公开(公告)号：US12233859B2

公开(公告)日：2025-02-25

申请号：US18349550

申请日：2023-07-10

Applicant: SZ DJI TECHNOLOGY CO., LTD.

Inventor： Jinzhu Huang ,  Cong Zhao

IPC: B60W30/09 ,  B60R21/0134 ,  B60T7/22 ,  B60T8/1755 ,  B60W10/04 ,  B60W10/18 ,  B64U70/83 ,  G01V8/10 ,  G05D1/00 ,  G08G5/04 ,  B60R21/01 ,  B64U10/14 ,  B64U101/30

Abstract: A movable object for detecting an obstacle includes a first passive infrared sensor having a first detection range and a first field of view, and one or more second passive infrared sensors each having a second detection range and a second field of view. The second detection range is longer than the first detection range and the second field of view is smaller than the first field of view. The movable object further includes one or more processors configured to calculate a distance from the movable object to the obstacle based on data from at least one of the first passive infrared sensor or the one or more second passive infrared sensors, and determine whether to effect a collision avoidance maneuver for the movable object to avoid the obstacle based on the distance.

公开(公告)号：US12002221B2

公开(公告)日：2024-06-04

申请号：US17648179

申请日：2022-01-17

Applicant: SZ DJI TECHNOLOGY CO., LTD.

Inventor： Lei Pang ,  Cong Zhao ,  Liliang Zhang ,  Gao Zhu ,  Sijin Li ,  Yao Liu

IPC: G06K9/00 ,  G06F18/22 ,  G06T7/00 ,  G06T7/20 ,  G06T7/246 ,  G06V10/75 ,  G06V10/80 ,  G06V20/10 ,  G06V20/13 ,  G06V20/17 ,  G06V40/10

CPC classification number: G06T7/246 ,  G06F18/22 ,  G06T7/0012 ,  G06T7/20 ,  G06V10/757 ,  G06V10/806 ,  G06V20/10 ,  G06V20/13 ,  G06V20/17 ,  G06V40/10 ,  G06V40/103 ,  G06T2207/30196

Abstract: A control method for a mobile platform includes obtaining a captured image, determining a target first characteristic part of a target object from the captured image, determining a second characteristic part of the target object in the captured image, and switching from tracking the second characteristic part to tracking the target first characteristic part in response to a tracking parameter of the target object meeting a preset tracking condition.

公开(公告)号：US11693428B2

公开(公告)日：2023-07-04

申请号：US17457810

申请日：2021-12-06

Applicant: SZ DJI TECHNOLOGY CO., LTD.

Inventor： Peiliang Li ,  Xuyang Feng ,  Cong Zhao ,  Jie Qian ,  You Zhou

IPC: G05D1/04 ,  G05D1/06 ,  B64C39/02 ,  B64U70/00

CPC classification number: G05D1/042 ,  B64C39/024 ,  G05D1/0676 ,  B64U70/00

Abstract: A computer-implemented method for controlling an unmanned aerial vehicle (UAV) includes identifying a set of target markers based on a plurality of images captured by an imaging device carried by the UAV. The set of target markers includes at least two or more types of target markers that are in close proximity to be detected within a same field of view of the imaging device. The method further includes determining a spatial relationship between the UAV and the set of target markers based at least in part on the plurality of images, and controlling the UAV to approach the set of target markers based at least in part on the spatial relationship while controlling the imaging device to track the set of target markers such that the set of target markers remains within the same field of view of the imaging device.

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：US11572196B2

公开(公告)日：2023-02-07

申请号：US17189237

申请日：2021-03-01

Applicant: SZ DJI TECHNOLOGY CO., LTD.

Inventor： Jie Qian ,  Cong Zhao ,  You Zhou ,  Xuyang Feng ,  Junfeng Yu

IPC: H04N9/47 ,  B64D47/08 ,  B64C39/02 ,  G03B15/00 ,  G05D1/00

Abstract: A method for controlling a movable object is provided. A user input that includes a first parameter corresponding to a first coordinate system is received and an operation mode is determined. In response to determining the operation mode being a first operation mode, a second parameter corresponding to a second coordinate system is generated and the movable object is controlled to move based on the second parameter. In response to determining the operation mode being a second operation mode, the first parameter is translated to a third parameter corresponding to the second coordinate system and the movable object is controlled to move based on the third parameter.

公开(公告)号：US11513511B2

公开(公告)日：2022-11-29

申请号：US17061084

申请日：2020-10-01

Applicant: SZ DJI TECHNOLOGY CO., LTD.

Inventor： Peiliang Li ,  Jie Qian ,  Cong Zhao ,  Xuyang Feng ,  You Zhou

IPC: G05D1/02 ,  G05D1/00 ,  G08C17/00 ,  B64C39/02 ,  G05D1/10 ,  B64D13/06

Abstract: A control terminal for controlling an unmanned aerial vehicle (UAV) includes a processor and a storage medium storing instructions that, when executed by the processor, cause the processor to render an image on a user interface of the control terminal. The image is captured by an imaging device coupled to the UAV and is associated with a view of the imaging device. The instructions further cause the processor to detect, via the user interface, a gesture-based input including one or more reference points in the image and indicating a view change of the imaging device, determine a type of the gesture-based input by analyzing the one or more reference points, and generate control data based on the type of the gesture-based input to control at least one of the UAV or the imaging device for the view change of the imaging device.

公开(公告)号：US11365014B2

公开(公告)日：2022-06-21

申请号：US16239026

申请日：2019-01-03

Applicant: SZ DJI TECHNOLOGY CO., LTD.

Inventor： You Zhou ,  Jie Qian ,  Xuyang Feng ,  Cong Zhao ,  Jiaqi Yan

IPC: B64D47/02 ,  G05D1/00 ,  B64C39/02 ,  G05D1/12 ,  G08B7/06

Abstract: A method for acquiring a target for a movable object includes providing a solicitation signal in response to receiving an initialization signal, detecting an action by one or more potential candidates in response to the solicitation signal, and identifying a target from the one or more potential candidates based on the detected action.

公开(公告)号：US11249173B2

公开(公告)日：2022-02-15

申请号：US16694194

申请日：2019-11-25

Applicant: SZ DJI TECHNOLOGY CO., LTD.

Inventor： Zhenyu Zhu ,  Cong Zhao ,  Ketan Tang

IPC: G01S7/4865 ,  G01S17/26 ,  G01S17/86 ,  G01S17/894 ,  G06T3/40 ,  G06T5/50

Abstract: An imaging apparatus includes first and second imaging devices configured to capture first and second images of a scene, respectively. The first and second images include multiple first image blocks relative to a first coordinate system and multiple second image blocks relative to a second coordinate system, respectively. The apparatus further includes a processor configured to calibrate one or more first image blocks and one or more corresponding second image blocks using the first and second coordinate systems, convert each calibrated first image block to an intensity image and a first depth map, convert each calibrated second image block to a grayscale image, and generate a second depth map associated with the second image by enhancing a resolution of the first depth map for each calibrated first image block based on calculating a relationship between the intensity image and the grayscale image for each calibrated first and second image blocks.

公开(公告)号：US11194344B2

公开(公告)日：2021-12-07

申请号：US16285388

申请日：2019-02-26

Applicant: SZ DJI TECHNOLOGY CO., LTD.

Inventor： Peiliang Li ,  Xuyang Feng ,  Cong Zhao ,  Jie Qian ,  You Zhou

IPC: G05D1/04 ,  G05D1/06 ,  B64C39/02

Abstract: A computer-implemented method for controlling an unmanned aerial vehicle (UAV) includes detecting a target marker based on a plurality of images captured by an imaging device carried by the UAV, determining a spatial relationship between the UAV and the target marker based at least in part on the plurality of images, and controlling the UAV to approach the target marker based at least in part on the spatial relationship while controlling the imaging device to track the target marker such that the target marker remains within a field of view of the imaging device.

公开(公告)号：US11092975B2

公开(公告)日：2021-08-17

申请号：US16356620

申请日：2019-03-18

Applicant: SZ DJI TECHNOLOGY CO., LTD.

Inventor： Jie Qian ,  Cong Zhao ,  Junfeng Yu ,  Xuyang Feng ,  Ang Liu

IPC: G05D1/10 ,  G05D1/00 ,  B64C39/02 ,  G05D1/02 ,  G05D1/08 ,  G06K9/00 ,  G06T7/00

Abstract: A control method includes determining a relative relationship between a tracked object and a tracking device. The control method also includes acquiring motion information of the tracked object. The control method further includes based on the motion information and the relative relationship, controlling movement of a carrying device that carries the tracking device to enable the tracking device to track the tracked object.