Digital tethering for tracking with autonomous aerial robot

Abstract

An aerial device automatically maintains a relative position with respect to a target. The aerial device can set a relative multi-dimensional position with respect to the target. The target can have an indicator (e.g., a visual marker for image capture tracking, or a radio indicator for tracking via signaling) that the aerial device reads. The aerial device can automatically adjust its flight path in response to movement of the target as indicated by the indicator. Thus, the aerial device can maintain a digital tether, moving with the target to maintain substantially the same relative position with respect to the target, tracking the target in multiple dimensions.

1 - 20 . (canceled) 
     
     
         21 . An aerial robot, comprising:
 a target tracking unit to identify a target to be tracked by an imaging device on the aerial robot; and   a processor to compute target tracking information based on a location of the target and a location of the aerial robot, the target tracking information including control signals to adjust either a position of the aerial robot or an angle of the imaging device, or both the position of the aerial robot and the angle of the imaging device while the aerial robot moves along a flight path.   
     
     
         22 . The aerial robot of  claim 21 , wherein target tracking comprises adjustment of either the position of the aerial robot or the angle of the imaging device, or both the position of the aerial robot and the angle of the imaging device, to maintain the target within a frame of the imaging device. 
     
     
         23 . The aerial robot of  claim 21 , further comprising
 a plurality of propellers.   
     
     
         24 . The aerial robot of  claim 21 , wherein the imaging device comprises a video camera. 
     
     
         25 . The aerial robot of  claim 21 , wherein to adjust the position of the aerial robot comprises the processor to compute motion calculations for the aerial robot to automatically adjust the flight path of the aerial robot in response to movement of the target, to maintain substantially a same relative three dimensional position of the aerial robot with respect to the target, including generate a prediction of a future position of the aerial robot to maintain substantially the same relative position for the future position of the aerial robot with respect to a future position of the target, wherein the future position of the aerial robot and the future position of the target are based on the determined current positions and respective previous positions. 
     
     
         26 . The aerial robot of  claim 21 , wherein to adjust the angle of the imaging device comprises the processor to compute signals to adjust a vertical angle of the imaging device. 
     
     
         27 . The aerial robot of  claim 21 , wherein to adjust the angle of the imaging device comprises the processor to compute signals to adjust a rotational angle of the imaging device. 
     
     
         28 . The aerial robot of  claim 21 , wherein to adjust the angle of the imaging device comprises the processor to compute signals to adjust the angle of the imaging device independent of movement of the aerial robot along the flight path. 
     
     
         29 . The aerial robot of  claim 21 , further comprising
 a radio receiver to receive position information from a transmitter at the target, wherein the processor is to compute the target tracking information based on both the received position information and image tracking information.   
     
     
         30 . The aerial robot of  claim 21 , further comprising
 a flight management unit (FMU) to control the flight path of the aerial robot.   
     
     
         31 . A system for controlling an aerial robot, comprising:
 a transmitter at a target, the transmitter to send information to adjust a flight path of an aerial robot; and   the aerial robot, including:
 an imaging device; 
 a target tracking unit to identify the target to be tracked by the imaging device; and 
 a processor to compute target tracking information based on a location of the target and a location of the aerial robot, the target tracking information including control signals to adjust either a position of the aerial robot or an angle of the imaging device, or both the position of the aerial robot and the angle of the imaging device while the aerial robot moves along a flight path. 
   
     
     
         32 . The system of  claim 31 , wherein target tracking comprises adjustment of either the position of the aerial robot or the angle of the imaging device, or both the position of the aerial robot and the angle of the imaging device, to maintain the target within a frame of the imaging device. 
     
     
         33 . The system of  claim 31 , wherein the aerial robot comprises a plurality of propellers. 
     
     
         34 . The system of  claim 31 , wherein the imaging device comprises a video camera. 
     
     
         35 . The system of  claim 31 , wherein to adjust the position of the aerial robot comprises the processor to compute motion calculations for the aerial robot to automatically adjust the flight path of the aerial robot in response to movement of the target, to maintain substantially a same relative three dimensional position of the aerial robot with respect to the target, including generate a prediction of a future position of the aerial robot to maintain substantially the same relative position for the future position of the aerial robot with respect to a future position of the target, wherein the future position of the aerial robot and the future position of the target are based on the determined current positions and respective previous positions. 
     
     
         36 . The system of  claim 31 , wherein to adjust the angle of the imaging device comprises the processor to compute signals to adjust either a vertical angle of the imaging device, or a rotational angle of the imaging device, or both. 
     
     
         37 . The system of  claim 31 , wherein to adjust the angle of the imaging device comprises the processor to compute signals to adjust the angle of the imaging device independent of movement of the aerial robot along the flight path. 
     
     
         38 . The system of  claim 31 , the aerial robot further comprising
 a radio receiver to receive position information from the transmitter at the target, wherein the processor is to compute the target tracking information based on both the received position information and image tracking information.   
     
     
         36 . The system of  claim 31 , the aerial robot further comprising
 a global position system (GPS) device to generate position information for the aerial robot.   
     
     
         40 . The system of  claim 31 , the aerial robot further comprising
 a flight management unit (FMU) to control the flight path of the aerial robot.