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公开(公告)号：US12159539B2
公开(公告)日：2024-12-03
申请号：US17655046
申请日：2022-03-16
Applicant: AUTEL ROBOTICS CO., LTD.
Inventor： Yingjie Li , Gang Chen
Abstract: An unmanned aerial vehicle (UAV) return method and apparatus and a UAV. The method includes: performing real-time fusion to generate velocity information of the UAV; determining, through integrating the velocity information, displacement information of a current location of the UAV relative to a takeoff location; determining a return starting point location of the UAV according to the displacement information; obtaining a return instruction, and determining a return mode; and controlling, according to the return mode, the UAV to return from the return starting point location to the takeoff location. In the foregoing manner, the present invention resolves the technical problem of poor accuracy that a current UAV returns by relying on GPS location information, and improves the returning accuracy of the UAV.
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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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Patent Agency Ranking
3.发明授权公开(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
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.
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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
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.
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公开(公告)号：US20220238029A1
公开(公告)日：2022-07-28
申请号：US17655046
申请日：2022-03-16
Applicant: AUTEL ROBOTICS CO., LTD.
Inventor： Yingjie Li , Gang Chen
Abstract: An unmanned aerial vehicle (UAV) return method and apparatus and a UAV. The method includes: performing real-time fusion to generate velocity information of the UAV; determining, through integrating the velocity information, displacement information of a current location of the UAV relative to a takeoff location; determining a return starting point location of the UAV according to the displacement information; obtaining a return instruction, and determining a return mode; and controlling, according to the return mode, the UAV to return from the return starting point location to the takeoff location. In the foregoing manner, the present invention resolves the technical problem of poor accuracy that a current UAV returns by relying on GPS location information, and improves the returning accuracy of the UAV.
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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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7.发明申请公开(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
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.
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