Systems and methods for target tracking

Abstract

The present invention provides systems, methods, and devices related to target tracking by UAVs. The UAV may be configured to receive target information from a control terminal related to a target to be tracked by an imaging device coupled to the UAV. The target information may be used by the UAV to automatically track the target so as to maintain predetermined position and/or size of the target within one or more images captured by the imaging device. The control terminal may be configured to display images from the imaging device as well as allowing user input related to the target information.

What is claimed is: 
     
         1 . An unmanned aerial vehicle (UAV) comprising:
 an imaging device;   one or more wireless receivers, individually or collectively, configured to receive an instruction for starting a tracking mode to track a target and receive wireless signals from the target, wherein the wireless signals include location information of the target; and   one or more processors configured to start the tracking mode based on the instruction to track the target, and to control the UAV or the imaging device to automatically track the target according to the location information of the target by automatically adjusting at least one of the UAV or the imaging device, to maintain the target substantially within a field of view of the imaging device, wherein the one or more processors are configured to assess and select one of the following: 1) to adjust the UAV, 2) to adjust the imaging device, or 3) to adjust both the UAV and the imaging device, wherein said determination is dependent upon a) number of rotational axes of the imaging device and orientation of said rotational axes relative to the UAV; b) a navigation path of the UAV; or c) a maximum angular speed allowable for the UAV or the imaging device.   
     
     
         2 . The UAV of  claim 1 , wherein the location information of the target comprises a GPS location of the target. 
     
     
         3 . The UAV of  claim 1 , wherein the one or more processors select to adjust the UAV to maintain the target substantially within the field of view of the imaging device. 
     
     
         4 . The UAV of  claim 1 , wherein the one or more processors select to adjust the imaging device relative to the UAV to maintain the target substantially within the field of view of the imaging device. 
     
     
         5 . The UAV of  claim 4 , wherein the one or more processors select to adjust the imaging device relative to the UAV when a navigation path of the UAV is predetermined. 
     
     
         6 . The UAV of  claim 1 , wherein the one or more processors select to adjust both the UAV and the imaging device relative to the UAV to maintain the target substantially within the field of view of the imaging device. 
     
     
         7 . The UAV of  claim 1 , wherein the one or more wireless receivers are, individually or collectively, configured to receive the wireless signals from the target that include the location information about the target in substantially real-time. 
     
     
         8 . The UAV of  claim 1 , wherein the one or more wirelessly receivers are, individually or collectively, configured to receive, in substantially real time, one or more navigation commands from a remote control device. 
     
     
         9 . The UAV of  claim 8 , wherein the one or more navigation commands instruct the UAV to move along its pitch, yaw, or roll axis. 
     
     
         10 . The UAV of  claim 8 , wherein the one or more navigation commands instruct the UAV to move according to a pre-stored path. 
     
     
         11 . The UAV of  claim 8 , wherein the remote control device comprises a touchscreen. 
     
     
         12 . The UAV of  claim 1 , wherein the instruction for starting the tracking mode is received at the one or more wireless receivers from a remote control device. 
     
     
         13 . The UAV of  claim 1 , wherein the imaging device is configured to rotate around at least two axes relative to the UAV. 
     
     
         14 . The UAV of  claim 1 , wherein the one or more processors are configured to detect a deviation of a location of the target, and correct the detected deviation by assessing and selecting one of the following 1) to adjust the UAV, 2) to adjust the imaging device, or 3) to adjust both the UAV and the imaging device. 
     
     
         15 . The UAV of  claim 14 , wherein the deviation of the location of the target is detected based on the location information of the target. 
     
     
         16 . The UAV of  claim 14 , wherein one or more processors are configured to make a determination of a speed at which 1) to rotate the UAV, 2) to rotate the imaging device, or 3) to rotate both the UAV and the imaging device based on the deviation of the location. 
     
     
         17 . The UAV of  claim 1 , wherein the one or more processors are configured to start the tracking mode to automatically track the target by automatically adjusting at least one of the UAV or the imaging device, to maintain a size of the target within a field of view of the imaging device. 
     
     
         18 . The UAV of  claim 1 , wherein the one or more processors make said determination based on the number of rotational axes of the imaging device and orientation of said rotational axes relative to the UAV. 
     
     
         19 . The UAV of  claim 1 , wherein the one or more processors make said determination based on the number of rotational axes of the imaging device and orientation of said rotational axes relative to the UAV, and the maximum angular speed allowable for the UAV or the imaging device. 
     
     
         20 . The UAV of  claim 1 , wherein the one or more processors make said determination based on the number of rotational axes of the imaging device and orientation of said rotational axes relative to the UAV, the navigation path of the UAV, and the maximum angular speed allowable for the UAV or the imaging device. 
     
     
         21 . A method for tracking a target by an unmanned aerial vehicle (UAV) having an imaging device and one or more processors, the method comprising:
 receiving an instruction for starting a tracking mode to track a target;   starting the tracking mode for tracking the target;   receiving, in substantially real time, wireless signals from the target, wherein the wireless signals include location information of the target; and   automatically tracking the target according to the location information of the target by automatically adjusting at least one of the UAV or the imaging device, to maintain the target substantially within a field of view of the imaging device, wherein the one or more processors are configured to assess and select one of the following options: 1) to adjust the UAV, 2) to adjust the imaging device, or 3) to adjust both the UAV and the imaging device, wherein said determination is dependent upon a) number of rotational axes of the imaging device and orientation of said rotational axes relative to the UAV; b) a navigation path of the UAV; or c) a maximum angular speed allowable for the UAV or the imaging device.   
     
     
         22 . The method of  claim 21 , wherein the location information of the target comprises the target's GPS location information. 
     
     
         23 . The method of  claim 21 , wherein automatically tracking the target according to the location information of the target, comprises:
 adjusting the UAV to maintain the target substantially within the field of view of the imaging device.   
     
     
         24 . The method of  claim 21 , wherein automatically tracking the target according to the location information of the target, comprises:
 adjusting the imaging device relative to the UAV to maintain the target substantially within the field of view of the imaging device.   
     
     
         25 . The method of  claim 21 , wherein automatically tracking the target according to the location information of the target, comprises:
 adjusting both the UAV and the imaging device relative to the UAV to maintain the target substantially within the field of view of the imaging device.   
     
     
         26 . The method of  claim 21 , further comprising receiving, in substantially real time, one or more navigation commands from a remote control device. 
     
     
         27 . The method of  claim 26 , wherein the one or more navigation commands instruct the UAV to move along its pitch, yaw, or roll axis. 
     
     
         28 . The method of  claim 26 , wherein the one or more navigation commands instruct the UAV to move according to a pre-stored path. 
     
     
         29 . The method of  claim 26 , wherein the remote control device comprises a touchscreen. 
     
     
         30 . The method of  claim 21 , wherein the instruction for starting the tracking mode is received wirelessly from a remote control device.