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公开(公告)号：US11423791B2
公开(公告)日：2022-08-23
申请号：US15906720
申请日：2018-02-27
Applicant: GoPro, Inc.
Inventor： Sammy Omari , Pascal Gohl , Andreas Jäger , Joseph A. Enke , Simon Doessegger , Tim Oberhauser
Abstract: Controlling an unmanned aerial vehicle to traverse a portion of an operational environment of the unmanned aerial vehicle may include obtaining an object detection type, obtaining object detection input data, obtaining relative object orientation data based on the object detection type and the object detection input data, and performing a collision avoidance operation based on the relative object orientation data. The object detection type may be monocular object detection, which may include obtaining the relative object orientation data by obtaining motion data indicating a change of spatial location for the unmanned aerial vehicle between obtaining the first image and obtaining the second image based on searching along epipolar lines to obtain optical flow data.
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公开(公告)号：US11178329B2
公开(公告)日：2021-11-16
申请号：US17175538
申请日：2021-02-12
Applicant: GoPro, Inc.
Inventor： Joseph A. Enke , Stepan Moskovchenko , Benjamin P. Tankersley , Adam Fenn , Nenad Uzunovic
Abstract: Systems and methods are disclosed for image signal processing. For example, methods may include determining a sequence of orientation estimates based on sensor data from one or more motion sensors; based on the sequence of orientation estimates, invoking a mechanical stabilization system to reject motions of an image sensor occurring within a first operating bandwidth with an upper cutoff frequency; receiving an image from the image sensor; based on the sequence of orientation estimates, invoking an electronic image stabilization module to correct the image for rotations of the image sensor occurring within a second operating bandwidth with a lower cutoff frequency to obtain a stabilized image, wherein the lower cutoff frequency is greater than the upper cutoff frequency; and storing, displaying, or transmitting an output image based on the stabilized image.
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公开(公告)号：US11089208B2
公开(公告)日：2021-08-10
申请号：US16718301
申请日：2019-12-18
Applicant: GoPro, Inc.
Inventor： Joseph A. Enke , Kielan C. Crow , Pascal Gohl
Abstract: The disclosure describes systems and methods for a stabilization mechanism. The stabilization mechanism may be used in conjunction with an imaging device. The method may be performed by a control system of the stabilization mechanism and includes obtaining a device setting from an imaging device. The method may also include obtaining a configuration of the stabilization mechanism. The method includes determining a soft stop based on the device setting, the configuration, or both. The soft stop may be a virtual hard stop that indicates to the stabilization mechanism to reduce speed as a field of view of the imaging device approaches the soft stop. The method may also include setting an image stabilization mechanism parameter based on the determined soft stop.
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公开(公告)号：US10899465B2
公开(公告)日：2021-01-26
申请号：US15906731
申请日：2018-02-27
Applicant: GoPro, Inc.
Inventor： Joseph A. Enke
Abstract: A motor controller of an unmanned aerial vehicle (UAV) is optimized to improve operation of the UAV. The motor control optimizations include controlling a motor of a UAV to reduce an operating temperature of the UAV, reducing an amount of latency or jitter resulting from motor operation, and applying a smoothing filter for motor operation. For example, controlling a motor of a UAV to reduce an operating temperature of the UAV can include using a temperature model for the unmanned aerial vehicle or an operating temperature measurement to determine a current operating temperature and comparing that current operating temperature to a threshold. If the threshold is exceeded, settings of the motor are adjusted to cause the motor to operate in a manner that reduces the current operating temperature.
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公开(公告)号：US10536630B2
公开(公告)日：2020-01-14
申请号：US15906726
申请日：2018-02-27
Applicant: GoPro, Inc.
Inventor： Joseph A. Enke , Kielan C. Crow , Pascal Gohl
Abstract: The disclosure describes systems and methods for a stabilization mechanism. The stabilization mechanism may be used in conjunction with an imaging device. The method may be performed by a control system of the stabilization mechanism and includes obtaining a device setting from an imaging device. The method may also include obtaining a configuration of the stabilization mechanism. The method includes determining a soft stop based on the device setting, the configuration, or both. The soft stop may be a virtual hard stop that indicates to the stabilization mechanism to reduce speed as a field of view of the imaging device approaches the soft stop. The method may also include setting an image stabilization mechanism parameter based on the determined soft stop.
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Patent Agency Ranking
公开(公告)号：US20190215457A1
公开(公告)日：2019-07-11
申请号：US15934204
申请日：2018-03-23
Applicant: GoPro, Inc.
Inventor： Joseph A. Enke , Sean Flanigan , Pablo Lema , Nicholas D. Woodman , Michael Paterson
CPC classification number: H04N5/23287 , B64C39/024 , B64C2201/127 , B64C2201/141 , B64C2201/146 , G03B15/006 , G05D1/0016 , G05D1/0038 , G05D1/0094 , G05D1/12 , G06F3/04883 , G08G5/0069 , H04N5/2252 , H04N5/2253 , H04N5/2257 , H04N5/23203 , H04N5/23216 , H04N5/2328 , H04N7/18
Abstract: Systems and methods are disclosed for image capture. For example, systems may include an image capture module including an image sensor configured to capture images, a base that includes a processing apparatus and a connector, and an integrated mechanical stabilization system configured to control an orientation of the image sensor relative to the base, wherein the processing apparatus is configured to send commands to motor controllers of the mechanical stabilization system and includes an image signal processor that is configured to receive image data from the image sensor; and a handheld module configured to be removably attached to the image capture module by the connector, wherein the handheld module includes a display configured to display images received from the image sensor via conductors of the connector.
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公开(公告)号：US20190177002A1
公开(公告)日：2019-06-13
申请号：US15834158
申请日：2017-12-07
Applicant: GoPro, Inc.
Inventor： Joseph A. Enke , Miles Hansen , Mehran Ferdowsi
Abstract: A condition of an unmanned aerial vehicle (UAV) is detected using one or more sensors of the UAV and signaled according to an alert definition associated with the condition. For example, an alert definition can indicate to signal the condition by using a motor of the UAV to produce an audible tone. A tonal signal having a frequency within an audible spectrum can be generated according to the alert definition. The tonal signal and a drive signal used for supplying current to the motor can be combined to produce a combined signal. The combined signal can then be transmitted to the motor to cause the motor to produce the audible tone. In some cases, an amplitude of the tonal signal can be modulated, such as where the amplitude of the combined signal exceeds a threshold associated with an operating margin of the UAV.
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公开(公告)号：US12212847B2
公开(公告)日：2025-01-28
申请号：US18603569
申请日：2024-03-13
Applicant: GoPro, Inc.
Inventor： Joseph A. Enke , Stepan Moskovchenko , Benjamin P. Tankersley , Adam Fenn , Nenad Uzunovic
IPC: H04N23/68 , G01C21/10 , G02B27/64 , H04N23/60 , H04N23/695
Abstract: A device includes a mechanical stabilization system is used in image signal processing. The mechanical image stabilization system has an operating bandwidth and includes a motor to control an orientation of an image sensor. A processing apparatus of the device determines a temperature of the motor and adjusts a cutoff frequency of the operating bandwidth based on the temperature of the motor.
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公开(公告)号：US20240373129A1
公开(公告)日：2024-11-07
申请号：US18773105
申请日：2024-07-15
Applicant: GoPro, Inc.
Inventor： Sean Flanigan , Joseph A. Enke , Pablo Lema , Nicholas D. Woodman , Michael Paterson
IPC: H04N23/68 , B64C39/02 , B64D47/08 , B64U10/14 , B64U20/87 , B64U101/30 , G03B15/00 , G05D1/223 , G05D1/224 , G05D1/686 , G05D1/689 , G06F3/04883 , G08G5/00 , H04N7/18 , H04N23/51 , H04N23/54 , H04N23/57 , H04N23/62 , H04N23/66
Abstract: A system including an image capture module and a handheld module. The image capture module includes a body; an image sensor; and a mechanical stabilization system comprising a first gimbal, a second gimbal, and a third gimbal connected to the body and configured to control an orientation of the image sensor of the image capture module relative to the body. The handheld module defines a slot that is keyed to the body of the image capture module. The image capture module, when located within the handheld module, has a low profile so that the third gimbal is protected from damage by the handheld module.
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公开(公告)号：US11639232B2
公开(公告)日：2023-05-02
申请号：US17157627
申请日：2021-01-25
Applicant: GoPro, Inc.
Inventor： Joseph A. Enke
Abstract: A motor controller of an unmanned aerial vehicle (UAV) is optimized to improve operation of the UAV. The motor control optimizations include controlling a motor of a UAV to reduce an operating temperature of the UAV, reducing an amount of latency or jitter resulting from motor operation, and applying a smoothing filter for motor operation. For example, controlling a motor of a UAV to reduce an operating temperature of the UAV can include using a temperature model for the unmanned aerial vehicle or an operating temperature measurement to determine a current operating temperature and comparing that current operating temperature to a threshold. If the threshold is exceeded, settings of the motor are adjusted to cause the motor to operate in a manner that reduces the current operating temperature.
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