The patent badge is an abbreviated version of the USPTO patent document. The patent badge does contain a link to the full patent document.
The patent badge is an abbreviated version of the USPTO patent document. The patent badge covers the following: Patent number, Date patent was issued, Date patent was filed, Title of the patent, Applicant, Inventor, Assignee, Attorney firm, Primary examiner, Assistant examiner, CPCs, and Abstract. The patent badge does contain a link to the full patent document (in Adobe Acrobat format, aka pdf). To download or print any patent click here.
Patent No.:
Date of Patent:
Jun. 03, 2025
Filed:
Apr. 25, 2022
Arizona Board of Regents on Behalf of Arizona State University, Tempe, AZ (US);
Wenlong Zhang, Chandler, AZ (US);
Shatadal Mishra, Tempe, AZ (US);
Danish Faraaz Syed, Tempe, AZ (US);
Michael Ploughe, Tempe, AZ (US);
Arizona Board of Regents on behalf of Arizona State University, Tempe, AZ (US);
Salt River Project, Tempe, AZ (US);
Abstract
Various embodiments of a vision-guided unmanned aerial vehicle (UAV) system to identify and collect foreign objects from the surface of a body of water are disclosed herein. A vision system and methodology has been developed to reduce reflections and glare from a water surface to better identify an object for removal. A linearized polarization filter and a specularity-removal algorithm is used to eliminate excessive reflection and glare. A contour-based detection algorithm is implemented for detecting the targeted objects on water surface. Further, the system includes a boundary layer sliding mode control (BLSMC) methodology to reduce and minimize position and velocity errors between the UAV and object in the presence of modeling and parameter uncertainties due to variation in a moving water surface.