公开(公告)号：US20210389764A1

公开(公告)日：2021-12-16

申请号：US17354326

申请日：2021-06-22

Applicant: GoPro, Inc.

Inventor： Sammy Omari ,  Pascal Gohl ,  Axel Murguet ,  Garance Bruneau ,  Fabio Diem ,  Lukas Schmid

IPC: G05D1/00 ,  H04N7/18 ,  G06T7/73 ,  G06T7/80 ,  B64C39/02

Abstract: Controlling an unmanned aerial vehicle may include obtaining a first image from a fixed orientation image capture device of the unmanned aerial vehicle, obtaining a second image from an adjustable orientation image capture device of the unmanned aerial vehicle, obtaining feature correlation data based on the first image and the second image, obtaining relative image capture device orientation calibration data based on the feature correlation data, the relative image capture device orientation calibration data indicating an orientation of the adjustable orientation image capture device relative to the fixed orientation image capture device, obtaining relative object orientation data based on the relative image capture device orientation calibration data, the relative object orientation data representing a three-dimensional orientation of an external object relative to the adjustable orientation image capture device, and controlling a trajectory of the unmanned aerial vehicle in response to the relative object orientation data.

公开(公告)号：US20200062397A1

公开(公告)日：2020-02-27

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.

公开(公告)号：US20190208101A1

公开(公告)日：2019-07-04

申请号：US15856706

申请日：2017-12-28

Applicant: GoPro, Inc.

Inventor： Pascal Gohl ,  Thomas Gubler ,  Axel Murguet ,  Garance Bruneau

IPC: H04N5/232

CPC classification number: H04N5/2328 ,  H04N5/23245 ,  H04N5/23254 ,  H04N5/23258 ,  H04N5/23261

Abstract: The disclosure describes systems and methods for stabilizing an imaging device with an image stabilization device. The image stabilization device includes sensors, one or more arms, one or more motors, and a control unit. The sensors provide sensor data including orientation data, angular velocity data, and acceleration data. Each of the motors is associated with a respective arm. The control unit is configured to set a setpoint of the imaging device to a default setpoint, receive sensor data from the sensors, determine whether a flip condition exists, in response to determining that the flip condition exists, fix the setpoint of the imaging device, and in response to determining that the flip condition does not exists, maintain the default setpoint of the imaging device by moving at least one of respective arms with one of the respective motors.

公开(公告)号：US20180115716A1

公开(公告)日：2018-04-26

申请号：US15788769

申请日：2017-10-19

Applicant: GoPro, Inc.

Inventor： Thomas Gubler ,  Garance Bruneau ,  Axel Murguet ,  Pascal Gohl

IPC: H04N5/232 ,  B64C39/02 ,  B64D47/08 ,  G01C21/18 ,  G03B15/00

CPC classification number: H04N5/23287 ,  B64C39/024 ,  B64C2201/024 ,  B64C2201/127 ,  B64D47/08 ,  G01C21/18 ,  G03B15/006 ,  G03B17/561 ,  H04N5/23206 ,  H04N5/23216 ,  H04N5/23258 ,  H04N5/2328

Abstract: An aerial vehicle platform includes an aerial vehicle, a gimbal coupled to the aerial vehicle, and a camera mounted to the gimbal. An attitude sensing system includes an inertial measurement unit to sense attitude and an attitude adjustment module to generate an attitude adjustment for adjusting the sensed attitude to compensate for drift error.