公开(公告)号：US20220244746A1

公开(公告)日：2022-08-04

申请号：US17659694

申请日：2022-04-19

Applicant: AUTEL ROBOTICS CO., LTD.

Inventor： Tianbao Zhang

IPC: G05D1/10 ,  G05D1/06 ,  G05D1/00 ,  H03K7/08 ,  B64C39/02

Abstract: Embodiments of the present invention relate to a method of controlling an aircraft and a flight control device for an aircraft, an aircraft with such flight control device and a storage medium. The method includes: determining a flight mode adopted by the aircraft in a non-static state; if the flight mode is an absolute hovering mode, determining a target speed of the aircraft according to a current flight speed, a current flight height and a first preset hovering height of the aircraft and a remote control speed set for the aircraft by remote control device; if the flight mode is a relative static hovering mode, determining the target speed of the aircraft according to a relative flight speed, the current flight height, a second preset switching hovering height and the remote control speed; and controlling the aircraft to fly according to the target speed.

公开(公告)号：US20230228573A1

公开(公告)日：2023-07-20

申请号：US17936903

申请日：2022-09-30

Applicant: AUTEL ROBOTICS CO., LTD.

Inventor： Han GAO ,  Tianbao Zhang ,  Gang Chen

IPC: G01C21/16 ,  B64U20/80

CPC classification number: G01C21/166 ,  B64U20/80 ,  B64U2101/00

Abstract: Embodiments of the present invention is an inertial measurement module, including a mount, a circuit board, a thermally conductive member and a cover plate mounted to the mount. The circuit board is mounted to an end surface of the mount, and is configured to mount an inertial measurement assembly and the thermally conductive member. The inertial measurement assembly includes a thermal resistor and an inertial measurement unit. The thermally conductive member is configured to abut against the thermal resistor and the inertial measurement unit. A surface of the cover plate is provided with a first groove. A receiving space is formed by the first groove and the surface of the mount. The circuit board and the thermally conductive member are both received in the receiving space. The thermally conductive member is arranged at a preset distance from a bottom of the first groove.

公开(公告)号：US11958604B2

公开(公告)日：2024-04-16

申请号：US17244137

申请日：2021-04-29

Applicant: AUTEL ROBOTICS CO., LTD.

Inventor： Gang Chen ,  Tianbao Zhang ,  Xianhong Jiang

IPC: B64C39/02 ,  B64U10/13 ,  B64U101/30 ,  G05D1/00 ,  G05D1/08

CPC classification number: B64C39/024 ,  G05D1/0094 ,  G05D1/0808 ,  B64U10/13 ,  B64U2101/30

Abstract: The present invention discloses an unmanned aerial vehicle and a method for controlling a gimbal thereof. The method for controlling a gimbal includes: generating, by a flight control system, a yaw angular speed instruction of the unmanned aerial vehicle; and controlling, by a gimbal control system, a yaw axis motor of the gimbal according to the yaw angular speed instruction of the unmanned aerial vehicle. In the present invention, the yaw axis motor of the gimbal is jointly controlled by the flight control system and the gimbal control system, so that advantages of high-precision control and quick response of the gimbal control system are maximized. The advantages are used for compensating for deficiencies of the flight control system in yaw control, thereby improving the stability of a yaw channel of the gimbal, and completely resolving frame freezing of an aerial video when the unmanned aerial vehicle yaws at a low speed.

公开(公告)号：US20230095700A1

公开(公告)日：2023-03-30

申请号：US18058473

申请日：2022-11-23

Applicant: Autel Robotics Co., Ltd.

Inventor： Tianbao Zhang

IPC: G08G5/04 ,  G08G5/00 ,  B64C39/02

Abstract: Embodiment of the present invention are a flight control method and apparatus for an unmanned aerial vehicle, and an unmanned aerial vehicle. The flight control method for an unmanned aerial vehicle includes: obtaining an obstacle position and an obstacle orientation of each obstacle within a preset range around the unmanned aerial vehicle; calculating a push-pull coefficient of each obstacle relative to the unmanned aerial vehicle according to the obstacle position of each obstacle; obtaining a target position and a target orientation of the unmanned aerial vehicle; calculating a baton coefficient of the target position relative to the unmanned aerial vehicle according to the target position; and adjusting a flight direction of the unmanned aerial vehicle according to the baton coefficient, the target orientation, the push-pull coefficient of each obstacle relative to the unmanned aerial vehicle, and the obstacle orientation.

公开(公告)号：US20220317705A1

公开(公告)日：2022-10-06

申请号：US17659690

申请日：2022-04-19

Applicant: Autel Robotics Co., Ltd.

Inventor： Tianbao Zhang

IPC: G05D1/06 ,  G05D1/08 ,  G05D1/10 ,  G05D1/00 ,  G06V10/75 ,  G06V20/17 ,  G01S13/36 ,  B64C39/02

Abstract: The embodiments are an aircraft return control method and device, an aircraft and a storage medium. The method includes: determining the location of a return target region according to the time and the phase of a return signal; and when flying to the return target region, according to a matching result between an image of a current region and a pre-collected image of the return target region, adjusting flight parameters to land at the return target. Embodiments of the present invention solve the technical problem in the prior art that the aircraft cannot be accurately landed at the return target due to the movement of the return target, and achieve the technical effect of controlling the aircraft to accurately and safely land at the return target on the return target region.

公开(公告)号：US20220153431A1

公开(公告)日：2022-05-19

申请号：US17577608

申请日：2022-01-18

Applicant: Autel Robotics Co., Ltd.

Inventor： Tianbao Zhang ,  Yingjie Li ,  Gang Chen

IPC: B64D45/04 ,  B64C39/02 ,  G05D1/10

Abstract: The present invention relates to the field of unmanned aerial vehicle safety protection technologies, and in particular, to an unmanned aerial vehicle safety protection method and apparatus and an unmanned aerial vehicle. The method includes: obtaining ultrasonic information and a flight status of an unmanned aerial vehicle, where the flight status includes a normal flight state and a descending state; and performing safety protection on the unmanned aerial vehicle according to the ultrasonic information and the flight status. The implementation can reduce an occurrence probability that an unmanned aerial vehicle crashes at a high altitude when ultrasound encounters abnormalities to get out of control at the high altitude and fail to descend, rise, move to the left or move to the right and land without slowing down to violently hit the ground, so that the safety of the unmanned aerial vehicle is enhanced, and user experience is improved.

公开(公告)号：US11964774B2

公开(公告)日：2024-04-23

申请号：US17577608

申请日：2022-01-18

Applicant: AUTEL ROBOTICS CO., LTD.

Inventor： Tianbao Zhang ,  Yingjie Li ,  Gang Chen

IPC: B64D45/04 ,  B64C39/02 ,  B64D45/00 ,  B64U10/13 ,  B64U70/00 ,  G05D1/00 ,  G05D1/10 ,  G08G5/00

CPC classification number: B64D45/04 ,  B64C39/024 ,  G05D1/106 ,  B64D2045/008 ,  B64U10/13 ,  B64U70/00 ,  B64U2201/10 ,  G08G5/0069

Abstract: The present invention relates to the field of unmanned aerial vehicle safety protection technologies, and in particular, to an unmanned aerial vehicle safety protection method and apparatus and an unmanned aerial vehicle. The method includes: obtaining ultrasonic information and a flight status of an unmanned aerial vehicle, where the flight status includes a normal flight state and a descending state; and performing safety protection on the unmanned aerial vehicle according to the ultrasonic information and the flight status. The implementation can reduce an occurrence probability that an unmanned aerial vehicle crashes at a high altitude when ultrasound encounters abnormalities to get out of control at the high altitude and fail to descend, rise, move to the left or move to the right and land without slowing down to violently hit the ground, so that the safety of the unmanned aerial vehicle is enhanced, and user experience is improved.

公开(公告)号：US11947366B2

公开(公告)日：2024-04-02

申请号：US17811268

申请日：2022-07-07

Applicant: AUTEL ROBOTICS CO., LTD.

Inventor： Minghua Lu ,  Tianbao Zhang

IPC: G05D1/10 ,  B64C39/02 ,  B64U70/00 ,  G05D1/00 ,  G05D1/04

CPC classification number: G05D1/106 ,  B64C39/024 ,  G05D1/0016 ,  G05D1/0061 ,  G05D1/042 ,  B64U70/00 ,  B64U2201/20

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.

公开(公告)号：US11945583B2

公开(公告)日：2024-04-02

申请号：US17579694

申请日：2022-01-20

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.

公开(公告)号：US11669109B2

公开(公告)日：2023-06-06

申请号：US17651835

申请日：2022-02-21

Applicant: AUTEL ROBOTICS CO., LTD.

Inventor： Tianbao Zhang ,  Yingjie Li

IPC: G05D1/08 ,  G01C21/16 ,  B64C1/16 ,  G01S19/53

CPC classification number: G05D1/0816 ,  B64C1/16 ,  G01S19/53

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.