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    Target value detection for unmanned aerial vehicles
    11.
    发明授权
    Target value detection for unmanned aerial vehicles 有权

    公开(公告)号：US11933891B2

    公开(公告)日：2024-03-19

    申请号：US16784409

    申请日：2020-02-07

    Applicant: GoPro, Inc.

    Inventor： Stepan Moskovchenko ,  Joseph Anthony Enke

    IPC: G01S15/42 ,  B64C39/02 ,  B64D47/00 ,  B64U101/30 ,  G01S15/04

    CPC classification number: G01S15/42 ,  B64C39/024 ,  B64D47/00 ,  G01S15/04 ,  B64U2101/30 ,  B64U2201/10 ,  B64U2201/20

    Abstract: Target value detection for an unmanned aerial vehicle is described. The unmanned aerial vehicle includes a first transducer that transmits a first ultrasonic signal and receives a first ultrasonic response and a second transducer that transmits a second ultrasonic signal and receives a second ultrasonic response. The second transducer has a wider beam pattern than the first transducer. Determinations are made as to whether either or both of the first or second ultrasonic responses includes a target value within range areas associated with the respective beam patterns of the first and second transducers. A confidence value is generated based on the determinations. The target value is reflected from an object and the confidence value indicates a likelihood of a position of the unmanned aerial vehicle with respect to the object.

    Adaptive rate gain controller
    13.
    发明授权
    Adaptive rate gain controller 有权

    公开(公告)号：US11169516B2

    公开(公告)日：2021-11-09

    申请号：US15707029

    申请日：2017-09-18

    Applicant: GoPro, Inc.

    Inventor： Benjamin Tankersley ,  Joseph Anthony Enke ,  Donald Allen Severns

    IPC: G05D1/00 ,  B64C39/02 ,  G05D1/08 ,  G03B15/00

    Abstract: An aerial vehicle comprises one or more sensors to environmental data, a communication system to receive control inputs from a user, two or more actuators, with each actuator coupled to a rotary wing. The aerial vehicle also comprises a controller to determine a mode of the aerial vehicle based on the environmental data and the control inputs, each mode indicating a set of flight characteristics for the aerial vehicle, generate a gain value based on the mode, the gain value, when used to modify power signals transmitted to actuators of the aerial vehicle, causing the aerial vehicle to conform within the indicated flight characteristics of the determined mode, generate an output signal modified by the gain value based on the input signal, and transmit a power signal based on the output signal to each actuator of the aerial vehicle.

    Synchronized Pipeline Flight Controller
    14.
    发明申请
    Synchronized Pipeline Flight Controller 有权

    公开(公告)号：US20210245877A1

    公开(公告)日：2021-08-12

    申请号：US17183212

    申请日：2021-02-23

    Applicant: GoPro, Inc.

    Inventor： Joseph Anthony Enke

    IPC: B64C39/02 ,  G05D1/00 ,  H04L29/08

    Abstract: A pipeline in a controller may be configured to interface between sensors and actuators. The pipeline may elements such as drivers, filters, a combine, estimators, controllers, a mixer, and actuator controllers. The drivers may receive sensor data and pre-process the received sensor data. The filters may filter the pre-processed sensor data to generate filtered sensor data. The combine may package the filtered sensor data to generate packaged sensor data. The estimators may determine estimates of a position of a vehicle based on the packaged sensor data. The controllers may generate control signals based on the determined estimates. The mixer may modify the generated control signals based on limitations of the vehicle. The actuator controllers may generate actuator control signals based on the modified control signals to drive the actuators.

    Variable condition motor controller
    15.
    发明授权
    Variable condition motor controller 有权

    公开(公告)号：US11021248B2

    公开(公告)日：2021-06-01

    申请号：US16673355

    申请日：2019-11-04

    Applicant: GoPro, Inc.

    Inventor： Joseph Anthony Enke ,  Benjamin Tankersley ,  Jean-Bernard Berteaux ,  Axel Murguet ,  Garance Bruneau

    IPC: B64C39/02 ,  G05D1/06 ,  G05D1/08

    Abstract: A controller system of an aerial vehicle may receive environmental data from one or more sensors of the aerial vehicle and adjusts limits of the aerial vehicle given the environmental conditions. When the aerial vehicle receives an input, such as a flight input from a remote controller or an environmental input such as a gust of wind, the controller system calculates appropriate motor inputs that are provided to the thrust motors of the aerial vehicle such that the adjusted limits of the aerial vehicle are not exceeded. In calculating the appropriate input to the thrust motors, the controller system performs an iterative process. For example, for a given maximum torque that can be applied to the thrust motors, the controller system iteratively allocates the torque such that torque components that are important for the stability of the aerial are first fulfilled, whereas subsequent torque components may be fulfilled or scaled back.

    Synchronized pipeline flight controller
    18.
    发明授权
    Synchronized pipeline flight controller 有权

    公开(公告)号：US12116125B2

    公开(公告)日：2024-10-15

    申请号：US17183212

    申请日：2021-02-23

    Applicant: GoPro, Inc.

    Inventor： Joseph Anthony Enke

    IPC: B64C39/02 ,  B64U10/13 ,  B64U101/30 ,  G05D1/00 ,  H04L67/12

    CPC classification number: B64C39/02 ,  B64C39/024 ,  G05D1/0088 ,  B64U10/13 ,  B64U2101/30 ,  H04L67/12

    Abstract: A pipeline in a controller may be configured to interface between sensors and actuators. The pipeline may elements such as drivers, filters, a combine, estimators, controllers, a mixer, and actuator controllers. The drivers may receive sensor data and pre-process the received sensor data. The filters may filter the pre-processed sensor data to generate filtered sensor data. The combine may package the filtered sensor data to generate packaged sensor data. The estimators may determine estimates of a position of a vehicle based on the packaged sensor data. The controllers may generate control signals based on the determined estimates. The mixer may modify the generated control signals based on limitations of the vehicle. The actuator controllers may generate actuator control signals based on the modified control signals to drive the actuators.

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