetry information.

11 . A method comprising:

receiving, by a logic device of a mobile platform, from a base station, a command comprising a selection of one of a plurality of operating modes for the mobile platform, wherein each operating mode is associated with a plurality of corresponding control operations;

executing, by the logic device, the control operations associated with the selected operating mode in response to the command, wherein the logic device is in communication with:

a propulsion system of the mobile platform configured to provide motive force for the mobile platform in navigation about an environment, and

an imaging system of the mobile platform configured to capture images of a field of view of the environment;

receiving, by a pipeline of a video processing device of the mobile platform, image data from the imaging system;

processing the image data at a first processing rate, by the pipeline, using a hardware-accelerated application and one or more hardware-accelerated plugins; and

wherein the video processing device further comprises an additional logic device in communication with the pipeline, and wherein the method further comprises:

receiving, by the additional logic device, the image data from the pipeline,

processing, by the additional logic device, the image data at a second processing rate to determine telemetry information for the mobile platform, the telemetry information providing a geopoint and/or heading of the mobile platform, wherein the second processing rate is slower than the first processing rate, and

providing, by the additional logic device, the telemetry information to the pipeline for output with the processed image data, wherein the slower processing rate of the additional logic device does not propagate to the pipeline.

12 . The method of claim 11 , wherein the control operations associated with the selected operating mode comprise:

navigating the mobile platform, using the propulsion system, to a predetermined offset position relative to a first geopoint, wherein the first geopoint is one of a plurality of geopoints for a navigation route;

adjusting a heading of the mobile platform, using the propulsion system, to direct the mobile platform toward the first geopoint; and

controlling a gimbal system of the mobile platform to orient the imaging system toward the first geopoint;

navigating the mobile platform, using the propulsion system, to a predetermined offset position relative to a second geopoint for the navigation route;

adjusting the heading of the mobile platform, using the propulsion system, to direct the mobile platform toward the second geopoint; and

controlling the gimbal system to orient the imaging system toward the second geopoint;

wherein the pipeline comprises:

a camera capture hardware configured receiving the image data from a selected one or more of a plurality of cameras, wherein the hardware-accelerated processing application and/or the one or more hardware-accelerated plugins process the image data, wherein the processing comprises at least one of: applying a filter; performing camera selection, setting a zoom, performing image stabilization, and/or processing user commands; and

a video encoding hardware encoding and outputting processed image data from the hardware-accelerated processing application and/or the one or more hardware-accelerated plugins;

wherein the additional logic device receives the image data from the hardware-accelerated processing application and/or the one or more hardware-accelerated plugins, and provides the telemetry information to the hardware-accelerated processing application and/or the one or more hardware-accelerated plugins.

13 . The method of claim 11 , wherein the control operations associated with the selected operating mode comprise:

detecting a target in the field of view;

adjusting a heading of the mobile platform, using the propulsion system, to direct the mobile platform toward the target;

controlling a gimbal system of the mobile platform to orient the imaging system toward the target; and

navigating the mobile platform, using the propulsion system, to maintain an offset position relative to the target;

wherein the mobile platform uses the geopoint and/or heading in real time to assist in navigating the mobile platform and/or adjusting the heading of the mobile platform and/or orienting the imaging system to direct a field of view toward a point of interest; and

wherein the processing the image data at the first processing rate by the pipeline comprises one or more of: applying a filter; selecting a camera of the imaging system;

setting a zoom; performing image stabilization; and/or processing user commands.

14 . The method of claim 11 , wherein the control operations associated with the selected operating mode comprise:

navigating the mobile platform, using the propulsion system, to an offset position relative to a geopoint;

receiving a rate command and a bump command;

in response to the rate command received from the base station, causing the mobile platform to orbit the geopoint at a predetermined speed using the propulsion system; and

in response to the bump command received from the base station, causing the mobile platform to move by a predetermined amount in an orbit of the geopoint;

wherein the mobile platform uses the geopoint and/or heading in real time to assist in navigating the mobile platform and/or adjusting the heading of the mobile platform and/or orienting the imaging system to direct a field of view toward a point of interest.

15 . The method of claim 11 , wherein the control operations associated with the selected operating mode comprise:

disabling a communication fail-safe for the mobile platform;

starting to record the field of view using the imaging system, wherein the field of view captures a point of interest;

descending, using the propulsion system, to a predetermined first altitude and adjusting the imaging system, using a gimbal system of the mobile platform, during the descent to maintain the field of view on the point of interest;

ascending, using the propulsion system, to a second altitude;

stopping the recording; and

reenabling the communication fail-safe.

16 . The method of claim 11 , wherein the control operations associated with the selected operating mode comprise:

determining a plurality of locations for the mobile platform on a security route;

determining a plurality of points of interest on the security route, wherein each of the locations is associated with a corresponding one of the points of interest;

determining a field of view for each of the locations to monitor its corresponding point of interest;

navigating the mobile platform, using the propulsion system, to each of the locations; and

controlling a gimbal system of the mobile platform at each of the locations to orient the imaging system toward the corresponding points of interest;

wherein the logic device uses the geopoint and/or heading in real time to assist in orienting the imaging system to direct a field of view toward a point of interest.

17 . The method of claim 11 , wherein:

the imaging system comprises a plurality of cameras;

the image data is received from a selected one of the cameras; and

the method further comprises encoding and outputting the processed image data by the pipeline.

18 . The method of claim 11 , further comprising:

receiving, by the logic device, the telemetry information; and

executing, by the logic device, at least one of the plurality of control operations using the telemetry information.

19 . The mobile platform of claim 1 , wherein the control operations associated with at least one of the operating modes comprise:

maintaining a lateral distance relative to a prespecified geopoint, the lateral distance being specified as a ratio involving a height of the mobile platform at a time when the mobile platform transitions to the at least one of the operating modes.

20 . The method of claim 11 , comprising the mobile structure transitioning to at least one operating mode which is one of the operating modes and whose associated control operations comprise:

maintaining a lateral distance relative to a prespecified geopoint, the lateral distance being specified as a ratio involving a height of the mobile platform at a time when the mobile platform transitions to the at least one operating mode.

Assignments (3)

Continuity (2)

References Cited (21)