US Pat. No. 10,151,965

MOTOR, GIMBAL, AND UNMANNED AERIAL VEHICLE

AUTEL ROBOTICS CO., LTD.,...

1. A gimbal, comprising:a lens module;
a first-axis motor assembly driving the lens module to rotate, wherein the first-axis motor assembly comprises a motor; and
a housing, wherein the housing accommodates the lens module and the first-axis motor assembly,
wherein the motor in the first-axis motor assembly comprises:
a first connection terminal, comprising a circuit board, wherein the circuit board comprises a coil circuit; and
a second connection terminal, comprising a permanent magnet, wherein the permanent magnet is adjacent to the coil circuit, wherein there is a gap between the permanent magnet and the coil circuit, and the permanent magnet has an axial magnetization structure, wherein
one of the first connection terminal and the second connection terminal is fixedly connected to the lens module and sleeved over the lens module, and the other of the first connection terminal and the second connection terminal is movably connected to the lens module and sleeved over the lens module.

US Pat. No. 10,414,514

AIRCRAFT CONTROL METHOD AND APPARATUS AND AIRCRAFT

AUTEL ROBOTICS CO., LTD.,...

1. An aircraft, comprising:a light emitting apparatus; and
a processor configured to:
obtain ambient luminance data, wherein the ambient luminance data indicates ambient luminance of an environment;
determine whether the ambient luminance data satisfies a luminance value required for normal running of a vision system of the aircraft;
determine whether a flight height of the aircraft is less than a preset low-altitude height threshold; and
adjust a working status of the light emitting apparatus based on a determination that the ambient luminance data does not satisfy the luminance value required for normal running of the vision system and that the flight height is less than the preset low-altitude height threshold.

US Pat. No. 10,674,549

METHOD AND APPARATUS FOR NETWORKING UNMANNED AERIAL VEHICLE AND SYSTEM FOR CONTROLLING UNMANNED AERIAL VEHICLE

AUTEL ROBOTICS CO., LTD.,...

1. A system for controlling an unmanned aerial vehicle, comprising an unmanned aerial vehicle and a control end, whereinthe unmanned aerial vehicle is configured to:
generate a service set identifier and a password after receiving a switching-on command or a connection command; and
monitor whether the control end enters an effective communication distance;
based on a determination that the control end enters the effective communication distance, send the service set identifier and the password to the control end by means of short-distance wireless communication;
the control end is configured to:
receive, by means of short-distance wireless communication, the service set identifier and the password that are sent by the unmanned aerial vehicle; and
network the unmanned aerial vehicle by using the currently received service set identifier and password.

US Pat. No. 10,710,717

MULTIROTOR AIRCRAFT AND A METHOD FOR CONTROLLING THE MULTIROTOR AIRCRAFT

AUTEL ROBOTICS CO., LTD.,...

1. A multirotor aircraft, comprising:a body and a H-shaped frame, wherein, the body is mounted with a bearing, a first person view camera and a servo mechanism, a end of each arm of the H-shaped frame far away from a lateral shaft thereof is mounted with an actuator assembly, the lateral shaft of the H-shaped frame is connected with the body by the bearing, and the servo mechanism is coupled with the lateral shaft of the H-shaped frame and is configured to control the rotation of the lateral shaft of the H-shaped frame, in order to control the angle between the body and the H-shaped frame: wherein each arm of the H-shaped frame is bent outward.

US Pat. No. 10,447,185

STARTING METHOD AND APPARATUS FOR PERMANENT MAGNET SYNCHRONOUS MOTOR, POWER SYSTEM, AND UNMANNED AERIAL VEHICLE

AUTEL ROBOTICS CO., LTD.,...

1. A starting method for a permanent magnet synchronous motor, wherein the method is performed by a motor controller, comprising:obtaining a current motor rotational speed and motor position information of the permanent magnet synchronous motor;
determining whether the current motor rotational speed is less than a preset minimum rotational speed, and if the current motor rotational speed is less than the preset minimum rotational speed, using the preset minimum rotational speed as a feedback rotational speed; otherwise, using the current motor rotational speed as a feedback rotational speed; and
performing closed-loop control on the permanent magnet synchronous motor according to the feedback rotational speed and the motor position information;
adjusting a value of the present minimum rotational speed when abnormal motor starting occurs.

US Pat. No. 10,373,505

METHOD AND SYSTEM FOR FAST UPLOAD OF AUTONOMOUS MISSION PLANS IN UNMANNED AERIAL VEHICLES

AUTEL ROBOTICS CO., LTD.,...

1. A method of programming an unmanned aerial vehicle (UAV) to perform autonomous flight operations, the method comprising:preparing, at a programming controller (PC), an updated mission flight plan (UMFP) that comprises an updated mission identification (UMID), updated sequential destination operations (USDOs), and updated waypoint identifications (UWIDs);
querying from the PC to the UAV to output a stored mission identification (SMID), wherein the UAV comprises a stored mission flight plan (SMFP) that comprises the stored mission identification (SMID), stored sequential destination operations (SSDOs), and stored waypoint identifications (SWIDs);
outputting from the UAV to the PC the SMID;
generating instructions, at the PC, for modifying the SMFP to match that of the UMFP when the outputted SMID does not match that the UMID;
uploading the generated instructions to the UAV from the PC for modifying the SMFP in the UAV to matches the UMFP in the PC; and
enabling the UAV to perform autonomous flight operations in accordance to the SMFP when the PC determines that the outputted SMID matches that of the UMID.

US Pat. No. 10,298,848

MOTOR, GIMBAL AND AIRCRAFT

AUTEL ROBOTICS CO., LTD.,...

1. A motor, comprising:a rotation shaft comprising a first end portion, a second end portion and a middle portion connecting the first end portion to the second end portion;
a first bearing;
a base connected to the first end portion by using the first bearing;
a stator assembly;
a stator bearing; and
a rotor assembly that is used for driving an external member to rotate;
wherein the stator bearing and the rotor assembly are disposed on the middle portion;
wherein the stator bearing, the rotor assembly and the first bearing are sequentially arranged along an axial direction of the rotation shaft, and the stator assembly being connected to the rotation shaft by using the stator bearing;
wherein the rotation shaft is enclosed in a cavity formed by the base, the stator assembly and the rotor assembly.

US Pat. No. 10,287,032

UNMANNED AERIAL VEHICLE, IMAGE PHOTOGRAPHING APPARATUS AND GIMBAL THEREOF

AUTEL ROBOTICS CO., LTD.,...

1. A gimbal, configured to mount a photographing device, the gimbal comprising:a main body;
a mounting shaft, connected to the main body, and
a base, disposed on the mounting shaft, the base being configured to fasten the photographing device;
the gimbal further comprising:
a fixing plate, disposed on the base, and
a circuit board, mounted between the fixing plate and the base, the circuit board being provided with a USB input interface and a USB output interface, the USB input interface being configured to form a data transmission connection to the photographing device, and the USB output interface being configured to be connected to an external storage device.

US Pat. No. 10,266,264

UNMANNED AERIAL VEHICLE

AUTEL ROBOTICS CO., LTD.,...

1. An unmanned aerial vehicle, comprising:a fuselage having a battery accommodation cavity, wherein the battery accommodation cavity comprises at least two openings;
a plurality of arms, wherein each arm is coupled to the fuselage, wherein each of the at least two openings is located between two neighboring arms of the plurality of arms;
a propulsion assembly mounted on the each arm, wherein the propulsion assembly comprises a propeller and a motor, the motor being configured to rotate the propeller in order to generate lift force;
an electronic board disposed inside the fuselage, wherein the electronic board comprises at least one of a flight control board, an electronic speed control board, a steering driving board and a radar electronic board; and
at least two battery blocks, wherein each of the at least two battery blocks comprises a battery housing and a battery disposed in the battery housing;
wherein the each of the at least two battery blocks is inserted into the battery accommodation cavity via one of the at least two openings;
wherein at least a portion of the each of the at least two battery blocks is visible in a state where the each of the at least two battery blocks is completely installed into the battery accommodation cavity;
wherein the at least two battery blocks power the electronic board at the same time.

US Pat. No. 10,550,991

CLAMPING APPARATUS AND UNMANNED AERIAL VEHICLE GIMBAL

AUTEL ROBOTICS CO., LTD.,...

1. A clamping apparatus, which comprises:a carrier portion, which is formed on a panel, wherein a track slot is formed in a length direction in the carrier portion;
a movable unit, mounted at an end of the carrier portion and capable of being separated from the carrier portion along a length direction of the track slot; and
a clamping unit, mounted on a movable unit and configured to prevent a clamped object from being separated from the carrier portion;
wherein the movable unit comprises:
a first sliding component and a second sliding component disposed in the carrier portion, wherein the first sliding component extends out of an end of the carrier portion along the length direction of the track slot and the second sliding component extends out of the other end of the carrier portion along the length direction of the track slot;
a first connecting member and a second connecting member, wherein the first connecting member is disposed at an end of the first sliding component, the second connecting member is disposed at an end of the second sliding component;
wherein the clamping unit comprises a swing component mounted on the first connecting member and a clamping member mounted to the second connecting member;
wherein the swing component comprises two swing rods, each of the two swing rods has one end connected to the first connecting member by using a rotating shaft, each of the two swing rods comprises two stopping members disposed at two ends of the swing rod, when the clamped object being placed on the carrier portion, a portion of the clamped object protruding into a position between the swing rod and the stopping member so that preventing the clamped object from being separated from the carrier portion in a horizontal direction and a vertical direction;
wherein one end of the clamping member is rotabably connected to the second connecting member by using a L-shaped panel in such a manner that when the clamping member is rotated to a first position, the clamping member prevents the clamped object from being separated from the carrier portion in the vertical direction, and when the clamping member is rotated to a second position, the clamping member prevents the clamped object from being separated from the carrier portion in the horizontal direction.

US Pat. No. 10,185,348

JOYSTICK STRUCTURE AND REMOTE CONTROLLER

AUTEL ROBOTICS CO., LTD.,...

1. A remote controller, comprising:a base; and
a joystick structure disposed on the base, the joystick structure comprising a joystick having an insertion portion, and a cartridge provided with a hollow portion;
wherein the cartridge comprises a buckle portion used to clamp the insertion portion when the joystick is inserted into the hollow portion;
wherein the buckle portion comprises:
an abutting member buckle-connected to the insertion portion; and
an elastic member sleeved outside the abutting member, wherein the joystick presses against the abutting member in a state where an external tension force is applied to the joystick, so that the elastic member deforms to cause the abutting member to slide out from the insertion portion and the insertion portion is detached from the buckle portion.

US Pat. No. 10,317,898

REMOTE CONTROL AND FLYING APPARATUS

AUTEL ROBOTICS CO., LTD.,...

1. A remote control, comprising:a remote control body; and
a display assembly comprising
a display screen;
a cover bottom plate;
a screen fixing bracket, wherein the display assembly is rotatably connected to the remote control body; and
a plurality of first antennas disposed in the display assembly;
wherein one of the first antennas fixed on an inner side of the screen fixing bracket is embedded into a first clamping slot and is fastened by a first buckle, and another of the first antennas is fixed on the cover bottom plate;
wherein the first clamping slot and the first buckle are disposed in the display assembly, the first buckle being disposed on two sides of the first clamping slot;
wherein the remote control body comprises a second antenna being embedded into a second clamping slot and being fastened by a second buckle, wherein the second clamping slot and the second buckle are disposed in the remote control body, and the second buckle is disposed on two sides of the second clamping slot.

US Pat. No. 10,468,775

ANTENNA ASSEMBLY, WIRELESS COMMUNICATIONS ELECTRONIC DEVICE AND REMOTE CONTROL HAVING THE SAME

AUTEL ROBOTICS CO., LTD.,...

1. An antenna assembly, disposed in a wireless communications electronic device, the wireless communications electronic device being provided with a substrate, wherein the antenna assembly comprises:a radiation element disposed at a first surface of the substrate;
a feeder electrically connected to the radiation element; and
a reference ground disposed at a second surface of the substrate;
wherein the antenna assembly comprises at least two radiation elements;
wherein the feeder comprises a microstrip feeder and at least two power division microstrips, and the number of the power division microstrips is equal to that of the radiation elements;
wherein one end of each of the power division microstrips is connected to a corresponding radiation element, and the other end of the each of the power division microstrips is connected to the microstrip feeder.

US Pat. No. 10,234,873

FLIGHT DEVICE, FLIGHT CONTROL SYSTEM AND METHOD

AUTEL ROBOTICS CO., LTD.,...

1. A flight device, comprising:a processor; and
a memory communicably connected with the processor, the memory storing instructions, wherein when execution of the instructions by the processor causes the processor to:
acquire an image captured by a binocular camera module of the flight device;
determine a scene in which the flight device is currently located;
determine a height of the flight device according to depth-of-field information of the image captured by the binocular camera module;
calculate an image first direction offset and an image second direction offset of a second image frame of two adjacent image frames relative to a first image frame of the two adjacent image frames, according to the two adjacent image frames captured by the binocular camera module and the scene in which the flight device is currently located;
acquire an acceleration and an angular velocity of the flight device in three dimensions that are detected by an acceleration sensor of the flight device; and compensating for the image first direction offset and the image second direction offset, according to the acceleration and the angular velocity of the flight device, so as to obtain image correction offsets comprising a corrected image first direction offset and a corrected image second direction offset; and
calculate a first direction offset and a second direction offset in world coordinates corresponding to the image correction offsets according to a lens focal length of the binocular camera module, a height of the flight device and the image correction offsets; and deriving a velocity of the flight device according to a time interval between time points at which the two adjacent image frames are captured and according to the first direction offset and the second direction offset in world coordinates.

US Pat. No. 9,979,000

BATTERY USED FOR UNMANNED AERIAL VEHICLE AND AN UNMANNED AERIAL VEHICLE

AUTEL ROBOTICS CO., LTD.,...

1. A multi-rotor unmanned aerial vehicle, comprising:a main body comprising a battery compartment;
four arms, wherein each arm is coupled to the main body;
a propulsion assembly disposed on the each arm, wherein the propulsion assembly comprises a propeller and a motor, the motor being configured to drive the propeller to rotate in order to generate lift force;
a battery accommodated in the battery compartment, and the battery comprising a shell and a battery body disposed in the shell;
a clamp button disposed on the shell, wherein one end of the clamp button is mounted on the shell and the other end of the clamp button is detachably coupled to the main body; and
a restorable elastic piece disposed on an inner side of the clamp button;
wherein one end of the restorable elastic piece is disposed on the shell and the other end of the restorable elastic piece is fixed with the clamp button:
wherein the battery compartment comprises a clamping portion configured to detachably connect to the clamp button;
wherein the clamp button is configured to cause the restorable elastic piece to be pressed down in a first state where the battery is not completely pushed into the battery compartment or is only partially positioned in the battery compartment;
wherein in a second state where the batter is completely pushed or positioned into the battery compartment, the restorable elastic piece is configured to automatically rebound so that (a) the clamp button is able to return back to its original place and (b) the battery is able to be stuck by the cooperation of the clamping portion and the clamp button.

US Pat. No. 10,710,707

UNMANNED AERIAL VEHICLE

AUTEL ROBOTICS CO., LTD, ...

1. An unmanned aerial vehicle, comprising:a vehicle body comprising a first positioning device;
a landing gear configured to detach from the vehicle body,
wherein when the landing gear is detached from the vehicle body, the vehicle body determines a position of the landing gear by using the first positioning device, and
wherein the landing gear has a groove configured to provide a place for parking of the vehicle body;
wherein the vehicle body further comprises a transparent housing having a shape matches a shape of the groove; and
wherein the groove supports the transparent housing for the parking of the vehicle body.

US Pat. No. 10,150,577

UNMANNED AERIAL VEHICLE, IMAGE PHOTOGRAPHING APPARATUS AND GIMBAL THEREOF

AUTEL ROBOTICS CO., LTD.,...

1. A gimbal, configured to mount a photographing device, the gimbal comprising:a main body;
a mounting shaft, connected to the main body, and
a base, disposed on the mounting shaft, the base being configured to fasten the photographing device;
the gimbal further comprising:
a fixing plate, disposed on the base, and
a circuit board, mounted between the fixing plate and the base, the circuit board being provided with a USB input interface and a USB output interface, the USB input interface being configured to form a data transmission connection to the photographing device, and the USB output interface being configured to be connected to an external storage device.

US Pat. No. 10,705,524

TASK EXECUTION METHOD AND DEVICE, MOVEABLE OBJECT AND COMPUTER READABLE STORAGE MEDIUM

AUTEL ROBOTICS CO., LTD.,...

1. A task execution method, applied to a moveable object, and comprising: obtaining a task list, wherein the task list comprises at least two to-be-executed tasks; determining a task mode, wherein the task mode comprises a task set mode and a task flow mode, the task set mode refers to that the moveable object executes the at least two to-be-executed tasks according to an optimal path, and the task flow mode refers to that the moveable object executes the at least two to-be-executed tasks according to a user-specified sequence; and executing the at least two to-be-executed tasks according to the determined task mode, wherein the executing the at least two to-be-executed tasks according to the determined task mode comprises: determining, when one of the at least two to-be-executed tasks is completed, whether remaining energy of the moveable object is capable of supporting the moveable object in completing a task that has not been completed in the at least two to-be-executed tasks and returning; and if the remaining energy of the moveable object is not capable of supporting the moveable object in completing the task that has not been completed in the at least two to-be-executed tasks and returning, sending a prompt warning of insufficient energy to a control terminal, determining whether a number of times of sending the prompt warning of insufficient energy to the control terminal exceeds a preset threshold and if the number of times or a duration of sending the prompt warning of insufficient energy to the control terminal exceeds the preset threshold, control the moveable object to cancel execution of the task that has not been completed and return the movable object automatically; after the determination of whether the number of times of sending the prompt warning of insufficient energy to the control terminal exceeds the preset threshold, determine a task that has not been completed in the task list and if the remaining energy of the movable object is capable of completing the task that has not been completed, perform a next task in the task list by the movable object according to the determined task mode.

US Pat. No. 10,577,101

WATER SURFACE DETECTION METHOD AND APPARATUS, UNMANNED AERIAL VEHICLE LANDING METHOD AND APPARATUS AND UNMANNED AERIAL VEHICLE

AUTEL ROBOTICS CO., LTD.,...

1. A water surface detection method, applied to an unmanned aerial vehicle, wherein the detection method comprises:controlling the unmanned aerial vehicle to generate an airflow, wherein the airflow is used to generate a water surface ripple;
obtaining an image of a landing area of the unmanned aerial vehicle and a flight parameter of the unmanned aerial vehicle; and
processing the image, and determining, with reference to the flight parameter, whether the landing area has the water surface ripple;
wherein the processing the image, and determining, with reference to the flight parameter, whether the landing area has the water surface ripple comprises:
performing edge detection on the image to obtain a first sub-image;
obtaining a wavelength range of the water surface ripple according to the flight parameter;
filtering the first sub-image according to the wavelength range to obtain a ripple corresponding to the wavelength range;
calculating reliability of the ripple according to a vision algorithm and determining whether the reliability is greater than a preset threshold; and
if the reliability is greater than the preset threshold, determining that the landing area is a water surface.

US Pat. No. 10,399,699

AIRCRAFT CONTROL METHOD AND APPARATUS AND AIRCRAFT

AUTEL ROBOTICS CO., LTD.,...

1. An aircraft, comprising:a camera;
a sensor configured to detect a flight height of the aircraft;
a light emitting apparatus; and
a processor configured to:
obtain ambient luminance data by using the camera, wherein the ambient luminance data indicates ambient luminance of an environment;
determine whether the flight height is less than a preset low-altitude height threshold;
determine whether the aircraft is in a low-light environment based on the ambient luminance data; and
adjust a working status of the light emitting apparatus based on a determination that the flight height is less than the preset low-altitude height threshold and that the aircraft is in the low-light environment.

US Pat. No. 10,141,823

MOTOR, GIMBAL, AND MECHANICAL ARM HAVING THE SAME

AUTEL ROBOTICS CO., LTD.,...

1. A motor, comprising;a support;
a circuit board, installed on the support, wherein the circuit board comprises a substrate and a coil circuit disposed on the substrate, and the circuit board further comprises a drive control chip, a power circuit, and detection circuit, the drive control chip, the power circuit, and the detection circuit all being disposed on the substrate; wherein the detection circuit is configured to detect location information of a rotor of the motor; and wherein the power circuit is electrically connected to the coil circuit, the drive control chip being electrically connected to the power circuit and the detection circuit, and the drive control chip is configured to control the power circuit according to the location information of the rotor fed back by the detection circuit;
a rotating shaft, wherein the support is sleeved on the rotating shaft;
a support plate installed on one end of the rotating shaft; and
a permanent magnet, disposed on the support plate and adjacent to the coil circuit,
wherein the coil circuit faces the permanent magnet and there is a gap between the permanent magnet and the coil circuit, and the permanent magnet is of an axially magnetized structure.

US Pat. No. 10,551,725

PHOTOGRAPHIC ASSEMBLY AND UNMANNED AERIAL VEHICLE

AUTEL ROBOTICS CO., LTD.,...

1. A photographic assembly, comprising:a pitch motor, comprising a first stator portion and a first rotor portion coupled to the first stator portion, wherein the first rotor portion is capable of rotating around a pitch axis relative to the first stator portion;
a roll motor, comprising a second stator portion and a second rotor portion coupled to the second stator portion, wherein the second rotor portion is capable of rotating around a roll axis relative to the second stator portion; and
a camera, the camera being coupled to the second rotor portion of the roll motor, an optical axis of the camera being coincides with or parallel to the roll axis;
wherein the first rotor portion of the pitch motor is coupled to the second stator portion of the roll motor by a pitch axis connection arm;
wherein the pitch axis connection arm comprises a first arm and a second arm connected to the second arm;
wherein the first arm is connected to the first rotor portion of the pitch motor and the first arm is substantially parallel to the roll axis;
wherein the second arm is connected to the second stator portion of the roll motor and the second arm is substantially perpendicular to the roll axis;
wherein a distance between, the first arm and the roll axis is greater than a maximum radius that the camera rotates around the roll axis.

US Pat. No. 10,684,640

JOYSTICK DEVICE AND REMOTE CONTROL HAVING THE SAME

AUTEL ROBOTICS CO., LTD.,...

1. A joystick device, comprising:an operating rod assembly;
a first magnetic component, the first magnetic component being mounted to the operating rod assembly;
a first circuit board, comprising a first magnetic sensor, the first magnetic sensor facing the first magnetic component, the first magnetic component being capable of moving from an initial position relative to the first magnetic sensor along a first direction or a second direction when driven by the operating rod assembly, and the first direction being opposite to the second direction; and
a first reset assembly, the first reset assembly being connected to the operating rod assembly, and the first reset assembly being configured to reset the operating rod assembly along the second direction or the first direction, so that the first magnetic component is reset to the initial position;
wherein the first magnetic component is capable of linearly moving from the initial position relative to the first magnetic sensor along the first direction or the second direction when driven by the operating rod assembly; and
the joystick device comprises:
a second magnetic component, the second magnetic component being mounted to the operating rod assembly;
a second circuit board, comprising a second magnetic sensor, the second magnetic sensor facing the second magnetic component, and the second magnetic component being capable of rotating from an initial position relative to the second magnetic sensor along a third rotation direction or a fourth rotation direction when driven by the operating rod assembly; and
a second reset assembly, the second reset assembly being connected to the operating rod assembly, and the second reset assembly being configured to reset the operating rod assembly along the fourth rotation direction or the third rotation direction, so that the second magnetic component is reset to the initial position.

US Pat. No. 10,620,624

REMOTE CONTROL AND FLYING APPARATUS

AUTEL ROBOTICS CO., LTD.,...

1. A remote control, comprising:a remote control body; and
a display assembly comprising:
a display screen;
a cover bottom plate;
a screen fixing bracket; and
a plurality of first antennas disposed in the display assembly;
wherein one of the first antennas fixed on an inner side of the screen fixing bracket is embedded into a first clamping slot and is fastened by a first buckle, and another of the first antennas is fixed on the cover bottom plate;
wherein the first clamping slot and the first buckle are disposed in the display assembly, the first buckle being disposed on two sides of the first clamping slot;
wherein the remote control body comprises a second antenna being embedded into a second clamping slot and being fastened by a second buckle, wherein the second clamping slot and the second buckle are disposed in the remote control body, and the second buckle is disposed on two sides of the second clamping slot.

US Pat. No. 10,585,336

CENTROID ADJUSTMENT MECHANISM OF PAN-TILT-ZOOM CAMERA, PAN-TILT-ZOOM, AND AERIAL VEHICLE

AUTEL ROBOTICS CO., LTD, ...

1. A centroid adjustment mechanism of a pan-tilt-zoom camera, comprising:a camera base;
a slide platform located below the camera base;
an X axis direction centroid adjustment mechanism for driving the camera base to move along a X direction;
a Y axis direction centroid adjustment mechanism for driving the camera base to move along a Y direction; and
a Z axis direction centroid adjustment mechanism for driving the camera base to move along a Z direction;
the X axis direction centroid adjustment mechanism, the Y axis direction centroid adjustment mechanism and the Z axis direction centroid adjustment mechanism adjust a camera centroid in the X direction, Y direction and Z direction respectively, in a working manner of meshing a gear with a rack.

US Pat. No. 10,442,533

BATTERY USED FOR UNMANNED AERIAL VEHICLE AND UNMANNED AERIAL VEHICLE

AUTEL ROBOTICS CO., LTD.,...

1. An unmanned aerial vehicle, comprising:a main body comprising a battery compartment;
a plurality of arms, wherein each arm is coupled to the main body and extends laterally from the main body;
a propulsion assembly disposed on the each arm, wherein the propulsion assembly comprises a propeller, the propeller comprising two rotor blades; and
a battery assembly capable of being accommodated in the battery compartment;
wherein the battery assembly comprises:
a shell;
a battery body substantially disposed in the shell;
a clamp button, wherein a first end of the clamp button is mounted directly or indirectly to the shell and a second end of the clamp button is capable of being detachably coupled to the main body; and
a restorable elastic piece, wherein a first end of the restorable elastic piece is disposed on the shell or connects directly or indirectly to the shell, a second end of the restorable elastic piece contacting the clamp button;
wherein the battery compartment comprises a clamping portion, the second end of the clamp button defining a hook configured to engage the clamping portion of the battery compartment.

US Pat. No. 10,407,171

UNMANNED AERIAL VEHICLE

AUTEL ROBOTICS CO., LTD.,...

1. An unmanned aerial vehicle, comprising:a fuselage having a battery accommodation cavity, wherein the battery accommodation cavity comprises an opening;
a plurality of arms, wherein each arm is coupled to the fuselage;
a propulsion assembly mounted on the each arm, wherein the propulsion assembly comprises a propeller and a motor, the motor being configured to rotate the propeller in order to generate lift force;
at least two battery blocks configured to be installed in the battery accommodation cavity, wherein each of the at least two battery blocks comprises a battery housing and a battery disposed in the battery housing; and
an electronic board;
wherein the at least two battery blocks are configured to power the electronic board at the same time;
wherein the each of the at least two battery blocks is configured to be inserted into the battery accommodation cavity via the opening;
wherein at least a portion of the each of the at least two battery blocks is visible in a state where the each of the at least two battery blocks is installed into the battery accommodation cavity.

US Pat. No. 10,545,392

GIMBAL AND UNMANNED AERIAL VEHICLE AND CONTROL METHOD THEREOF

AUTEL ROBOTICS CO., LTD.,...

1. A gimbal, comprising:a support;
a first camera;
a second camera;
a roll axis motor assembly, wherein the roll axis motor assembly comprises a roll axis motor stator hinged to the support and a roll axis motor rotor configured to rotate around a roll axis relative to the roll axis motor stator, the roll axis motor stator being located in the middle of the roll axis motor assembly, the first camera and the second camera being disposed at two ends of the roll axis motor rotor and face opposite directions, wherein the roll axis motor assembly is configured to drive the first camera and the second camera to rotate around the roll axis of the roll axis motor assembly; and
a pitch axis motor assembly, mounted on the support and connected to the roll axis motor stator, wherein the pitch axis motor assembly is configured to drive the roll axis motor assembly, the first camera and the second camera to rotate around a pitch axis of pitch axis motor assembly.

US Pat. No. 10,759,526

POWER ASSEMBLY AND AIRCRAFT

AUTEL ROBOTICS CO., LTD.,...

1. A power assembly, comprising:a motor, comprising a base body and a motor rotation shaft connected to the base body;
a fixing base, sleeved over the motor rotation shaft and connected to the base body, wherein the fixing base is provided with a first clamping portion; and
a propeller, comprising a base portion and a blade extending from the base portion, wherein the base portion is provided with a second clamping portion clamped to the first clamping portion, and the base portion is sleeved over the rotation shaft and is connected to the fixing base by clamping engagement between the first clamping portion and the second clamping portion;
wherein the power assembly further comprises an elastic component sleeved over the motor rotation shaft, the elastic component is a variable-diameter spring;
wherein one end of the elastic component abuts against a bottom surface of the base portion facing the base body, and the other end of the elastic component abuts against a base body of the motor;
wherein the power assembly further comprises a blocking ring sleeved over the motor rotation shaft and located above the elastic component, wherein one side of the blocking ring abuts against the base portion, and the other side of the blocking ring abuts against one end of the elastic component;
wherein a through hole is provided at the center of the blocking ring, and two arc-shaped gaps are further provided in the circumference of the blocking ring.

US Pat. No. 10,404,143

APPARATUS FOR DETECTING ANGULAR DISPLACEMENT, SYSTEM FOR CONTROLLING ROTATION ANGLE OF MOTOR, GIMBAL, AND AIRCRAFT

AUTEL ROBOTICS CO., LTD.,...

1. A gimbal, comprising:a frame;
a motor coupled to the frame;
a photographing apparatus coupled to the motor, the photographing apparatus being driven to rotate about an axis by the motor;
an apparatus for detecting an angular displacement of the motor; and
a controller, the controller controlling the angular displacement of the motor according to a detection result of the apparatus; wherein
the apparatus comprising:
a combined magnet, coupled to a rotator of the motor and comprising a first magnet, a weak magnetic layer and a second magnet that are sequentially stacked, magnetic pole directions of the first magnet and the second magnet being opposite and parallel to the weak magnetic layer; and
a Hall sensor, used to detect the angular displacement of the combined magnet, the hall sensor being disposed opposite to the combined magnet and electrically connected to the controller.

US Pat. No. 10,341,573

AIRCRAFT CONTROL METHOD AND APPARATUS AND AIRCRAFT

AUTEL ROBOTICS CO., LTD.,...

1. A method of controlling an aircraft, comprising:obtaining ambient luminance data, wherein the ambient luminance data indicates ambient luminance of an environment, wherein the aircraft is located in the environment;
determining a flight height of the aircraft;
determining whether the flight height is less than a preset low-altitude height threshold;
determining whether the ambient luminance data satisfies a luminance value required for normal running of a vision system of the aircraft; and
based on a determination that the flight height is less than the preset low-altitude height threshold and that the ambient luminance data fails to satisfy the luminance value, adjusting a working status of a light emitting apparatus on the aircraft.

US Pat. No. 10,906,643

UNMANNED AERIAL VEHICLE

AUTEL ROBOTICS CO., LTD.,...

1. An unmanned aerial vehicle, comprising:a fuselage having a battery accommodation cavity, wherein the battery accommodation cavity comprises at least two openings;
a plurality of arms, wherein each arm is coupled to the fuselage;
a propulsion assembly mounted on the each arm, wherein the propulsion assembly comprises a propeller and a motor, the motor being configured to rotate the propeller in order to generate lift force;
at least two battery blocks configured to be installed in the battery accommodation cavity, wherein each of the at least two battery blocks comprises a battery housing and a battery disposed in the battery housing; and
an electronic board disposed inside the fuselage;
wherein the each of the at least two battery blocks is configured to be inserted into the battery accommodation cavity via one of the at least two openings;
wherein at least a portion of the each of the at least two battery blocks is visible in a state where the each of the at least two battery blocks is installed into the battery accommodation cavity.

US Pat. No. 10,796,148

AIRCRAFT LANDING PROTECTION METHOD AND APPARATUS, AND AIRCRAFT

AUTEL ROBOTICS CO., LTD.,...

1. An aircraft landing protection method, comprising:obtaining an image of a landing area;
determining a feature point in the image;
determining, according to the feature point, whether the landing area is a dangerous landing area; and
controlling the aircraft to suspend landing or controlling the aircraft to fly away from the dangerous landing area;
wherein the feature point refers to a point whose image grayscale value changes sharply or a point with relatively large curvature at an edge of the image; the feature point represents an intrinsic feature of the image, and is used to identify a target object in the image; the dangerous landing area refers to any area that is not suitable for landing of the aircraft,
wherein the determining, according to the feature point, whether the landing area is the dangerous landing area comprises:
determining whether a quantity of the feature points in the image is less than or equal to a first preset threshold of the quantity of the feature points.

US Pat. No. 10,752,354

REMOTE CONTROL FOR IMPLEMENTING IMAGE PROCESSING, UNMANNED AIRCRAFT SYSTEM AND IMAGE PROCESSING METHOD FOR UNMANNED AERIAL VEHICLE

AUTEL ROBOTICS CO., LTD.,...

1. A remote control for implementing image processing, comprising a remote control controller, an image transmission unit and a data transmission unit, and further comprising:a system processor, connected to the remote control controller and the image transmission unit, and configured to process an image transmitted by the image transmission unit; and
a display unit, connected to the system processor, and configured to edit the image processed by the system processor, wherein
the remote control controller exchanges system data with the system processor, to implement function operations of the remote control, and the image transmission unit sends image data obtained from an unmanned aerial vehicle to the system processor, to edit the image data on the display unit connected to the system processor.

US Pat. No. 10,740,607

METHOD FOR DETERMINING TARGET THROUGH INTELLIGENT FOLLOWING OF UNMANNED AERIAL VEHICLE, UNMANNED AERIAL VEHICLE AND REMOTE CONTROL

AUTEL ROBOTICS CO., LTD.,...

1. A method for determining a target through intelligent following of an unmanned aerial vehicle, applied to an electronic device, wherein the method comprises:obtaining, by the electronic device, an image returned by an unmanned aerial vehicle;
obtaining, by the electronic device according to a click of a user on the image returned by the unmanned aerial vehicle, a region picture in which the user is interested;
loading, by the electronic device, a deep learning network model, inputting the obtained region picture to the deep learning network model, and outputting, by using the deep learning network model, a plurality of candidate circumscribed frames for framing targets in the region picture and probabilities that the targets in the candidate circumscribed frames belong to preset categories;
determining, according to the candidate circumscribed frames and the probabilities that the targets in the candidate circumscribed frames belong to the preset categories, whether a target image exists in the region picture; and
sending a target following command to the unmanned aerial vehicle if a target image exists;
wherein the determining, according to the candidate circumscribed frames and the probabilities that the targets in the candidate circumscribed frames belong to the preset categories, whether the target image exists in the region picture comprises:
S1: for each of the preset categories, obtaining a candidate circumscribed frame corresponding to a target whose probability of belonging to the preset categories is maximum, separately calculating overlapping rates of other candidate circumscribed frames relative to the candidate circumscribed frame, and setting a probability that a target in a candidate circumscribed frame whose overlapping rate is greater than a first preset threshold belongs to the preset categories to zero;
S2: for other preset categories, repeating step S1;
S3: for each candidate circumscribed frame remaining after executing step S2, obtaining a preset category corresponding to a maximum probability of probabilities that a target in the candidate circumscribed frame belongs to the preset categories to serve as a category of the target in the candidate circumscribed frame, and using a target whose maximum probability is greater than a second preset threshold as a possible target image;
S4: calculating a distance coefficient of the possible target image relative to a click location of the user, wherein the distance coefficient ? is represented as:

wherein coordinate of the possible target image is (xo, yo), and coordinate of the click location is (xp, yp); and
S5, obtaining products of distance coefficients of possible target images and probabilities corresponding to categories of the possible target images and finding a maximum value of the products; and if the maximum value is greater than a third preset threshold, using a possible target image corresponding to the maximum value of the products as the target image, and recording a category of the target image.

US Pat. No. 10,730,619

ARM AND UNMANNED AERIAL VEHICLE

AUTEL ROBOTICS CO., LTD.,...

1. An arm, applied to an unmanned aerial vehicle, wherein the unmanned aerial vehicle comprises a vehicle body and the arm comprising:a principal vehicle arm, wherein the principal arm is mounted on the vehicle body and the principal arm is rotatable relative to the vehicle body; and
an auxiliary arm, wherein one end of the auxiliary arm is connected to the principal arm and the auxiliary arm is rotatable relative to the principal arm;
wherein the number of the arms is two and each arm comprises one principal arm, two auxiliary arms and one connector, two respective ends of the two principal arms respectively mounted on two opposite sides of the vehicle body, the principal arms capable of rotating relative to the vehicle body and the other end of the principal arm hingedly connected to the connector;
a plane on which tracks formed by rotating of each principal arm is perpendicular to a plane on which tracks formed by rotating of an auxiliary arm on the same side of the vehicle body.

US Pat. No. 10,707,572

ANTENNA AND UNMANNED AERIAL VEHICLE

AUTEL ROBOTICS CO., LTD.,...

1. An unmanned aerial vehicle, comprising:a vehicle body;
an arm rotatably connected to the vehicle body, wherein the arm is folded or unfolded relative to the vehicle body;
a power apparatus disposed on an end of the arm, wherein the end of the arm is an end far away from the vehicle body, wherein the power apparatus comprises a drive apparatus mounted on the arm and a propeller mounted on the drive apparatus;
a camera apparatus mounted on the vehicle body, wherein the camera apparatus is configured to capture an image; and
a landing gear having a built-in antenna, wherein the landing gear is mounted below the power apparatus;
wherein the landing gear is configured to rotate relative to the power apparatus so that an angle between the landing gear and the arm is adjustable.

US Pat. No. 10,672,283

OBSTACLE AVOIDANCE METHOD AND DEVICE, MOVEABLE OBJECT AND COMPUTER READABLE STORAGE MEDIUM

AUTEL ROBOTICS CO., LTD.,...

1. An obstacle avoidance method, applied to a moveable object, and comprising: obtaining a depth value of a spot in an area containing an obstacle, the depth value representing a distance between the spot and the moveable object;judging, according to the depth value, whether an edge of the obstacle exists in the area; and when the edge of the obstacle exists in the area, determining a movement direction of the moveable object according to the edge, so as to avoid the obstacle.

US Pat. No. 10,669,040

AIRCRAFT CONTROL METHOD AND APPARATUS AND AIRCRAFT

AUTEL ROBOTICS CO., LTD.,...

1. An aircraft, comprising:a sensor configured to detect a flight height of the aircraft;
a light emitting apparatus;
a luminance sensing apparatus; and
a processor configured to:
obtain ambient luminance data by using the luminance sensing apparatus, wherein the ambient luminance data indicates ambient luminance of an environment;
determine whether the ambient luminance data satisfies a luminance value required for normal running of a vision system of the aircraft; and
turn on the light emitting apparatus based on a determination that the ambient luminance data does not satisfy the luminance value required for normal running of the vision system;
wherein the processor is further configured to:
determine whether the flight height is less than a preset low-altitude height threshold; and
turn off the light emitting apparatus based on a determination that the flight height is greater than the preset low-altitude height threshold.

US Pat. No. 10,515,271

FLIGHT DEVICE AND FLIGHT CONTROL METHOD

AUTEL ROBOTICS CO., LTD.,...

1. A flight device, comprisinga processor; and
a memory communicatively connected with the processor, the memory storing instructions, wherein when executing the instructions, the processor is configured to:
acquire an image captured by a camera module of the flight device;
acquire a height of the flight device sensed by a distance sensor of the flight device;
determine a scene in which the flight device is located according to at least one parameter of the image captured by the camera module;
analyze changes in the parameters of the two adjacent image frames according to an algorithm corresponding to the scene in which the flight device is located so as to calculate an image X-offset and an image Y-offset of a second image frame of the two adjacent image frames relative to a first image frame of the two adjacent image frames;
acquire acceleration and angular velocity of the flight device in three dimensions that are detected by an acceleration sensor of the flight device;
compensate for the image X-offset and the image Y-offset according to the acceleration and the angular velocity of the flight device to obtain image correction offsets comprising a corrected image X-offset and a corrected image Y-offset;
calculate an X-offset and a Y-offset in world coordinates corresponding to the image correction offsets according to a lens focal length of the camera module, a height of the flight device and the image correction offsets; and
derive a velocity of the flight device according to a time interval between time points at which the two adjacent image frames are captured and according to the X-offset and the Y-offset in world coordinates;
wherein the at least one parameter comprises texture, and the processor is further configured to:
process the image by use of the sobel gradient algorithm to obtain a gradient matrix;
count the number of pixels of which the gradient is greater than a predetermined first threshold in the gradient matrix;
determine that the current scene is a richly textured scene if the number as counted is greater than a second threshold;
determine that the texture is relatively poor and that the current scene is a relatively poorly textured scene if the number as counted is smaller than or equal to the second threshold;
adopt the algorithm of gray template matching when the current scene is a richly textured scene, to analyze changes in the parameters of the two adjacent image frames, so as to calculate the image X-offset and the image Y-offset of the second image frame of the two adjacent image frames relative to the first image frame of the two adjacent image frames; and
adopt the algorithm of sobel gradient template matching when the current scene is a relative poorly textured scene, to analyze changes in the parameters of the two adjacent image frames, so as to calculate the image X-offset and the image Y-offset of the second image frame of the two adjacent image frames relative to the first image frame of the two adjacent image frames.

US Pat. No. 10,474,012

GIMBAL, GIMBAL ASSEMBLY AND UNMANNED AERIAL VEHICLE

AUTEL ROBOTICS CO., LTD.,...

1. A gimbal, comprising:a mounting frame used for mounting a photographic device; and
a bind buckle used for fastening the photographic device onto the mounting frame;
wherein the bind buckle comprises a main body and an adjustable structure, the main body being coupled to the mounting frame by using the adjustable structure, so that the bind buckle is capable of matching different types of photographic devices by adjusting the adjustable structure.

US Pat. No. 10,839,555

TARGET DETECTION METHOD AND UNMANNED AERIAL VEHICLE

AUTEL ROBOTICS CO., LTD.,...

7. An unmanned aerial vehicle, comprising:a body and a processor;
the processor being configured to:
obtain an image of a target, and obtain a feature model of the target according to the image of the target;
determine whether the target is lost; and
if it is determined that the target is lost:
obtain a currently photographed first frame of the image;
obtain an Nth frame of the image which is photographed after the first frame of the image, N being an integer greater than 0;
obtain, according to the first frame of the image and the Nth frame of the image, a candidate area which possibly comprises the target; and
determine, according to the feature model of the target and the candidate area, whether the Nth frame of the image comprises the target;
wherein the feature model of the target comprises global feature information and color feature information of the target;
wherein the global feature information comprises a histogram of oriented gradient (HOG) of the target;
wherein the color feature information comprises a color histogram of the target;
wherein the HOG and the color histogram are calculated according to a pixel value of each pixel in the candidate area occupied by the target, wherein the processor is configured to:
control the unmanned aerial vehicle to rotate about or move along a Z axis to obtain the Nth frame of the image which is photographed after the first frame of the image.

US Pat. No. 10,782,688

METHOD, CONTROL APPARATUS, AND SYSTEM FOR TRACKING AND SHOOTING TARGET

AUTEL ROBOTICS CO., LTD.,...

1. A method for tracking and shooting a target, applied to an unmanned aerial vehicle shooting, wherein the method comprises:selecting a tracked target in an image shot by an photographing apparatus of the unmanned aerial vehicle; calculating a movement speed, a movement direction and a location on a current image that are of the tracked target; and
controlling, according to the calculated movement speed, movement direction and location on the current image, the unmanned aerial vehicle to track the tracked target, so as to make the tracked target always locate on an image collected by the photographing apparatus;
wherein the method further comprises:
extracting a characteristic point of the tracked target;
recording a set of extracted characteristic point and a quantity of the extracted characteristic point to generate a first characteristic template; and
storing the first characteristic template into a template library;
wherein the method further comprises:
when a tracking failure occurs in the process of controlling the unmanned aerial vehicle to track the tracked target, extracting a SIFT characteristic from the current image on which the tracking failure occurs, to obtain a characteristic point set S1;
reading the first characteristic template from the template library, to obtain a characteristic point set T1 of the first characteristic template;
matching the characteristic point set T1 with the characteristic point set S1, and searching for the tracked target according to a matching result; and
determining the tracked target is found.

US Pat. No. 10,707,564

UNMANNED AERIAL VEHICLE

AUTEL ROBOTICS CO., LTD.,...

1. An unmanned aerial vehicle, including at least a first dual-polarized antenna and a second dual-polarized antenna, wherein the first dual-polarized antenna is provided in a horizontal direction of the unmanned aerial vehicle, and the second dual-polarized antenna is provided in a vertical direction of the unmanned aerial vehicle; wherein the horizontal direction of the unmanned aerial vehicle is perpendicular to the vertical direction of the unmanned aerial vehicle.

US Pat. No. 11,034,448

UNMANNED AERIAL VEHICLE AND ARM CONNECTION STRUCTURE THEREOF

AUTEL ROBOTICS CO., LTD.,...

1. An arm connection structure, configured to rotatably connect an arm to a body, wherein the arm connection structure comprises:a connection shaft, mounted on the body;
a shaft sleeve, sleeved on the connection shaft, and capable of moving along an axial direction of the connection shaft, wherein the shaft sleeve can rotate with the arm;
wherein the shaft sleeve is provided with a curved guide slot extending along a peripheral direction of the shaft sleeve, and the connection shaft is provided with a guide block that matches the curved guide slot and that can slide in the curved guide slot; or
the shaft sleeve is provided with a curved guide slot extending along a peripheral direction of the shaft sleeve, and the connection shaft is provided with a guide block that matches the curved guide slot and that can slide in the curved guide slot; and
an elastic member, wherein the elastic member is sleeved on the connection shaft, and one end of the elastic member abuts against the shaft sleeve, and the other end abuts against the body, wherein
the curved guide slot has an extreme position and a first lock position and a second lock position that are located on two sides of the extreme position; when the guide block slides to the first lock position, the arm is in an unfolded state, and when the guide block slides to the second lock position, the arm is in a folded state.

US Pat. No. 11,016,511

TRACKING AND IDENTIFICATION METHOD AND SYSTEM AND AIRCRAFT

AUTEL ROBOTICS CO., LTD.,...

1. A tracking and identification method, comprising:obtaining, by a first aircraft, a first feature parameter of a target object, wherein the first feature parameter is used to track the target object; and
if image data captured by the first aircraft does not match the first feature parameter, adjusting the first aircraft to a predetermined high-altitude area relative to the target object according to location information of a second aircraft that is sent by the second aircraft or location information of the target object, wherein
the second aircraft is in a predetermined low-altitude area relative to the target object, and image data captured by the second aircraft matches a second feature parameter of the target object, the second feature parameter being used to identify the target object.

US Pat. No. 11,016,371

GIMBAL AND PHOTOGRAPHING ASSEMBLY HAVING THE GIMBAL

AUTEL ROBOTICS CO., LTD.,...

1. A photographing assembly, comprising: a photographing apparatus and a gimbal, the photographing apparatus being mounted to a stability augmentation assembly; wherein the photographing apparatus comprises a lens module and a housing, the lens module being disposed within the housing; and the stability augmentation assembly comprises a third rotating member, the third rotating member comprising a third rotating portion, a third fixing portion and a third rotating shaft, the third rotating portion rotating about the third rotating shaft relative to the third fixing portion, the third rotating portion being configured to be fixedly connected to the lens module and the housing, and an axis of the third rotating shaft overlapping with an optical axis of the lens module; wherein the third fixing portion is sleeved on the lens module, and the third fixing portion is connected to the lens module through a bearing, so that the lens module is rotatable relative to the third fixing portion; and the third rotating portion is sleeved on the lens module, and the third rotating portion is fixedly connected to the lens module, so that the third rotating portion drives the lens module to rotate; wherein the gimbal comprises: the stability augmentation assembly configured to mount the photographing apparatus; a handle connected to the stability augmentation assembly; and a display screen fixedly mounted to the handle and configured to display an image photographed by the photographing apparatus to enable a user to control the stability augmentation assembly according to the photographed image.

US Pat. No. 10,944,956

IMAGE CALIBRATION METHOD AND APPARATUS APPLIED TO THREE-DIMENSIONAL CAMERA

AUTEL ROBOTICS CO., LTD.,...

1. An image calibration method applied to a three-dimensional camera, wherein the method comprises:photographing, by an image calibration apparatus, a to-be-tested object by using the three-dimensional camera, obtaining an image of the to-be-tested object in a photosensitive area of the three-dimensional camera, and determining a pixel point corresponding to the to-be-tested object in the photosensitive area according to the image of the to-be-tested object;
obtaining, by the image calibration apparatus, for the pixel point corresponding to the to-be-tested object, depth information corresponding to the pixel point, the depth information indicating a distance between the to-be-tested object and the pixel point; and
obtaining, by the image calibration apparatus a measurement deviation value corresponding to the pixel point from a measurement deviation set stored in advance, and correcting the depth information according to the measurement deviation value;
wherein before the obtaining a measurement deviation value corresponding to the pixel point from a measurement deviation set stored in advance, and correcting the depth information according to the measurement deviation value, the method further comprises;
selecting, by the image calibration apparatus, a reference area from the photosensitive area, and calculating an average reference phase difference according to a reference phase difference corresponding to each reference pixel point in the reference area, the reference phase difference indicating a reference distance between a preset reflective surface and the reference pixel point;
calculating by the image calibration apparatus, according to t distance between a target pixel point in the photosensitive area and the reset reflective surface, a target phase difference corresponding to the target pixel point, the target pixel point being any pixel point among all pixel points in the photosensitive area;
comparing, the image calibration apparatus, the obtained target phase difference with the average reference phase difference to obtain a measurement deviation value corresponding to the target pixel point; and
storing, by the image calibration apparatus, the measurement deviation value corresponding to the target pixel point into the measurement deviation set.

US Pat. No. 10,621,456

DISTANCE MEASUREMENT METHOD AND APPARATUS, AND UNMANNED AERIAL VEHICLE

AUTEL ROBOTICS CO., LTD.,...

1. A distance measurement method, wherein the method comprises:obtaining two neighboring frames of images that are photographed by the unmanned aerial vehicle;
determining a first region of interest (ROI) of each of the two neighboring frames of images;
determining that an unmanned aerial vehicle cannot determine a distance between the unmanned aerial vehicle and a target in a flight direction of the unmanned aerial vehicle by using a stereo matching method;
enlarging the first ROI of each of the two neighboring frames of images, to form a second ROI;
respectively extracting foregrounds in the second ROIs from the two neighboring frames of images; and
determining the distance between the unmanned aerial vehicle and the target according to the foregrounds respectively extracted from the two neighboring frames of images;
wherein the method further comprises:
determining whether at least two targets exist in the foreground; and
if yes, determining that one of the at least two targets is a detection object; and
the determining the distance between the unmanned aerial vehicle and the target according to the foregrounds respectively extracted from the two neighboring frames of images comprises:
determining a distance between the unmanned aerial vehicle and the detection object according to the foregrounds respectively extracted from the two neighboring frames of images.

US Pat. No. 11,030,762

METHOD AND APPARATUS FOR IMPROVING 3D IMAGE DEPTH INFORMATION AND UNMANNED AERIAL VEHICLE

AUTEL ROBOTICS CO., LTD.,...

1. A method for improving 3D image depth information, wherein the method comprises:acquiring a raw 3D image, performing first-time exposure on the raw 3D image, and generating a first exposure image;
acquiring an effective pixel point in the first exposure image, and if a quantity of effective pixel points meets a preset condition, extracting the effective pixel point in the first exposure image; otherwise, performing second-time exposure on the raw 3D image, and generating a second exposure image; and
if a quantity of effective pixel points in the second exposure image meets a preset condition, extracting the effective pixel point in the second exposure image; otherwise, continuously performing exposure and generating a corresponding exposure image, determining whether the quantity of effective pixel points of the exposure image meets the preset condition until an exposure time reaches an exposure time threshold or a quantity of effective pixel points in the corresponding exposure image generated through exposure meets the preset condition, and extracting an effective pixel point in the exposure image; and
demarcating and calibrating the effective pixel point, and generating a 3D depth information map;
wherein the acquiring an effective pixel point in the first exposure image specifically comprises:
acquiring the pixel point of the first exposure image, and determining whether the pixel point meets a preset signal quality parameter; and
if the pixel point meets the preset signal quality parameter, marking the pixel point as an effective pixel point, and acquiring all effective pixel points in the first exposure image.

US Pat. No. 10,919,645

GIMBAL QUICK ASSEMBLY/DISASSEMBLY APPARATUS AND UNMANNED AERIAL VEHICLE HAVING THE SAME

AUTEL ROBOTICS CO., LTD.,...

1. A gimbal quick assembly/disassembly apparatus, comprising a fuselage seat component, a gimbal seat component and a locking component, wherein the fuselage seat component is fixedly mounted on a bearing member, the gimbal seat component is fixedly mounted on a gimbal and the gimbal seat component comprises a gimbal seat; and wherein the locking component is mounted on the fuselage seat component or on the gimbal seat component and the gimbal seat component and the fuselage seat component are detachably mounted together by using the locking component, so that the gimbal is detachably mounted on the bearing member, wherein the fuselage seat component comprises a fuselage seat having a gimbal seat receiving groove with an opening towards the fuselage seat, the fuselage seat being movably received in the gimbal seat receiving groove and the locking component being mounted on the gimbal seat.

US Pat. No. 10,866,593

AERIAL VEHICLE LANDING METHOD, GROUND CONTROL SYSTEM, AND FLIGHT CONTROL SYSTEM

AUTEL ROBOTICS CO., LTD.,...

1. An aerial vehicle landing method, comprising:selecting, when an aerial vehicle needs to make a diversion, an available alternative landing area according to at least a flight parameter of the aerial vehicle;
determining the available alternative landing area as a target waypoint, and planning a new airway according to the target waypoint; and
controlling, according to the new airway, the aerial vehicle to fly to the target waypoint;
wherein the selecting the available alternative landing area according to at least the flight parameter of the aerial vehicle comprises:
obtaining the flight parameter that is of the aerial vehicle and that exists when the aerial vehicle needs to make a diversion;
calculating a flyable distance according to the flight parameter and an aerodynamic parameter of the aerial vehicle; and
selecting the available alternative landing area from one or more alternative landing areas according to at least the flyable distance;
wherein the selecting the available alternative landing area from the one or more alternative landing areas according to at least the flyable distance comprises:
determining optional alternative landing areas from the one or more alternative landing areas according to at least the flyable distance;
calculating to-be-flied distances from the aerial vehicle to the optional alternative landing areas;
determining priorities of all the optional alternative landing areas based on relationships between the to-be-flied distances and the flyable distance; and
selecting the available alternative landing area according to the priorities of all the optional alternative landing areas;
wherein the method further comprises:
planning the one or more alternative landing areas according to flight mission data of the aerial vehicle;
wherein the flight mission data comprises a predetermined airway, a flight altitude, and a flight speed;
wherein the planning the one or more alternative landing areas according to flight mission data of the aerial vehicle comprises:
determining multiple waypoints according to the predetermined airway of the aerial vehicle and geomorphic information of an electronic map;
calculating, according to the flight altitude and the flight speed of the aerial vehicle, a gliding distance that is of the aerial vehicle and that exists when there is no power; and
planning the one or more alternative landing areas according to the gliding distance and with reference to digital elevation model data of the multiple waypoints;
wherein distance between landing areas of the one or more alternative landing areas is set to 1.5-2.5 times of the gliding distance.

US Pat. No. 10,860,039

OBSTACLE AVOIDANCE METHOD AND APPARATUS AND UNMANNED AERIAL VEHICLE

AUTEL ROBOTICS CO., LTD.,...

1. An obstacle avoidance method, used for an unmanned aerial vehicle, the unmanned aerial vehicle comprising a camera apparatus and the camera apparatus supporting optical zoom, wherein the method comprises:obtaining detection images of at least two different focal lengths from the camera apparatus;
determining according to the detection images of the at least two different focal lengths, that an obstacle exists in a detection area; and
obtaining position information of the obstacle according to the detection images of the at least two different focal lengths;
adjusting a velocity and a direction of the unmanned aerial vehicle according to the position information of the obstacle, to avoid the obstacle.

US Pat. No. 10,810,425

FLIGHT VEHICLE AND FLIGHT VEHICLE TRACKING METHOD

AUTEL ROBOTICS CO., LTD.,...

1. A flight vehicle tracking method, including:sending, by a flight vehicle, geographic location information of the flight vehicle and image data of areas over which the flight vehicle flies, wherein a correspondence is established between the geographic location information of the flight vehicle and the image data collected by the flight vehicle at a same moment;
receiving, by a user terminal, the geographic location information of the flight vehicle and the image data corresponding to the geographic location information;
drawing, by the user terminal, a flight path of the flight vehicle on a map, according to the geographic location information sent by the flight vehicle; and
navigating a user, by the user terminal, according to the flight path, geographic location information and image data corresponding to the geographic location information last sent by the flight vehicle to find the flight vehicle when the flight vehicle is lost;
wherein the method further comprises:
overwriting, by the user terminal, geographic location information and image data stored before a preset storage time with geographic location information and image data collected by the flight vehicle at a current moment.

US Pat. No. 10,809,600

GIMBAL, PHOTOGRAPHING ASSEMBLY AND UNMANNED AERIAL VEHICLE (UAV) THAT HAVE GIMBAL

AUTEL ROBOTICS CO., LTD.,...

1. A gimbal configured to carry a load, wherein the gimbal comprises:a first rotating member comprising a first drive apparatus, the first drive apparatus comprising a first rotating portion;
a second rotating member comprising a second drive apparatus and a first connecting arm, the second drive apparatus comprising a second fixing portion and a second rotating portion that may rotate relative to the second fixing portion, the first connecting arm being fixedly connected between the first rotating portion and the second fixing portion, and the first connecting arm being integrally formed with the first rotating portion and the second fixing portion; and
a third rotating member, the third rotating member comprising a third drive apparatus and a second connecting arm, the third drive apparatus comprising a third fixing portion, a third rotating portion and a third rotating shaft, the third rotating portion rotating relative to the third fixing portion about the third rotating shaft;
wherein the second connecting arm being fixedly connected between the second rotating portion and the third fixing portion, and the third rotating portion being configured to be fixedly connected to the load and driving the load to rotate relative to the third fixing portion;
wherein the second connecting arm is integrally formed with the second rotating portion and the third fixing portion;
wherein the load comprises a camera and a housing, the camera being disposed in the housing;
the third rotating portion being configured to be fixedly connected to the camera and the housing, and an axis of the third rotating shaft in the third drive apparatus and an optical axis of the camera overlapping;
wherein the third rotating member comprises plurality of mounting posts, one end of the plurality of mounting posts being disposed on a connecting surface of the third rotating portion, and the other end being configured to clamp the camera.

US Pat. No. 10,797,778

WIRELESS COMMUNICATION SYSTEM AND DRONE SYSTEM USING THE WIRELESS COMMUNICATION SYSTEM

AUTEL ROBOTICS CO., LTD.,...

1. A wireless communication system, comprising a first communication module and a second communication module, the first communication module transmitting a same signal in a first frequency band and a second frequency band respectively by means of power splitting and frequency conversion, wherein the first frequency band is different from the second frequency band; andwherein the second communication module separately receives a signal transmitted by the first communication module in the first frequency band and a signal transmitted by the first communication module in the second frequency band, and converts the signal of the second frequency band into the signal of the first frequency band through frequency conversion, and performs diversity reception with the signal of the first frequency band.

US Pat. No. 10,745,128

BATTERY USED FOR UNMANNED AERIAL VEHICLE AND UNMANNED AERIAL VEHICLE

AUTEL ROBOTICS CO., LTD.,...

1. A multi-rotor unmanned aerial vehicle, comprising:a main body comprising a battery compartment;
a plurality of arms, wherein each arm is coupled to the main body and extends laterally from the main body;
a propulsion assembly disposed on the each arm, wherein the propulsion assembly comprises a propeller;
a battery assembly comprising a shell and a battery body disposed in the shell, wherein the battery assembly is configured to be accommodated in the battery compartment;
a clamp button configured to detachably attach the battery assembly to the main body; and
a restorable elastic piece connecting to the clamp button or contacting the clamp button, wherein the restorable elastic piece is configured to reset the clamp button to a position, the restorable elastic piece and the clamp button being two different separate components.

US Pat. No. 11,041,726

INERTIAL MEASUREMENT APPARATUS AND MECHANICAL DEVICE

AUTEL ROBOTICS CO., LTD.,...


1. An inertial measurement apparatus, comprising a PCB and an inertial measurement unit (IMU), the PCB comprising a PCB body portion and an isolation portion that is formed by grooving on a single edge of the PBC, then continuing inward towards the center of the PCB, the isolation, portion is a symmetric structure and is symmetrically disposed relative to a symmetry axis of the PCB body portion, wherein the isolation portion is fixedly connected to the PCB body portion, wherein the lMU is disposed on the isolation portion.