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公开(公告)号：US20220350349A1
公开(公告)日：2022-11-03
申请号：US17811268
申请日：2022-07-07
Applicant: AUTEL ROBOTICS CO,. LTD.
Inventor： Minghua LU , Tianbao ZHANG
Abstract: Embodiments of the present invention are an unmanned aerial vehicle (UAV) severe low-power protection method and a UAV. The method includes: first acquiring ground environment information when the UAV is in a severe low-power protection state, and then obtaining landing safety judgment information according to the ground environment information, and further controlling a flight state of the UAV according to the landing safety judgment information to realize a safe landing of the UAV. The foregoing method reduces the probability of explosion of the UAV, avoids injury accidents, and improves flight safety when the UAV is in a severe low-power state.
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公开(公告)号：US20230205206A1
公开(公告)日：2023-06-29
申请号：US18166957
申请日：2023-02-09
Applicant: AUTEL ROBOTICS CO., LTD.
Inventor： Tianbao ZHANG
CPC classification number: G05D1/0202 , G05D1/0816 , B64U20/87 , B64U10/14 , B64U2101/30
Abstract: An obstacle avoidance method is applicable to an unmanned aerial vehicle (UAV). The UAV includes binocular cameras. The the obstacle avoidance method includes: acquiring a binocular direction corresponding to each binocular camera, each binocular direction being corresponding to obstacle sectors; detecting an obstacle distance of each of obstacle sectors corresponding to each binocular direction; determining an obstacle distance in each binocular direction according to the obstacle distance of each of obstacle sectors corresponding to each binocular direction; and determining an obstacle avoidance policy according to the obstacle distance in each binocular direction with reference to a flight direction of the UAV. By determining the obstacle distance in each binocular direction, and then determining the obstacle avoidance policy with reference to the flight direction of the UAV, the obstacle avoidance success rate of the UAV is improved.
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3.发明公开公开(公告)号：US20240246674A1
公开(公告)日：2024-07-25
申请号：US18591487
申请日：2024-02-29
Applicant: AUTEL ROBOTICS CO., LTD.
Inventor： Tianbao ZHANG
IPC: B64C39/02 , B64D47/08 , B64U101/30 , G06F21/44 , G06V20/17 , G06V20/58 , G06V40/16 , H04N23/695
CPC classification number: B64C39/024 , B64D47/08 , G06F21/44 , G06V20/17 , G06V20/58 , G06V40/172 , H04N23/695 , B64U2101/30
Abstract: Embodiments of the present invention relate to a method for generating search information of an unmanned aerial vehicle (UAV) and a UAV. The method includes: controlling a gimbal camera apparatus of the UAV to perform surround shooting to obtain character image information when the UAV is in an input locked state; matching the character image information with internal image information of the UAV; and generating the search information of the UAV according to a matching result. Therefore, a user can find the UAV in time according to the search information. In this way, theft is prevented, reducing the user loss.
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公开(公告)号：US20220324565A1
公开(公告)日：2022-10-13
申请号：US17650683
申请日：2022-02-11
Applicant: AUTEL ROBOTICS CO., LTD.
Inventor： Tianbao ZHANG , Yingjie Li
Abstract: Embodiments of the present invention discloses an unmanned aerial vehicle, comprising: a fuselage, the centroid of the unmanned aerial vehicle being located on the fuselage; an arm connected to the fuselage; and a motor, wherein the motor is obliquely mounted on the arm, the projection of the inclination direction of the motor on a horizontal plane forms a preset angle with a connecting line between the motor and the centroid, and the inclination direction of the motor forms an acute angle with the vertical direction.
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公开(公告)号：US20220324570A1
公开(公告)日：2022-10-13
申请号：US17854999
申请日：2022-06-30
Applicant: AUTEL ROBOTICS CO., LTD.
Inventor： Tianbao ZHANG
Abstract: Embodiments of the present invention are a flight control method and device, and an unmanned aerial vehicle. The method comprises firstly acquiring the current flight velocity of the unmanned aerial vehicle, then obtaining the current optimum inclination angle corresponding to the unmanned aerial vehicle according to the current flight velocity, and further adjusting the flight state of the unmanned aerial vehicle according to the current optimum inclination angle. The method can relieve the restrictions on the flight freedom of unmanned aerial vehicles and make the user experience rapid flight pleasure.
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Patent Agency Ranking
公开(公告)号：US20220178697A1
公开(公告)日：2022-06-09
申请号：US17652007
申请日：2022-02-22
Applicant: AUTEL ROBOTICS CO., LTD.
Inventor： Tianbao ZHANG
Abstract: Embodiments of the present application discloses a method and apparatus for correcting a yaw angle of an aircraft and an aircraft. The method includes: acquiring inertial measurement unit (IMU) data and magnetometer data, where the IMU data includes IMU acceleration information and IMU angular velocity information; determining a magnetometer yaw angle according to the magnetometer data; determining an initial value of a yaw angle according to the magnetometer yaw angle; determining an angular velocity compensation quantity of the yaw angle according to the magnetometer data; determining a corrected angular velocity according to the IMU angular velocity information and the angular velocity compensation quantity of the yaw angle; determining a relative value of the yaw angle according to the corrected angular velocity; and generating a fused yaw angle according to the initial value of the yaw angle and the relative value of the yaw angle.
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公开(公告)号：US20220146546A1
公开(公告)日：2022-05-12
申请号：US17582216
申请日：2022-01-24
Applicant: Autel Robotics Co., Ltd.
Inventor： Tianbao ZHANG
Abstract: The present invention relates to a wind velocity measurement method, a wind velocity estimator and an unmanned aerial vehicle (UAV). The wind velocity measurement method includes: determining current wind resistance interference of a UAV by means of system identification based on flight data and attribute data of the UAV; and calculating a wind velocity of a flight environment of the UAV according to the wind resistance interference and the inherent wind resistance of the UAV. The method realizes the wind velocity measurement by identifying parameters based on the principle of system identification without a newly added wind velocity sensor and an external database. Therefore, not only hardware device costs are saved, but also an additional computing burden and a problem about real-time performance are avoided. The method is simple and requires low costs.
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公开(公告)号：US20220137643A1
公开(公告)日：2022-05-05
申请号：US17573882
申请日：2022-01-12
Applicant: AUTEL ROBOTICS CO., LTD.
Inventor： Tianbao ZHANG , Gang CHEN , Xianhong JIANG
Abstract: Embodiments of the present invention relate to the field of aerial photography technologies and disclose an aircraft control method and an aircraft. The aircraft control method is applicable to the aircraft, and the aircraft includes a flight control system (FCS) configured to control the aircraft and a gimbal control system (GCS) configured to control a gimbal. The GCS can obtain a yaw control instruction to be inputted into the aircraft and attitude angle information outputted by the gimbal and then control yawing of the gimbal according to the yaw control instruction to be inputted into the aircraft and the attitude angle information outputted by the gimbal, so as to implement high-precision control of aerial photography of the aircraft, thereby ensuring high quality of an aerial video and resolving video freezing during aerial photography at a low rotation speed.
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公开(公告)号：US20230127974A1
公开(公告)日：2023-04-27
申请号：US18085818
申请日：2022-12-21
Applicant: AUTEL ROBOTICS CO., LTD.
Inventor： Tianbao ZHANG
IPC: B64U20/87
Abstract: Embodiments of the present invention are a trajectory tracking method and an unmanned aerial vehicle. The method is including an unmanned aerial vehicle body and a gimbal, and the unmanned aerial vehicle body being equipped with at least one visual sensor, and the method includes: obtaining a flight image acquired by the at least one visual sensor, the flight image including a to-be-tracked target; performing visual image processing on the flight image, to generate a gimbal rotation instruction and a path instruction; adjusting an angle of the gimbal according to the gimbal rotation instruction and a gimbal state parameter of the gimbal, to lock the to-be-tracked target; and controlling a motor speed of a flight motor of the unmanned aerial vehicle according to the path instruction and a flight state parameter of the unmanned aerial vehicle, to cause the unmanned aerial vehicle to track the to-be-tracked target according to the path instruction.
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公开(公告)号：US20220214699A1
公开(公告)日：2022-07-07
申请号：US17651835
申请日：2022-02-21
Applicant: AUTEL ROBOTICS CO., LTD.
Inventor： Tianbao ZHANG , Yingjie Li
Abstract: Embodiments of the present application relate to the technical field of aircrafts and disclose a method and apparatus for yaw fusion and an aircraft. The method for yaw fusion is applicable to an aircraft and includes: acquiring global positioning system (GPS) data, inertial measurement unit (IMU) data, and magnetometer data, wherein the GPS data includes GPS location, velocity, acceleration information, and GPS velocity signal quality, and the IMU data includes IMU acceleration information and IMU angular velocity information; determining a corrected yaw according to the IMU data, the GPS data, and the magnetometer data; determining a magnetometer alignment deviation angle according to the magnetometer data, the GPS data, and the corrected yaw; determining a GPS realignment deviation angle according to the GPS data and the IMU acceleration information; and generating a fused yaw according to the corrected yaw, the magnetometer alignment deviation angle, and the GPS realignment deviation angle.
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