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    VARIABLE CONDITION MOTOR CONTROLLER
    2.
    发明公开
    VARIABLE CONDITION MOTOR CONTROLLER 审中-公开

    公开(公告)号：US20230271702A1

    公开(公告)日：2023-08-31

    申请号：US18142773

    申请日：2023-05-03

    Applicant: GoPro, Inc.

    Inventor： Joseph Anthony Enke ,  Benjamin Tankersley ,  Jean-Bernard Berteaux ,  Axel Murguet ,  Garance Bruneau

    IPC: B64C39/02 ,  G05D1/06 ,  G05D1/08

    CPC classification number: B64C39/024 ,  G05D1/063 ,  G05D1/0858 ,  B64U10/13

    Abstract: An aerial vehicle, comprising: one or more motors, one or more sensors, and a flight sub-system. The one or more sensors configured to detect data. The flight sub-system includes an attitude controller module; a rate controller module; and a compensator module. The compensator module is configured to: determine a maximum RPM of the one or more motors or a maximum torque of the one or more motors; receive a torque vector from the rate controller module; determine a rotational speed of the one or more motors to generate a desired flight orientation based upon the torque vector; and consider sensor data from the one or more sensors to adjust the rotational speed of the one or more motors.

    VARIABLE CONDITION MOTOR CONTROLLER
    3.
    发明申请
    VARIABLE CONDITION MOTOR CONTROLLER 有权

    公开(公告)号：US20210354822A1

    公开(公告)日：2021-11-18

    申请号：US17331962

    申请日：2021-05-27

    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.

    Aerial vehicle video and telemetric data synchronization
    4.
    发明申请
    Aerial vehicle video and telemetric data synchronization 有权

    公开(公告)号：US20210223794A1

    公开(公告)日：2021-07-22

    申请号：US17165484

    申请日：2021-02-02

    Applicant: GoPro, Inc.

    Inventor： Joseph Anthony Enke

    IPC: G05D1/10 ,  G05D1/00 ,  B64C39/02 ,  G07C5/08 ,  G08G5/00 ,  G08G5/04 ,  H04L29/08 ,  G01C23/00

    Abstract: Disclosed is a configuration to control automatic return of an aerial vehicle. The configuration stores a return location in a storage device of the aerial vehicle. The return location may correspond to a location where the aerial vehicle is to return. One or more sensors of the aerial vehicle are monitored during flight for detection of a predefined condition. When a predetermined condition is met a return path program may be loaded for execution to provide a return flight path for the aerial vehicle to automatically navigate to the return location.

    Ultrasonic Ranging State Management for Unmanned Aerial Vehicles
    5.
    发明申请
    Ultrasonic Ranging State Management for Unmanned Aerial Vehicles 有权

    公开(公告)号：US20210149046A1

    公开(公告)日：2021-05-20

    申请号：US17096477

    申请日：2020-11-12

    Applicant: GoPro, Inc.

    Inventor： Stepan Moskovchenko ,  Joseph Anthony Enke

    IPC: G01S15/10 ,  B64C39/02 ,  B64D47/00 ,  G01S7/529 ,  G01S7/52 ,  G01S15/86

    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.

    ADAPTIVE RATE GAIN CONTROLLER
    6.
    发明申请
    ADAPTIVE RATE GAIN CONTROLLER 审中-公开

    公开(公告)号：US20180081351A1

    公开(公告)日：2018-03-22

    申请号：US15707029

    申请日：2017-09-18

    Applicant: GoPro, Inc.

    Inventor： Benjamin Tankersley ,  Joseph Anthony Enke ,  Donald Allen Severns

    IPC: G05D1/00 ,  B64C39/02

    CPC classification number: G05D1/0011 ,  B64C39/024 ,  B64C2201/042 ,  B64C2201/108 ,  B64C2201/127 ,  B64C2201/146 ,  G03B15/006 ,  G05D1/0038 ,  G05D1/0858

    Abstract: An aerial vehicle comprises one or more sensors to environmental data, a communication system to receive control inputs from a user, two or more actuators, with each actuator coupled to a rotary wing. The aerial vehicle also comprises a controller to determine a mode of the aerial vehicle based on the environmental data and the control inputs, each mode indicating a set of flight characteristics for the aerial vehicle, generate a gain value based on the mode, the gain value, when used to modify power signals transmitted to actuators of the aerial vehicle, causes the aerial vehicle to conform within the indicated flight characteristics of the determined mode, generate an output signal modified by the gain value based on the input signal, and transmit a power signal based on the output signal to each actuator of the aerial vehicle.

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