公开(公告)号：US12236626B2

公开(公告)日：2025-02-25

申请号：US18328971

申请日：2023-06-05

Applicant: SZ DJI TECHNOLOGY CO., LTD.

Inventor： Cong Zhao ,  Shaojie Shen ,  Jie Qian ,  Xuyang Feng ,  Minjian Pang ,  Junfeng Yu

IPC: G06T7/593 ,  G06T7/20 ,  G06T7/70 ,  B64U101/30

Abstract: A method for controlling a movable object includes obtaining current location information of an obstacle while the movable object tracks a target, determining whether the obstacle is located in a reactive region relative to the movable object based on the current location information of the obstacle. In response to determining that the obstacle is located in the reactive region, the method further includes determining, based on the current location information of the obstacle, whether the obstacle is located in a first sub-region or a second sub-region of the reactive region, where an area of the second sub-region is smaller than an area of the first sub-region; in response to determining that the obstacle is located in the first sub-region, reducing an acceleration of the movable object; and in response to determining that the obstacle is located in the second sub-region, reducing a velocity of the movable object.

公开(公告)号：US12181879B2

公开(公告)日：2024-12-31

申请号：US17224391

申请日：2021-04-07

Applicant: SZ DJI TECHNOLOGY CO., LTD.

Inventor： Cong Zhao ,  Minjian Pang ,  Rui Li ,  You Zhou ,  Zhe Liu ,  Guyue Zhou

IPC: H04N23/00 ,  G01S3/786 ,  G05D1/00 ,  G06T7/20 ,  G06T7/246 ,  G06T7/70 ,  G06V20/10 ,  G06V20/13 ,  G06V20/17 ,  H04N23/68 ,  H04N23/695 ,  B64U101/31 ,  H04N23/60

Abstract: A method for controlling target tracking includes determining whether a tracking mode of a movable object is a manual tracking mode or an automatic tracking mode; when it is determined that the tracking mode is the manual tracking mode, determining a target for the movable object from one or more images based on a user input; when it is determined that the tracking mode is the automatic tracking mode, having the movable object determine the target automatically; and directing the movable object to track a target object using the target.

公开(公告)号：US11635775B2

公开(公告)日：2023-04-25

申请号：US16991739

申请日：2020-08-12

Applicant: SZ DJI TECHNOLOGY CO., LTD.

Inventor： Mingyu Wang ,  Tao Zhao ,  Yun Yu ,  Guyue Zhou ,  Ketan Tang ,  Cong Zhao ,  Ang Liu ,  You Zhou ,  Minjian Pang ,  Xiao Hu ,  Litian Zhang

IPC: G05D1/00 ,  B64C39/00 ,  G06F3/01 ,  G05D1/10 ,  G01S3/786 ,  G06T7/246 ,  H04N5/232 ,  G06V20/10 ,  G06V20/13 ,  G06T7/70 ,  B64C39/02 ,  G05D1/12 ,  G06T7/20

Abstract: A method for controlling an unmanned aerial vehicle (UAV) includes receiving, by a processor of the UAV, a plurality of images captured by an imaging device coupled to the UAV, identifying, by the processor, a target in at least one image of the plurality of images, determining, by the processor, whether the target is a stationary target or a moving target based on analyzing the plurality of images, and automatically effecting, by the processor, movement of the UAV based on determining the target is the stationary target or the moving target.

公开(公告)号：US10929999B2

公开(公告)日：2021-02-23

申请号：US16114968

申请日：2018-08-28

Applicant: SZ DJI TECHNOLOGY CO., LTD.

Inventor： Cong Zhao ,  Shaojie Shen ,  Jie Qian ,  Xuyang Feng ,  Minjian Pang ,  Junfeng Yu

IPC: G06T7/593 ,  G06T7/70 ,  G06T7/20 ,  B64C39/02

Abstract: A method for controlling a movable object includes obtaining current location information of an obstacle while the movable object tracks a target, and determining whether a location of the obstacle corresponds to a reactive region relative to the movable object based on the current location information of the obstacle. In response to determining that the location of the obstacle corresponds to the reactive region, one or more movement characteristics of the movable object is adjusted in a reactive manner to prevent the movable object from colliding with the obstacle. In response to determining that the location of the obstacle does not correspond to the reactive region, the one or more movement characteristics of the movable object is adjusted in a proactive manner to maintain a distance between the movable object and the obstacle to be larger than a predefined distance.

公开(公告)号：US10129478B2

公开(公告)日：2018-11-13

申请号：US15396022

申请日：2016-12-30

Applicant: SZ DJI TECHNOLOGY CO., LTD.

Inventor： Cong Zhao ,  Minjian Pang ,  Rui Li ,  You Zhou ,  Zhe Liu ,  Guyue Zhou

IPC: H04N5/232 ,  G06T7/70 ,  G06T7/20 ,  B64C39/02 ,  G05D1/12 ,  G05D1/00

Abstract: A method for supporting target tracking includes acquiring a target from one or more images captured by an imaging device carried by a movable object, obtaining a relative distance between the movable object and the target, and generating one or more control signals based on the relative distance to direct the movable object to track the target.

公开(公告)号：US11669987B2

公开(公告)日：2023-06-06

申请号：US17173051

申请日：2021-02-10

Applicant: SZ DJI TECHNOLOGY CO., LTD.

Inventor： Cong Zhao ,  Shaojie Shen ,  Jie Qian ,  Xuyang Feng ,  Minjian Pang ,  Junfeng Yu

IPC: G06T7/593 ,  G06T7/70 ,  G06T7/20 ,  B64C39/02

CPC classification number: G06T7/593 ,  G06T7/20 ,  G06T7/70 ,  B64C39/024 ,  G06T2207/30261

Abstract: A method for controlling a movable object includes obtaining current location information of an obstacle while the movable object tracks a target, determining whether the obstacle is located in a reactive region relative to the movable object based on the current location information of the obstacle, and, in response to determining that the obstacle is not located in the reactive region, selecting an optimized set of candidate movement characteristics having an optimized route optimization score from multiple sets of candidate movement characteristics, and adjusting one or more movement characteristics of the movable object based on the optimized set of candidate movement characteristics such that a distance between the movable object and the obstacle is maintained at or beyond a predefined distance. Each set of candidate movement characteristics among the multiple sets of candidate movement characteristics corresponds to a route optimization score.

公开(公告)号：US10976753B2

公开(公告)日：2021-04-13

申请号：US16188144

申请日：2018-11-12

Applicant: SZ DJI TECHNOLOGY CO., LTD.

Inventor： Cong Zhao ,  Minjian Pang ,  Rui Li ,  You Zhou ,  Zhe Liu ,  Guyue Zhou

IPC: H04N5/00 ,  G06T7/00 ,  G05D1/10 ,  G01S3/786 ,  G06K9/00 ,  G06T7/246 ,  H04N5/232 ,  G06T7/70 ,  B64C39/02 ,  G05D1/00 ,  G05D1/12 ,  G06T7/20

Abstract: A method for supporting target tracking includes obtaining a feature model for a target that represents imagery characteristics of the target, extracting one or more features from one or more images captured by an imaging device carried by a movable object, and applying the feature model on the one or more features to determine similarity between the one or more features and the feature model.

公开(公告)号：US20190011921A1

公开(公告)日：2019-01-10

申请号：US16067577

申请日：2015-10-30

Applicant: SZ DJI TECHNOLOGY CO., LTD.

Inventor： Mingyu Wang ,  Tao Zhao ,  Yun YU ,  Guyue Zhao ,  Ketan Tang ,  Cong Zhao ,  Ang Liu ,  You Zhou ,  Minjian Pang ,  Xiao Hu ,  Litian Zhang

IPC: G05D1/00 ,  G05D1/10

Abstract: A method for controlling a movable object comprise receiving an input indicative of a selected mode, wherein the selected mode is selected from a plurality of modes, and effecting movement of the movable object based on the selected mode. The plurality of modes may comprise at least a target mode and a directional mode. The movable object may be configured to move towards or follow a selected target when the selected mode is the target mode. The movable object may be configured to move in a selected direction when the selected mode is the directional mode. An apparatus, a medium and an UAV system are also provided.