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公开(公告)号：US20210264652A1
公开(公告)日：2021-08-26
申请号：US17200042
申请日：2021-03-12
Applicant: GoPro, Inc.
Inventor： Joseph Anthony Enke
Abstract: A mapping system receives sensor data from an unmanned aerial vehicle. The mapping system further receives images from a camera of the unmanned aerial vehicle. The mapping system determines an altitude of the camera based on the sensor data. The mapping system calculates a footprint of the camera based on the altitude of the camera and a field of view of the camera. The mapping system constructs a localized map based on the images and the footprint of the camera.
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公开(公告)号：US11102544B2
公开(公告)日：2021-08-24
申请号：US16802975
申请日：2020-02-27
Applicant: GoPro, Inc.
Inventor： Joseph Anthony Enke , Anupam Joshi
IPC: H04N21/4402 , H04N7/18 , H04N5/225 , H04N21/4363 , B64C39/02 , H04L29/06
Abstract: Disclosed is a system and method for reducing the total latency for transferring a frame from the low latency camera system mounted on an aerial vehicle to the display of the remote controller. The method includes reducing the latency through each of the modules of the system, i.e. through a camera module, an encoder module, a wireless interface transmission, wireless interface receiver module, a decoder module and a display module. To reduce the latency across the modules, methods such as overclocking the image processor, pipelining the frame, squashing the processed frame, using a fast hardware encoder that can perform slice based encoding, tuning the wireless medium using queue sizing, queue flushing, bitrate feedback, physical medium rate feedback, dynamic encoder parameter tuning and wireless radio parameter adjustment, using a fast hardware decoder that can perform slice based decoding and overclocking the display module are used.
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公开(公告)号：US10977846B2
公开(公告)日：2021-04-13
申请号：US16233485
申请日：2018-12-27
Applicant: GoPro, Inc.
Inventor： Joseph Anthony Enke
Abstract: A mapping system receives sensor data from an unmanned aerial vehicle. The mapping system further receives images from a camera of the unmanned aerial vehicle. The mapping system determines an altitude of the camera based on the sensor data. The mapping system calculates a footprint of the camera based on the altitude of the camera and a field of view of the camera. The mapping system constructs a localized map based on the images and the footprint of the camera.
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公开(公告)号：US10852427B2
公开(公告)日：2020-12-01
申请号：US15639335
申请日：2017-06-30
Applicant: GoPro, Inc.
Inventor： Stepan Moskovchenko , Joseph Anthony Enke
IPC: G01S15/00 , G01S15/10 , B64C39/02 , B64D47/00 , G01S7/529 , G01S7/52 , G01S15/86 , G01S7/527 , H04L29/08
Abstract: Ultrasonic ranging state management for a UAV is described. A transducer transmits an ultrasonic signal and receives an ultrasonic response thereto using a gain value. A noise floor estimation mechanism determines a noise floor estimate. A state mechanism sets an ultrasonic ranging state used by the transducer to a first ultrasonic ranging state. The transducer transmits an ultrasonic signal and responsively receive an ultrasonic response to the ultrasonic signal using a gain value according to the noise floor estimate. The state mechanism processes the ultrasonic response to determine whether to determine a new noise floor estimate, adjust the gain value used by the transducer, or change the ultrasonic ranging state of the UAV to a second ultrasonic ranging state. The configurations of the first and second ultrasonic ranging states differ as to, for example, power and gain levels used by the transducer to receive ultrasonic responses.
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公开(公告)号：US10557936B2
公开(公告)日：2020-02-11
申请号：US15639454
申请日：2017-06-30
Applicant: GoPro, Inc.
Inventor： Stepan Moskovchenko , Joseph Anthony Enke
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.
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Patent Agency Ranking
公开(公告)号：US10464670B2
公开(公告)日：2019-11-05
申请号：US15439871
申请日：2017-02-22
Applicant: GoPro, Inc.
Inventor： Joseph Anthony Enke , Benjamin Tankersley , Jean-Bernard Berteaux , Axel Murguet , Garance Bruneau
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.
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公开(公告)号：US20190235530A1
公开(公告)日：2019-08-01
申请号：US16382286
申请日：2019-04-12
Applicant: GoPro, Inc.
Inventor： Joseph Anthony Enke
CPC classification number: G05D1/101 , B64C39/02 , B64C39/024 , B64C2201/027 , B64C2201/127 , 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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公开(公告)号：US20190004173A1
公开(公告)日：2019-01-03
申请号：US15639454
申请日：2017-06-30
Applicant: GoPro, Inc.
Inventor： Stepan Moskovchenko , Joseph Anthony Enke
CPC classification number: G01S15/42 , B64C39/024 , B64C2201/123 , B64C2201/127 , B64C2201/141 , B64C2201/146 , B64D47/00 , G01S15/04
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.
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公开(公告)号：US20180239353A1
公开(公告)日：2018-08-23
申请号：US15439871
申请日：2017-02-22
Applicant: GoPro, Inc.
Inventor： Joseph Anthony Enke , Benjamin Tankersley , Jean-Bernard Berteaux , Axel Murguet , Garance Bruneau
CPC classification number: B64C39/024 , B64C2201/027 , B64C2201/146 , G05D1/063 , G05D1/0858
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.
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公开(公告)号：US20180115795A1
公开(公告)日：2018-04-26
申请号：US15786816
申请日：2017-10-18
Applicant: GoPro, Inc.
Inventor： Anandhakumar Chinnaiyan , Anantha Keshava Belur Sowmya Keshava , Joseph Anthony Enke , Kiran Bhaskaran Mohan , Stepan Moskovchenko , Vivek Bardia
IPC: H04N21/2662 , H04N21/2365
CPC classification number: H04N21/2662 , H04N21/214 , H04N21/234363 , H04N21/234381 , H04N21/23655 , H04N21/23805 , H04N21/2743 , H04N21/41407 , H04N21/43637
Abstract: A pipeline video system is capable of transmitting rate adapted video. The pipeline video system receives a first video stream in real time from a camera at a first frame rate; receiving data link layer transmission statistics of a wireless interface. The system also generates a second video stream with a second frame rate from the first video stream by dropping one or more video frames of the first video stream based on the data link layer transmission statistics. Based on encoding parameters determined based on the data link layer transmission statistics, the system encodes the second video stream. The encoded second video stream is transmitted to the wireless interface for transmission.
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