US Pat. No. 9,280,038

INTERCHANGEABLE MOUNTING PLATFORM

SZ DJI TECHNOLOGY CO., LT...

1. A platform for interchangeably mounting a payload to a base support, the platform comprising:
a support assembly configured to be coupled to the payload via a first coupling and configured to control a spatial disposition
of the payload; and

a mounting assembly that is (a) coupled to the support assembly and (b) configured to be releasably coupled via a second coupling
to a plurality of types of base supports selected from at least two of the following: an aerial vehicle, a handheld support,
or a base adapter mounted onto a movable object, wherein the second coupling is a quick release coupling enabling the plurality
of types of base supports to be manually coupled and decoupled from the mounting assembly.

US Pat. No. 9,284,049

UNMANNED AERIAL VEHICLE AND OPERATIONS THEREOF

SZ DJI TECHNOLOGY CO., LT...

1. A multi-rotor unmanned aerial vehicle (UAV), comprising:
a central body comprising an upper housing member and a lower housing member, the upper housing member and the lower housing
member forming a central cavity, wherein the central cavity is configured to house one or more electrical components (1) configured
to control the operation of the UAV, and (2) comprising at least a flight control module; and

one or more branch housing members extending from the central body, the one or more branch housing members each comprising
an upper branch housing member and a lower branch housing member;

wherein the one or more branch housing members are configured to support one or more actuator assemblies, each actuator assembly
comprising an actuator configured to effect movement of the UAV in response to communications from the flight control module,
wherein the thrust of the one or more actuator assemblies is oriented in a vertical direction relative to the central body;

wherein the upper branch housing members and the lower branch housing members are configured to extend to a length at least
to support the one or more actuator assemblies;

wherein at least a portion of each of the lower branch housing members extends beneath at least a portion of the corresponding
actuator; and

wherein the one or more upper branch housing members and the upper housing member form an integral upper body portion, the
one or more lower branch housing members and the lower housing member form an integral lower body portion, and the integral
upper body portion and the integral lower body portion are removably coupled to form a hollow body portion comprising the
central cavity.

US Pat. No. 9,164,506

SYSTEMS AND METHODS FOR TARGET TRACKING

SZ DJI TECHNOLOGY CO., LT...

1. A system for controlling an unmanned aerial vehicle (UAV), comprising:
one or more receivers, individually or collectively, configured to receive from a remote user (1) one or more navigation commands
to move the UAV along a flight path, and (2) target information of a target to be tracked by an imaging device on the UAV;
and

one or more processors, individually or collectively, configured to track the target according to the target information by
automatically adjusting at least one of the UAV or the imaging device while the UAV moves along the flight path according
to the one or more navigation commands from the remote user, wherein the one or more processors, individually or collectively,
make a determination to adjust 1) the UAV, 2) the imaging device, or 3) both the UAV and the imaging device, wherein said
determination is dependent upon a) number of rotational axes of the imaging device and orientation of said rotational axes
relative to the UAV; b) a navigation path of the UAV; or c) a maximum angular speed allowable for the UAV or the imaging device.

US Pat. No. 9,467,671

AUTOMATIC WHITE BALANCING SYSTEM AND METHOD

SZ DJI Technology Co., Lt...

1. A method for automatically white balancing a digital image, comprising:
in response to a white balancing trigger, automatically adjusting relative positions of an image sensor and a reference region
having a color compatible for white balancing such that the image sensor is positioned to acquire an image of the reference
region; and

white balancing the digital image based on the image of the reference region acquired using the image sensor.

US Pat. No. 9,056,676

SYSTEMS AND METHODS FOR UAV DOCKING

SZ DJI TECHNOLOGY CO., LT...

1. A controller for controlling operation of an unmanned aerial vehicle (UAV), said controller comprising:
one or more user input components, wherein the one or more user input components are in or on a vehicle that traverses land
or water; and

one or more processors individually or collectively configured to receive a signal from the user input components and generate
one or more commands to be transmitted to the UAV to control operation of the UAV, wherein the one or more commands include
(1) a take-off command to drive one or more propulsion units of the UAV during take-off from the vehicle, (2) a flight command
to control: (i) a flight path of the UAV relative to the vehicle, the land, or the water, or (ii) a destination of the UAV,
and (3) a landing command to automatically land the UAV while the vehicle is traversing the land or the water with aid of
an identifier of the vehicle, wherein said identifier is (a) detectable by the UAV, and (b) differentiates the vehicle from
other vehicles.

US Pat. No. 9,057,273

SELF-TIGHTENING ROTOR

SZ DJI TECHNOLOGY CO., LT...

1. A multi-rotor self-propelled movable object, the movable object comprising:
(a) a first rotor assembly comprising:
a first hub coupled to a first plurality of blades and comprising a first fastening feature;
a first adapter coupled to the first hub and comprising a second fastening feature; and
a first drive shaft coupled to the first hub through the first adapter by a mating connection of the first and second fastening
features, wherein the first drive shaft is configured to cause rotation of the first hub in a first direction, and the mating
connection of the first and second fastening features is able to be tightened by the rotation in only the first direction,

wherein the first plurality of blades coupled to the first hub are configured to rotate therewith in the first direction to
generate a first propulsive force; and

(b) a second rotor assembly comprising:
a second hub coupled to a second plurality of blades and comprising a third fastening feature;
a second adapter coupled to the second hub and comprising a fourth fastening feature;
a second drive shaft coupled to the second hub through the second adapter by a mating connection of the third and fourth fastening
features, wherein the second drive shaft is configured to cause rotation of the second hub in a second direction that is opposite
to the first direction, and the mating connection of the third and fourth fastening features is able to be tightened by the
rotation in only the second direction,

wherein the second plurality of blades coupled to the second hub are configured to rotate therewith in the second direction
to generate a second propulsive force,

wherein the first fastening feature comprises a first aperture, a first pair of guides, and a first pair of stops, and wherein
the third fastening feature comprises a second aperture, a second pair of guides, and a second pair of stops,

wherein the second fastening feature comprises a first pair of protrusions, and wherein the fourth fastening feature comprises
a second pair of protrusions,

wherein the first propulsive force (1) includes a lift component that provides lift to the movable object, and (2) is imparted
via contact between the first hub and the first adapter; and wherein the second propulsive force (1) includes a lift component
that provides lift to the movable object, and (2) is imparted via contact between the second hub and the second adapter, and

wherein the rotation of the first hub in the first direction imparts a rotational force component that is transmitted from
the first drive shaft to the first hub via contact between the first pair of protrusions and the first pair of stops, and
wherein the rotation of the second hub in the second direction imparts a rotational force component that is transmitted from
the second drive shaft to the second hub via contact between the second pair of protrusions and the second pair of stops.

US Pat. No. 9,342,987

FLIGHT CONTROL FOR FLIGHT-RESTRICTED REGIONS

SZ DJI TECHNOLOGY CO., LT...

1. An unmanned aerial vehicle comprising:
one or more processors individually or collectively programmed to (1) obtain a location of the unmanned aerial vehicle, (2)
calculate a distance between the location of the unmanned aerial vehicle and a flight restricted region, and (3) assess whether
the distance falls within a distance threshold, wherein the one or more processors, individually or collectively, are further
programmed to permit taking off of the unmanned aerial vehicle when the distance exceeds the distance threshold, and prevent
taking off of the unmanned aerial vehicle when the distance falls within the distance threshold; and

one or more propulsion units in communication with the one or more processors, the one or more propulsion units configured
to effect the taking off of the unmanned aerial vehicle in response to one or more signals instructing the taking off of the
unmanned aerial vehicle.

US Pat. No. 9,371,134

CONTEXT-BASED FLIGHT MODE SELECTION

SZ DJI TECHNOLOGY CO., LT...

1. A system for controlling an unmanned aerial vehicle within an environment, the system comprising:
one or more processors individually or collectively configured to:
identify an environment type from a plurality of different environment types including an indoor environment, an outdoor environment,
a high obstacle density environment, and a low obstacle density environment, based on one or more different types of sensor
data generated by one or more different types of sensors,

select a flight mode from a plurality of different flight modes based on the identified environment type, wherein each of
the plurality of different flight modes is associated with a distinct set of operating rules for the unmanned aerial vehicle
to operate in a different environment type, and

cause the unmanned aerial vehicle to operate within the identified environment type while conforming to the set of operating
rules of the selected flight mode.

US Pat. No. 9,493,250

IMPACT PROTECTION APPARATUS

SZ DJI TECHNOLOGY CO., LT...

1. An impact protection apparatus for an unmanned aerial vehicle, the apparatus comprising:
two or more inflatable members configured to be coupled to the unmanned aerial vehicle, and selectively inflatable to reduce
forces experienced by the unmanned aerial vehicle during an impact; and

a control mechanism powered by a first power source that is separate from a second power that provides power to one or more
propulsion units of the unmanned aerial vehicle,

wherein the control mechanism is configured to cause compressed gas to flow from a container into an inflatable member selected
from the two or more inflatable members in response to (a) a first signal indicative of malfunction of the unmanned aerial
vehicle, wherein the control mechanism is capable of selectively relaying the first signal such that at least one inflatable
member does not inflate, and/or (b) a second signal indicative of one or more portions of the unmanned aerial vehicle that
are likely to experience the impact, wherein the control mechanism is capable of selectively relaying the second signal such
that at least one inflatable member does not inflate.

US Pat. No. 9,434,267

SYSTEMS AND METHODS FOR UAV BATTERY POWER BACKUP

SZ DJI TECHNOLOGY Co., Lt...

1. A UAV comprising: a propulsion unit configured to effect movement of the UAV; and a power unit onboard the UAV comprising:
a first battery that powers (1) the propulsion unit and (2) a power consuming unit of the UAV; and
a second battery that powers the power consuming unit of the UAV, wherein the power unit switches between (a) a first mode
wherein the first battery is providing power to (1) the propulsion unit and (2) the power consuming unit and (b) a second
mode wherein the second battery is providing power to the power consuming unit, and not providing power to the propulsion
unit.

US Pat. No. 9,493,232

REMOTE CONTROL METHOD AND TERMINAL

SZ DJI Technology Co., Lt...

1. A method of controlling positioning of a payload, the payload being supported by a carrier on an unmanned aerial vehicle
(UAV) or on a living subject, the payload being movable relative to the UAV or the living subject via the carrier about a
plurality of axes of rotation, the carrier comprising a plurality of frame components and a plurality of actuators, the plurality
of frame components being connected to one another to form a multi-axis gimbal, said method comprising:
receiving, at a receiver positioned on the carrier or the UAV, a signal from a terminal that is remote to (i) the UAV or the
living subject, (ii) the carrier, and (iii) the payload, wherein the signal from the terminal is generated based on a user
input to the terminal indicative of a mode selection from a plurality of modes having a different number of user controllable
axes of rotation of the carrier, said plurality of modes including a single-axis user controllable mode and a multi-axis user
controllable mode;

calculating, with aid of one or more processors, an angle or speed by which the payload is to be rotated about at least one
axis of rotation based on (1) a user-generated movement on the terminal and (2) the mode selection;

generating a command signal to move the payload, based on the calculation; and
moving the payload about the at least one axis of rotation via movement of one or more frame components driven by one or more
actuators of the carrier in response to the command signal.

US Pat. No. 9,457,915

SYSTEMS AND METHODS FOR UAV DOCKING

SZ DJI TECHNOLOGY Co., Lt...

1. A method for displaying information based on data received from and transmitted to an unmanned aerial vehicle (UAV), the
method comprising:
(a) receiving data from the UAV;
(b) transmitting data from a vehicle to the UAV, wherein said transmitted data comprises a location of the vehicle;
(c) generating the information for display based on the data transmitted to and received from the UAV; and
(d) displaying the information of (c) at a display unit within the vehicle while the vehicle is in motion,
wherein the vehicle is configured to permit the UAV to (1) autonomously take off from the vehicle and (2) autonomously land
in or on the vehicle while the vehicle is in motion, wherein the autonomous taking off and landing of the UAV is effected
via a thrust generated by the UAV, and wherein the autonomous landing of the UAV is effected using in part the transmitted
location of the vehicle.

US Pat. No. 9,509,898

SYSTEM AND METHOD FOR AUTOMATIC FOCUSING BASED ON STATISTICAL DATA

SZ DJI TECHNOLOGY CO., LT...

1. A method for automatic focusing a camera having a lens, comprising:
selecting a set of image focusing windows based on statistical data specific to the camera and the lens;
calculating a focus measure value for each lens position of a plurality of lens positions via the set of image focusing windows;
and

comparing the calculated focus measure values of the plurality of lens positions in order to select an optimal lens position.

US Pat. No. 9,493,236

CONTEXT-BASED FLIGHT MODE SELECTION

SZ DJI Technology Co., Lt...

1. A system for controlling an unmanned aerial vehicle within an environment, the system comprising:
one or more processors individually or collectively configured to:
identify an environment type from a plurality of different environment types including an indoor environment, an outdoor environment,
a high obstacle density environment, and a low obstacle density environment, based on one or more different types of sensor
data generated by one or more different types of sensors,

select a flight mode from a plurality of different flight modes based on the identified environment type, wherein each of
the plurality of different flight modes is associated with a distinct set of operating rules for the unmanned aerial vehicle
to operate in a different environment type, and

cause the unmanned aerial vehicle to operate within the identified environment type while conforming to the set of operating
rules of the selected flight mode.

US Pat. No. 9,501,057

VELOCITY CONTROL FOR AN UNMANNED AERIAL VEHICLE

SZ DJI Technology Co., Lt...

1. A system for controlling an unmanned aerial vehicle within an environment, the system comprising:
one or more sensors carried on the unmanned aerial vehicle and configured to receive sensor data of the environment; and
one or more processors individually or collectively configured to:
select, based on the sensor data, a first set of operating rules for the unmanned aerial vehicle,
receive user input indicating a second set of operating rules for the unmanned aerial vehicle,
select one of the first or second sets of operating rules to be used to control the unmanned aerial vehicle,
receive a signal indicating a desired movement of the unmanned aerial vehicle in said environment, and
cause the unmanned aerial vehicle to move in accordance with the signal while complying with the selected one of the first
or second sets of operating rules.

US Pat. No. 9,139,310

SYSTEMS AND METHODS FOR UAV BATTERY EXCHANGE

SZ DJI TECHNOLOGY CO., LT...

1. An unmanned aerial vehicle (UAV) energy provision station, said station comprising:
a UAV landing area configured to support a UAV when the UAV is resting on the station, said UAV coupled to a first battery
configured to power the UAV;

a second battery in said station, said second battery capable of powering the UAV upon being coupled to the UAV;
a battery charging unit capable of charging the first battery of the UAV; and
one or more processors, individually or collectively configured to receive, via wireless communication, information about
a state of charge of the first battery and generate an instruction (a) prior to landing of the UAV on the UAV landing area,
and (b) depending on the state of charge of the first battery, to effect a selection between: (1) exchanging the second battery
for the first battery such that the first battery is decoupled from the UAV and the second battery is coupled to the UAV,
and (2) charging the first battery with the battery charging unit, thereby allowing rapid battery replacement or charging
of the UAV for its operation.

US Pat. No. 9,253,460

AUTOMATIC WHITE BALANCING SYSTEM AND METHOD

SZ DJI TECHNOLOGY CO., LT...

1. A method for automatically white balancing a digital image executed by an imaging system, comprising:
in response to a white balancing trigger, automatically adjusting relative positions of an image sensor and a reference region
having a color compatible for white balancing such that the image sensor is positioned to acquire an image of the reference
region;

acquiring the image of the reference region using the image sensor; and
computing a parameter for white balancing the digital image from the image of the reference region.

US Pat. No. 9,485,427

APPARATUS AND METHODS FOR STABILIZATION AND VIBRATION REDUCTION

SZ DJI TECHNOLOGY CO., LT...

1. An aerial vehicle comprising:
(a) a vehicle body coupled to one or more blades configured to provide lift to the aerial vehicle;
(b) an apparatus connected to the vehicle body and configured to stabilize at least a portion of an imaging device, said imaging
device comprising (1) a first housing containing an optical unit and a processor configured to control rotation of the optical
unit, the optical unit comprising a lens and a photosensor, and (2) a second housing containing a non-optical unit and not
the optical unit, the non-optical unit comprising a memory device to store image data captured by the imaging device, wherein
the second housing (1) is not supported by a frame assembly, and (2) does not rotate with the optical unit, and wherein the
apparatus comprises:

(i) the frame assembly supporting the optical unit of the imaging device without supporting the non-optical unit of the imaging
device, wherein the frame assembly comprises (A) a first frame member that supports the optical unit and an inertial measurement
unit, and (B) a second frame member that bears weight of the first frame member, and wherein the frame assembly is configured
to permit rotation of the optical unit about at least a first rotational axis and a second rotational axis;

(ii) a motor assembly coupled to the frame assembly, wherein the motor assembly is configured to drive the frame assembly
in response to a signal provided by the inertial measurement unit so as to permit rotation of the optical unit about at least
the first rotational axis and the second rotational axis, and wherein a motor of the motor assembly utilizes 5 Watts or less
to drive a corresponding frame member of the frame assembly.

US Pat. No. 9,440,545

SYSTEMS AND METHODS FOR UAV BATTERY EXCHANGE

SZ DJI TECHNOLOGY Co., Lt...

1. An unmanned aerial vehicle (UAV) battery changing station, said station comprising:
a UAV landing area configured to support a UAV when the UAV is resting on the station, said UAV coupled to a first battery
configured to power the UAV, wherein the UAV landing area comprises a detectable marker configured to aid the UAV in landing;

a battery storage unit comprising at least one holding station configured to store a battery capable of powering the UAV upon
being coupled to the UAV;

a communication unit in communication with the UAV and configured to receive a signal indicative of a remaining level of charge
of the first battery; and

one or more processors programmed to effect display of the detectable marker based at least on the remaining level of charge
of the first battery, wherein the detectable marker is utilized to direct the UAV to land on the UAV landing area or to bypass
the battery changing station.

US Pat. No. 9,397,782

REMOTE CONTROL METHODS AND SYSTEMS

SZ DJI TECHNOLOGY CO., LT...

1. A controlling terminal located remotely from an unmanned aerial vehicle (UAV), comprising:
a first communication module configured to transmit control data directly to the UAV, the control data used to control operations
of the UAV;

a second communication module configured to transmit the control data to a monitoring terminal located remotely from the UAV,
the monitoring terminal configured to transmit the control data to the UAV and to receive feedback data from the UAV; and

one or more processors, individually or collectively, configured to preferentially select the first communication module or
the second communication module for transmission of the control data based at least in part on one or more characteristics
of a communication environment for the UAV.

US Pat. No. 9,317,036

FLIGHT CONTROL FOR FLIGHT-RESTRICTED REGIONS

SZ DJI TECHNOLOGY CO., LT...

1. An unmanned aerial vehicle comprising:
one or more processors individually or collectively configured to:
assess a location of the unmanned aerial vehicle;
calculate a position of the unmanned aerial vehicle relative to a flight-restricted region using the location of the unmanned
aerial vehicle and the location of the flight-restricted region;

assess a jurisdiction within which the flight-restricted region is located, based on the location of the flight-restricted
region;

access one or more flight restriction rules specific to the assessed jurisdiction; and
instruct the unmanned aerial vehicle to take a flight response measure when the position of the unmanned aerial vehicle relative
to the flight-restricted region falls under the one or more flight restriction rules of the jurisdiction; and

one or more propulsion units in communication with the processor that permit the unmanned aerial vehicle to take the flight
response measure.

US Pat. No. 9,242,714

TRANSFORMABLE AERIAL VEHICLE

SZ DJI TECHNOLOGY CO., Lt...

1. A transformable aerial vehicle, the vehicle comprising:
a central body comprising a flight control system and supporting a payload beneath the central body;
at least two transformable frame assemblies respectively disposed on the central body, each of the at least two transformable
frame assemblies having a proximal portion coupled to the central body and a distal portion;

an actuation assembly configured to transform the at least two transformable frame assemblies between a first configuration
and a second configuration; and

a plurality of propulsion units operable to move the transformable aerial vehicle, wherein the plurality of propulsion units
are mounted on the at least two transformable frame assemblies,

wherein the first configuration (1) permits the at least two transformable frame assemblies to support the transformable aerial
vehicle resting on a surface with the payload not contacting the surface, (2) causes obstruction within a range of 360 degrees
around the payload by the at least two transformable frame assemblies, and (3) positions the distal portion lower with respect
to the central body,

wherein the second configuration (1) provides a 360 degree angle around the payload that is unobstructed by the at least two
transformable frame assemblies, and (2) positions the distal portion higher with respect to the central body, and

wherein each of the plurality of propulsion units is configured to provide thrust along a thrust axis, said thrust axis being
orthogonal to the surface in said first configuration.

US Pat. No. 9,233,754

UNMANNED AERIAL VEHICLE AND OPERATIONS THEREOF

SZ DJI TECHNOLOGY CO., LT...

1. A multi-rotor unmanned aerial vehicle (UAV), comprising:
a central body comprising an upper housing member and a lower housing member, the upper housing member and the lower housing
member forming a central cavity;

one or more branch housing members extending from the central body, the one or more branch housing members each comprising
an upper branch housing member and a lower branch housing member,

wherein the one or more branch housing members are configured to support one or more actuator assemblies configured to effect
movement of the UAV,

wherein the one or more upper branch housing members and the upper housing member form an integral upper body portion, the
one or more lower branch housing members and the lower housing member form an integral lower body portion, and the integral
upper body portion and the integral lower body portion are removably coupled to form a hollow body portion comprising the
central cavity;

one or more electrical components disposed inside the hollow body portion, wherein the one or more electrical components (1)
are configured to control the operation of the UAV, and (2) comprise at least a flight control module and an inertial measurement
unit (IMU); and

one or more electronic speed control (ESC) modules, each electrically coupled to a corresponding actuator assembly of the
one or more actuator assemblies in order to control actuation of said corresponding actuator assembly,

wherein each ESC module is not located within the central cavity.
US Pat. No. 9,216,818

IMPACT PROTECTION APPARATUS

SZ DJI TECHNOLOGY CO., LT...

1. An impact protection apparatus for an aerial vehicle, the apparatus comprising:
one or more inflatable members configured to be selectively inflatable to reduce forces experienced by the aerial vehicle
during an impact, wherein the one or more inflatable members are disposed on at least one of an upward portion, a downward
portion, and a side portion of the aerial vehicle when the one or more inflatable members are inflated, wherein the upward
portion is located in a direction of lift above a downward portion of the aerial vehicle, and wherein the side portion is
located between the upward portion and the downward portion of the aerial vehicle; a control mechanism configured to cause
compressed gas to flow from a container into the one or more inflatable members in response to a signal indicative of malfunction
of the aerial vehicle;

one or more sensors configured to collect data to predict an angle at which the aerial vehicle will likely experience the
impact; and

a controller in communication with the one or more sensors and the control mechanism, wherein the controller is configured
to control the control mechanism to selectively inflate an inflatable member from the one or more inflatable members to protect
the aerial vehicle, based on the predicted angle at which the aerial vehicle will likely experience the impact.

US Pat. No. 9,284,062

MULTI-ZONE BATTERY EXCHANGE SYSTEM

SZ DJI TECHNOLOGY CO., LT...

1. A UAV energy provision station, said station comprising:
a first UAV landing area configured to (1) support a UAV of a first type when the UAV is resting on the station, said UAV
coupled to a first battery configured to power the UAV, and (2) charge the first battery or exchange the first battery for
another battery while the UAV is supported by the first UAV landing area; and

a second UAV landing area configured to (1) support a UAV of a second type different from the first type when the UAV is resting
on the station, said UAV coupled to a second battery configured to power the UAV, and (2) charge the second battery or exchange
the second battery for another battery while the UAV is supported by the second UAV landing area,

wherein the first UAV landing area cannot charge the second battery or exchange the second battery for another battery for
a UAV of the second type.

US Pat. No. 9,493,225

AERIAL VEHICLE WITH FRAME ASSEMBLIES

SZ DJI TECHNOLOGY Co., LT...

1. An aerial vehicle comprising:
a central body;
a plurality of frame assemblies coupled to the central body;
an actuation assembly coupled to the plurality of frame assemblies, wherein the actuation assembly comprises a linear actuator,
wherein each frame assembly of the plurality of frame assemblies comprises a portion coupled to the linear actuator, and wherein
the actuation assembly is configured to actuate the plurality of frame assemblies to a plurality of different angles between
the plurality of frame assemblies with respect to a vertical axis; and

a plurality of propulsion units operable to move the aerial vehicle, wherein each frame assembly of the plurality of frame
assemblies supports at least one propulsion unit,

wherein a linear motion of the linear actuator is substantially parallel to a yaw axis of the aerial vehicle.

US Pat. No. 9,428,280

PAYLOAD MOUNTING PLATFORM

SZ DJI TECHNOLOGY CO., LT...

1. An apparatus for supporting a payload, the apparatus comprising:
a first support member rotatably coupled to the payload along a first axis, wherein the first support member comprises a motor
disposed at a distal portion of the first support member, and wherein the motor is configured to rotate the payload;

a second support member, wherein the first support member is rotatably coupled to the second support member along a second
axis; and

a flexible member coupled to the first and second support members, wherein a portion of the flexible member winds around a
portion of the motor, such that the portion of the flexible member winds up around the portion of the motor when the first
support member is rotated in a first direction and unwinds from the portion of the motor when the first support member is
rotated in a second direction.

US Pat. No. 9,346,560

SYSTEMS AND METHODS FOR UAV BATTERY EXCHANGE

SZ DJI TECHNOLOGY CO., LT...

1. An unmanned aerial vehicle (UAV) battery changing station, said station comprising:
a UAV landing area configured to support a UAV when the UAV is resting on the station, said UAV coupled to a first battery
configured to power the UAV, wherein the UAV landing area comprises a detectable marker configured to aid the UAV in landing;
and

a battery storage unit comprising at least one holding station configured to store a battery capable of powering the UAV upon
being coupled to the UAV,

wherein the detectable marker indicates an orientation of the UAV to be landed on the UAV landing area, and wherein said orientation
facilitates exchange of the first battery with the battery stored in the holding station.

US Pat. No. 9,394,048

UNMANNED AERIAL VEHICLE AND OPERATIONS THEREOF

SZ DJI TECHNOLOGY CO., LT...

1. A multi-rotor unmanned aerial vehicle (UAV), comprising:
a central body comprising an upper housing member and a lower housing member, the upper housing member and the lower housing
member forming a central cavity, wherein the central cavity is configured to house one or more electrical components configured
to control operation of the UAV; and

one or more branch housing members extending from the central body, the one or more branch housing members each comprising
an upper branch housing member and a lower branch housing member,

wherein the one or more branch housing members are configured to support one or more actuator assemblies, each actuator assembly
comprising an actuator configured to effect movement of the UAV, wherein the thrust of the one or more actuator assemblies
is oriented in a vertical direction relative to the central body, and

wherein at least a portion of each of the lower branch housing members extends beneath at least a portion of the corresponding
actuator.

US Pat. No. 9,284,040

SELF-TIGHTENING ROTOR

SZ DJI TECHNOLOGY CO., LT...

1. A multi-rotor self-propelled movable object, the movable object comprising:
(a) a first rotor assembly comprising:
a first hub coupled to a first plurality of blades;
a first adapter coupled to the first hub and comprising a first fastening feature; and
a first drive shaft comprising a second fastening feature and coupled to the first hub through the first adapter by a mating
connection of the first and second fastening features, wherein the first drive shaft is configured to cause rotation of the
first hub in a first direction, and the mating connection of the first and second fastening features is able to be tightened
by the rotation of the first drive shaft in only the first direction,

wherein the first plurality of blades coupled to the first hub are configured to rotate therewith in the first direction to
generate a first propulsive force; and

(b) a second rotor assembly comprising:
a second hub coupled to a second plurality of blades;
a second adapter coupled to the second hub and comprising a third fastening feature;
a second drive shaft comprising a fourth fastening feature and coupled to the second hub through the second adapter by a mating
connection of the third and fourth fastening features, wherein the second drive shaft is configured to cause rotation of the
second hub in a second direction that is opposite to the first direction, and the mating connection of the third and fourth
fastening features is able to be tightened by the rotation of the second drive shaft in only the second direction,

wherein the second plurality of blades coupled to the second hub are configured to rotate therewith in the second direction
to generate a second propulsive force,

wherein (1) the first fastening feature of the first adapter is threaded in a right-handed direction and the third fastening
feature of the second adapter is threaded in a left-handed direction, or (2) the first fastening feature of the first adapter
is threaded in a left-handed direction and the third fastening feature of the second adapter is threaded in a right-handed
direction,

wherein the second fastening feature is threaded to mate with the first fastening feature of the first adapter, and the fourth
fastening feature is threaded to mate with the third fastening feature,

wherein the first propulsive force (1) includes a lift component that provides lift to the movable object, and (2) is imparted
via contact between the first hub, the first adapter and the first drive shaft; and wherein the second propulsive force (1)
includes a lift component that provides lift to the movable object, and (2) is imparted via contact between the second hub,
the second adapter and the second drive shaft, and

wherein the rotation of the first hub in the first direction imparts a rotational force component that is transmitted from
the first drive shaft to the first hub via contact between the first fastening feature and the second fastening feature, and
wherein the rotation of the second hub in the second direction imparts a rotational force component that is transmitted from
the second drive shaft to the second hub via contact between the third fastening feature and the fourth fastening feature.

US Pat. No. 9,220,086

ADAPTIVE COMMUNICATION MODE SWITCHING

SZ DJI TECHNOLOGY Co., Lt...

1. A method for transmitting data, the method comprising:
(i) providing a first communication module on a vehicle, wherein the first communication module is capable of establishing
a direct communication link with a remote terminal, wherein said direct communication link is configured for transmitting
downlink data to the remote terminal and receiving uplink data from the remote terminal;

(ii) providing a second communication module on a vehicle, wherein the second communication module is capable of establishing
an indirect communication link with the remote terminal, wherein said indirect communication link is configured for transmitting
downlink data to the remote terminal and receiving uplink data from the remote terminal;

(iii) determining, with aid of one or more processors, whether a prospective data transmission is an uplink data transmission
or a downlink data transmission; and

when the prospective data transmission is an uplink data transmission, wherein the uplink data transmission comprises control
data for varying an orientation of a payload of the vehicle relative to an orientation of the vehicle,

(A) assessing, with aid of the one or more processors, whether the direct communication link and/or the indirect communication
link meet a first criterion;

(B) selecting, with aid of the one or more processors, whether the uplink data transmission is to occur over (1) the direct
communication link provided by the first communication module, (2) the indirect communication link provided by the second
communication module, or (3) both the direct communication link and the indirect communication link simultaneously, based
on the assessment of whether the direct communication link and/or the indirect communication link meet the first criterion;
and

(C) performing the data transmission in accordance with the selected option of (1), (2), or (3) of step (B); and
when the prospective data transmission is a downlink data transmission,
(D) assessing, with aid of the one or more processors, whether the direct communication link and/or the indirect communication
link meet a second criterion;

(E) selecting, with aid of the one or more processors, whether the downlink data transmission is to occur over (1) the direct
communication link provided by the first communication module, (2) the indirect communication link provided by the second
communication module, or (3) both the direct communication link and the indirect communication link simultaneously, based
on the assessment whether the direct communication link and/or the indirect communication link meet the second criterion;
and

(F) performing the data transmission in accordance with the selected option of (1), (2), or (3) of step (E),
wherein the uplink data transmission comprises control data for varying an orientation of a payload of the vehicle relative
to an orientation of the vehicle.

US Pat. No. 9,334,053

CONTEXT-BASED FLIGHT MODE SELECTION

SZ DJI TECHNOLOGY CO., LT...

1. A system for controlling an unmanned aerial vehicle within an environment, the system comprising:
one or more processors individually or collectively configured to:
identify an environment type from a plurality of different environment types including an indoor environment, an outdoor environment,
a high obstacle density environment, and a low obstacle density environment, based on one or more different types of sensor
data generated by one or more different types of sensors,

select a flight mode from a plurality of different flight modes based on the identified environment type, wherein each of
the plurality of different flight modes is associated with a distinct set of operating rules for the unmanned aerial vehicle
to operate in a different environment type, and

cause the unmanned aerial vehicle to operate within the identified environment type while conforming to the set of operating
rules of the selected flight mode.

US Pat. No. 9,223,023

PROXIMITY SENSING SYSTEMS AND METHODS

SZ DJI TECHNOLOGY Co., Lt...

1. An ultrasonic sensing system, comprising:
an ultrasonic transmitter configured to provide a transmission of ultrasonic signals;
an ultrasonic receiver configured to receive ultrasonic signals generated as a result of the transmission including reverberation
signals and echo signals;

an attenuator circuit connectable to the ultrasonic receiver via a switch, the attenuator circuit operable for attenuating
the received ultrasonic signals; and

a microcontroller unit (MCU) configured to control the switch to electrically couple the ultrasonic receiver with the attenuator
circuit during a predetermined period of time after the transmission of ultrasonic signals and electrically decouple the ultrasonic
receiver from the attenuator circuit prior to and after the predetermined period of time.

US Pat. No. 9,242,729

TRANSFORMABLE AERIAL VEHICLE

SZ DJI TECHNOLOGY CO., Lt...

1. An aerial vehicle, the aerial vehicle comprising:
a central body;
at least two frame assemblies respectively disposed on the central body, each of the at least two frame assemblies having
a primary tube with an inboard portion directly coupled to the central body and an outboard portion directly coupled to a
cross bar; and

a plurality of propulsion units operable to move the aerial vehicle, wherein each of the at least two frame assemblies supports
at least two propulsion units directly coupled to the cross bar,

wherein a lowest part of the cross bar is above a highest part of the central body at least during flight,
wherein the primary tube of each frame assembly is coupled to the cross bar between ends of the cross bar, and
wherein the cross bar is substantially perpendicular to the primary tube at the outboard portion of the primary tube.

US Pat. No. 9,213,046

MICRO INERTIAL MEASUREMENT SYSTEM

SZ DJI TECHNOLOGY CO., LT...

1. An inertial measurement device, the device comprising:
a sensing module comprising a support structure and a flexible inertial sensor, wherein the support structure comprises a
plurality of external surfaces facing away from one another, and wherein the flexible inertial sensor is configured to wrap
around the plurality of external surfaces of the support structure, such that the flexible inertial sensor substantially covers
the plurality of external surfaces of the support structure, and wherein the flexible inertial sensor comprises one or more
accelerometers and one or more gyroscopes.

US Pat. No. 9,126,693

ASSISTED TAKEOFF

SZ DJI TECHNOLOGY CO., LT...

1. A method of assisted takeoff of an aerial vehicle, said method comprising:
increasing output to an actuator of the aerial vehicle under a first control scheme, wherein the output to the actuator results
in the increase of an altitude of the aerial vehicle;

determining, with aid of a processor, whether the aerial vehicle has met a takeoff threshold based on the output to the actuator,
the output measured from the actuator, or velocity or acceleration of the aerial vehicle, wherein determining whether the
aerial vehicle has met the takeoff threshold is performed without (1) using signals from a source external to the aerial vehicle,
or (2) using signals reflected to the aerial vehicle; and

controlling the output to the actuator using a second control scheme when the aerial vehicle has met the takeoff threshold.

US Pat. No. 9,412,278

AUTHENTICATION SYSTEMS AND METHODS FOR GENERATING FLIGHT REGULATIONS

SZ DJI TECHNOLOGY CO., LT...

1. A system for regulating an unmanned aerial vehicle (UAV), said system comprising
an authentication center configured to authenticate an identity of a UAV and an identity of a corresponding UAV user, wherein
the authenticated UAV user is an owner and/or operator of its authenticated corresponding UAV; and

an air control system configured to receive a UAV identifier for the authenticated UAV and a UAV user identifier for the authenticated
corresponding UAV user, and provide a set of flight regulations based on the authenticated UAV identifier and the authenticated
corresponding UAV user identifier, wherein the set of flight regulations regulate (1) flight plan of the UAV; or (2) operation
of one or more of a sensor, communication unit, payload, propulsion unit, or power supply on board of the UAV.

US Pat. No. 9,514,652

FLIGHT CONTROL FOR FLIGHT-RESTRICTED REGIONS

SZ DJI Technology Co., Lt...

1. An apparatus for determining a flight-restricted region along a boundary, said apparatus comprising:
one or more processors individually or collectively configured to:
acquire data regarding a location of the boundary;
select a plurality of points along the boundary; and
generate a plurality of flight restriction zones along the boundary, wherein each flight restriction zone of the plurality
of flight restriction zones (1) includes at least one of the plurality of points along the boundary, and (2) overlaps at least
one other flight restriction zone of said plurality of flight restriction zones.

US Pat. No. 9,596,026

DATA COMMUNICATION SYSTEMS AND METHODS

SZ DJI TECHNOLOGY CO., LT...

1. A remote controller for controlling an unmanned aerial vehicle (UAV), comprising:
an uplink transmitter configured to transmit uplink data to the UAV, the uplink data including (1) control data for controlling
operations of the UAV, and (2) synchronization information useful for synchronizing transmission of the uplink data or downlink
data between the UAV and the remote controller; and

a downlink receiver configured to (1) measure one or more quality characteristics of each of a plurality of working frequency
channels to provide measured quality characteristics; (2) select a working frequency channel from the plurality of working
frequency channels based on the measured quality characteristics; and (3) receive, using the selected working frequency channel,
the downlink data provided by the UAV.

US Pat. No. 9,501,060

VEHICLE ALTITUDE RESTRICTIONS AND CONTROL

SZ DJI Technology Co., Lt...

1. A system for controlling movement of an unmanned aerial vehicle (UAV), the system comprising:
a vehicle body;
one or more propulsion units coupled to the vehicle body and adapted to effect movement of the UAV; and
one or more processors operably coupled to the one or more propulsion units and individually or collectively configured to:
receive one or more altitude restrictions for the UAV;
receive elevation and/or map information for an area;
modify the one or more altitude restrictions based on the elevation or map information so as to produce one or more modified
altitude restrictions; and

output control signals to the one or more propulsion units to cause the UAV to comply with the one or more modified altitude
restrictions while operating in the area.

US Pat. No. 9,428,281

SYSTEMS AND METHODS FOR UAV DOCKING

SZ DJI TECHNOLOGY Co., Lt...

1. A method for displaying information based on data received from and transmitted to an unmanned aerial vehicle (UAV), the
method comprising:
(a) receiving data from the UAV;
(b) transmitting data from a vehicle to the UAV, wherein said transmitted data comprises a location of the vehicle;
(c) generating the information for display based on the data transmitted to and received from the UAV; and
(d) displaying the information of (c) at a display unit within the vehicle while the vehicle is in motion,
wherein the vehicle is configured to permit the UAV to (1) autonomously take off from the vehicle and (2) autonomously land
in or on the vehicle while the vehicle is in motion, wherein the autonomous taking off and landing of the UAV is effected
via a thrust generated by the UAV, and wherein the autonomous landing of the UAV is effected using in part the transmitted
location of the vehicle.

US Pat. No. 9,321,530

UNMANNED AERIAL VEHICLE AND OPERATIONS THEREOF

SZ DJI TECHNOLOGY CO., LT...

1. A multi-rotor unmanned aerial vehicle (UAV), comprising:
one or more electrical components disposed in a body of the UAV and adapted to facilitate operation of the UAV, said one or
more electrical components selected from a group comprising a power source, flight control module, inertial measurement unit
(IMU), and GPS receiver; and

a magnetometer attached onto a landing stand at a position sufficiently distal from the one or more electrical components
to effect a reduction of interference from said one or more electrical components, wherein the landing stand extends away
from the body of the UAV and is configured to bear weight of the UAV when the UAV is not airborne.

US Pat. No. 9,277,130

APPARATUS AND METHODS FOR STABILIZATION AND VIBRATION REDUCTION

SZ DJI TECHNOLOGY CO., LT...

1. An aerial vehicle comprising: (a) a central body and (b) an apparatus for stabilizing at least a portion of an imaging
device, said imaging device comprising an optical unit and a non-optical unit, and said optical unit and said non-optical
unit constituting the entire imaging device, said apparatus comprising:
a frame assembly supporting the optical unit of the imaging device without supporting the entire imaging device as a whole,
wherein said optical unit comprises a lens and a photosensor, wherein the frame assembly comprises: (A) a first frame member
that supports a compact unit comprising: (1) an inertial measurement unit and (2) the optical unit from a single side without
supporting an opposing side of the compact unit, and (B) a second frame member that bears weight of the first frame member,
and wherein the frame assembly is configured to permit rotation of the compact unit about at least a first rotational axis
and a second rotational axis;

a motor assembly operably connected to the frame assembly, wherein the motor assembly is configured to drive the frame assembly
in response to a signal provided by the inertial measurement unit so as to permit rotation of the optical unit and the inertial
measurement unit about at least the first rotational axis or the second rotational axis; and

a separate housing (1) not supported by the frame assembly and (2) containing therein one or more non-optical components selected
from the group consisting of a display and a power supply for powering the photosensor, wherein the power-supply for powering
the photosensor, a processor to process the image captured by the photosensor and a memory device to store the image, are
not supported by the frame assembly and do not rotate with the optical unit to reduce the enemy required by the motor assembly,

wherein the second frame member is also (1) movable relative to the first frame member, and (2) movable relative to the separate
housing about at least one axis of rotation.

US Pat. No. 9,483,950

FLIGHT CONTROL FOR FLIGHT-RESTRICTED REGIONS

SZ DJI Technology Co., Lt...

1. An unmanned aerial vehicle comprising:
one or more processors individually or collectively programmed to (1) obtain a location of the unmanned aerial vehicle, (2)
calculate a distance between the location of the unmanned aerial vehicle and a flight restricted region, and (3) assess whether
the distance falls within a distance threshold, wherein the one or more processors, individually or collectively, are further
programmed to permit taking off of the unmanned aerial vehicle when the distance exceeds the distance threshold, and prevent
taking off of the unmanned aerial vehicle when the distance falls within the distance threshold; and

one or more propulsion units in communication with the one or more processors, the one or more propulsion units configured
to effect the taking off of the unmanned aerial vehicle in response to one or more signals instructing the taking off of the
unmanned aerial vehicle.

US Pat. No. 9,284,052

AERIAL VEHICLE WITH FRAME ASSEMBLIES

SZ DJI TECHNOLOGY CO., LT...

1. An aerial vehicle comprising:
a central body;
at least two frame assemblies respectively disposed on the central body, each of the at least two frame assemblies having
a elongate member with an inboard portion directly coupled to the central body and an outboard portion directly coupled to
a cross bar; and

a plurality of propulsion units operable to move the aerial vehicle, wherein each of the at least two frame assemblies supports
at least two propulsion units coupled to the cross bar,

wherein the elongate member of each frame assembly is coupled to the cross bar between ends of the cross bar, and is angled
upward with relation to the central body to support the cross bar, and

wherein each cross bar is substantially parallel to each other, and wherein each cross bar is located on opposing sides of
the central body.

US Pat. No. 9,652,904

SYSTEM AND METHOD FOR DATA RECORDING AND ANALYSIS

SZ DJI TECHNOLOGY CO., LT...

1. A method for analyzing recorded operational data collected by a sensor positioned on a moving platform, comprising:
analyzing, by a processor, the recorded operational data of a platform operator of the moving platform collected by the sensor,
including:

establishing an operator profile for the platform operator;
establishing an initial value for an operating parameter based on the operator profile; and
determining whether the operational data is outside the initial value of the operating parameter; and
updating, by the processor, the operating parameter of the moving platform in response to said analyzing.

US Pat. No. 9,650,155

AIRCRAFT CONTROL APPARATUS, CONTROL SYSTEM AND CONTROL METHOD

SZ DJI TECHNOLOGY Co., Lt...

1. An aircraft control system, comprising:
a remote control apparatus with a first control rod, wherein the first control rod is configured to move in a first movement
direction to control a motion of an aircraft in a first motion direction when an external force is applied on the first control
rod in the first movement direction,

wherein the remote control apparatus operates to generate one or more control signals, when the first control rod automatically
returns to the preset position along the first movement direction after a withdrawal of the external force applied to the
first control rod in the first movement direction; and

a fight controller associated with the aircraft, wherein the fight controller operates to control a coupling of a motion of
the aircraft and a zooming of a camera carried by the aircraft to maintain a size of an image of a target after receiving
said one or more control signals indicating that the first control rod automatically returns to the preset position along
the first movement direction.

US Pat. No. 9,586,138

APPARATUS, SYSTEMS, AND METHODS FOR DETECTING PROJECTILE HITS ON A SURFACE

SZ DJI TECHNOLOGY CO., LT...

1. A method for providing a robot game, said method comprising:
providing a plurality of robots capable of moving from one location to another, each robot comprising two or more sensing
apparatus capable of detecting when the robot is hit by an external projectile based on an acceleration of a part of the robot,
wherein information generated by each of the two or more sensing apparatus is considered in at least one of (1) determining
a characteristic or occurrence of a projectile hit event, or (2) differentiating between projectile hits and other detected
events, wherein the projectile hit event is determined to occur when each of the two or more sensing apparatus registers an
acceleration higher than a first acceleration, wherein the first acceleration is lower than a second acceleration required
for determining occurrence of the projectile hit event by a single sensing apparatus; and

detecting signals, from the plurality of robots, generated in response to information from the two or more sensing apparatus,
and using said signals to keep track of relative virtual status between the plurality of robots.

US Pat. No. 9,494,939

VELOCITY CONTROL FOR AN UNMANNED AERIAL VEHICLE

SZ DJI TECHNOLOGY CO., LT...

1. A system for controlling an unmanned aerial vehicle within an environment, the system comprising:
one or more sensors carried on the unmanned aerial vehicle and configured to receive sensor data of the environment; and
one or more processors individually or collectively configured to:
determine, based on the sensor data, an environmental complexity factor representative of an obstacle density for the environment,
select, based on the determined environmental complexity factor, one or more operating rules for the unmanned aerial vehicle,
receive a signal indicating a desired movement of the unmanned aerial vehicle in said environment, and
cause the unmanned aerial vehicle to move in accordance with the signal while complying with the selected one or more operating
rules.

US Pat. No. 9,604,723

CONTEXT-BASED FLIGHT MODE SELECTION

SZ DJI Technology Co., Lt...

1. A system for controlling an unmanned aerial vehicle, the system comprising:
one or more sensors carried by the unmanned aerial vehicle; and
one or more processors configured to:
select a flight mode from a plurality of different flight modes, wherein the plurality of different flight modes comprise
a flight mode for use in a high obstacle density environment and a flight mode for use in a low obstacle density environment,
and wherein each of the plurality of different flight modes is associated with a different obstacle avoidance strategy,

receive a signal indicating a desired movement path for the unmanned aerial vehicle,
receive a signal from the one or more sensors detecting one or more obstacles situated along or near the desired movement
path, and

modify the desired movement path based on the obstacle avoidance strategy associated with the selected flight mode in order
to prevent the unmanned aerial vehicle from colliding with the one or more obstacles.

US Pat. No. 9,589,476

SYSTEMS AND METHODS FOR FLIGHT SIMULATION

SZ DJI TECHNOLOGY CO., LT...

1. An unmanned aerial vehicle (UAV) comprising:
a receiver onboard the UAV configured to receive a UAV mode signal, wherein said signal is indicative of whether the UAV is
set to be in a flight mode or a simulation mode;

a flight control system configured to:
receive flight control data from a remote controller;
generate flight data in response to the flight control data; and
instruct, based on the UAV mode signal, one or more propulsion units of the UAV (1) to activate and permit flight of the UAV
in a real environment in accordance with the flight data when the UAV is in the flight mode, or (2) to remain dormant and
not permit flight of the UAV in the real environment when the UAV is in the simulation mode; and

an inertial measurement unit configured to (1) receive virtual sensor data when the UAV is in the simulation mode, (2) generate
flight state information based on the virtual sensor data, and (3) communicate the flight state information to the flight
control system, wherein the virtual sensor data is generated by one or more virtual sensors based on physical simulation data
provided to said virtual sensors, and wherein the physical simulation data is provided by a physical model in response to
the flight data.

US Pat. No. 9,592,911

CONTEXT-BASED FLIGHT MODE SELECTION

SZ DJI Technology Co., Lt...

1. A system for controlling an unmanned aerial vehicle within an environment, the system comprising:
one or more processors individually or collectively configured to:
identify an environment type from a plurality of different environment types including an indoor environment, an outdoor environment,
a high obstacle density environment, and a low obstacle density environment, based on one or more different types of sensor
data generated by one or more different types of sensors,

select a flight mode from a plurality of different flight modes based on the identified environment type, wherein each of
the plurality of different flight modes is associated with a distinct set of operating rules for the unmanned aerial vehicle
to operate in a different environment type, and

cause the unmanned aerial vehicle to operate within the identified environment type while conforming to the set of operating
rules of the selected flight mode.

US Pat. No. 9,561,870

CARRIER HAVING NON-ORTHOGONAL AXES

SZ DJI TECHNOLOGY CO., LT...

1. A carrier for a movable object, the carrier being configured to couple a carried object to the movable object, said carrier
comprising:
at least two rotational axes;
wherein a combined rotation about the at least two rotational axes controls an orientation of the carried object or compensates
a movement and a vibration of the movable object to stabilize the carried object;

wherein an angle formed by the two rotational axes is a non-right angle to reduce a rotation radius of the rotation, so as
to reduce an equivalent moment of inertia; and

wherein a center of gravity of a load applied on each axis of the two rotational axes coincides with a corresponding axis.

US Pat. No. 9,550,582

MULTI-ZONE BATTERY EXCHANGE SYSTEM

SZ DJI TECHNOLOGY CO., LT...

1. A UAV energy provision station, said station comprising:
a first UAV landing area comprising a first visible marker, said first UAV landing area configured to (1) support a first
UAV when the first UAV is resting at the station, said first UAV coupled to a first battery configured to power the first
UAV, and (2) charge the first battery or exchange the first battery for another battery located at the station while the first
UAV is supported by the first UAV landing area; and

a second UAV landing area comprising a second visible marker, said second UAV landing area configured to (1) support a second
UAV when the second UAV is resting at the station, said second UAV coupled to a second battery configured to power the second
UAV, and (2) charge the second battery or exchange the second battery for another battery located at the station while the
second UAV is supported by the second UAV landing area, wherein the first visible marker is visually distinguishable from
the second visible marker.

US Pat. No. 9,592,744

BATTERY AND UNMANNED AERIAL VEHICLE WITH THE BATTERY

SZ DJI TECHNOLOGY CO., LT...

1. A power supply control assembly, comprising:
a power supply adapted to power an aerial vehicle;
an input device configured to receive at least two types of input from a user of the aerial vehicle; and
a power supply circuit connected to the power supply, wherein the power supply is configured to discharge through the power
supply circuit to power the aerial vehicle in response to receipt of a first type of input by the input device, wherein the
power supply circuit comprises:

(a) an electronic switch in electrical communication with the power supply for controlling discharge of power from the power
supply to the aerial vehicle, wherein the input device is in electrical communication with the electronic switch for controlling
a switch-on or a switch-off state of the electronic switch,

(b) a power measurement device in electrical communication with the power supply, and
(c) an indication device in electrical communication with the power measurement device, wherein the indication device is configured
to display a level of charge of the power supply in response to receipt of a second type of input by the input device, (1)
without requiring the power supply to be connected to the aerial vehicle, and (2) without requiring the power supply to provide
power to a propulsion unit of the aerial vehicle to set said propulsion unit in motion.

US Pat. No. 9,567,078

SYSTEMS AND METHODS FOR TARGET TRACKING

SZ DJI Technology Co., Lt...

1. A system for controlling an unmanned aerial vehicle (UAV) comprising:
one or more receivers configured to receive from a remote user (1) one or more navigation commands to move the UAV, and (2)
target information of a target to be tracked by an imaging device on the UAV; and

one or more processors configured to dynamically adjust allocation of control over a tracking process between the user and
the UAV based on factors including a surrounding of the UAV,

such that the one or more processors to allocate (1) more control over the tracking process to the user when the UAV is navigating
in a more complex environment compared to when the UAV is navigating in a less complex environment, and (2) less control over
the tracking process to the user when the UAV is navigating in a less complex environment compared to when the UAV is navigating
in a more complex environment, and wherein an environmental complexity is based on a number of potential obstructions in the
environment.

US Pat. No. 9,813,609

SYSTEM AND METHOD FOR AUTOMATIC FOCUSING BASED ON STATISTICAL DATA

SZ DJI TECHNOLOGY CO., LT...

1. A method for automatic focusing a camera having a lens, comprising:
calculating focus measure values for a plurality of lens positions, each of the focus measure values being calculated by dividing
a weighted sum of window evaluation values of a set of image focusing windows by a total area of the set of image focusing
windows;

comparing the calculated focus measure values of the plurality of lens positions in order to select an optimal lens position;
and

moving the lens to the selected optimal lens position.

US Pat. No. 9,661,827

SYSTEMS AND METHODS FOR WALKING PETS

SZ DJI TECHNOLOGY CO., LT...

1. An unmanned aerial vehicle (UAV) configured to guide a target, said UAV comprising:
one or more vision sensors configured to capture an image of the target wearing an object;
one or more processors configured to, individually or collectively, recognize the target from the image of the target wearing
the object;

an attachment mechanism configured to automatically attach, without human aid, to the object of the target when the target
is recognized; and

one or more propulsion units configured to permit flight of the UAV while the target is attached to the UAV via the attachment
mechanism.

US Pat. No. 9,601,023

FLIGHT CONTROL FOR FLIGHT-RESTRICTED REGIONS

SZ DJI Technology Co., Lt...

1. An apparatus for determining a flight-restricted region along a boundary, said apparatus comprising:
one or more processors individually or collectively configured to:
acquire data regarding a location of the boundary;
select a plurality of points along the boundary; and
generate a plurality of flight restriction zones along the boundary, wherein each flight restriction zone of the plurality
of flight restriction zones (1) includes at least one of the plurality of points along the boundary, and (2) overlaps at least
one other flight restriction zone of said plurality of flight restriction zones.

US Pat. No. 9,772,343

INERTIA MEASUREMENT MODULE FOR UNMANNED AIRCRAFT

SZ DJI TECHNOLOGY CO., LT...

1. An inertia measurement module for an unmanned aircraft, comprising:
a sensing assembly comprising:
a first circuit board;
a second circuit board comprising at least one inertia sensor; and
a flexible signal line that connects the first circuit board to the second circuit board;
a weight block comprising a first surface and a second surface opposite the first surface, wherein a recess is (1) formed
only on the second surface, and (2) configured to support the second circuit board that is embedded in the recess;

a first vibration-attenuation cushion and a second vibration-attenuation cushion arranged on opposite sides of the weight
block, wherein the first vibration-attenuation cushion is provided as a sheet extending between the first surface of the weight
block and the first circuit board, and wherein the second vibration-attenuation cushion abuts against the second circuit board
via an adhesive layer; and

a housing assembly comprising a chamber configured to support the sensing assembly, the weight block, and the first vibration-attenuation
cushion and second vibration-attenuation cushion therein.

US Pat. No. 9,665,444

MULTIMEDIA FILE REPAIR METHODS AND APPARATUS

SZ DJI TECHNOLOGY CO., LT...

1. A method for managing multimedia information, comprising:
with aid of one or more processors individually or collectively,
(a) storing multimedia content data on a first storage medium that is detachably coupled with a recording device, wherein
the recording device is configured to be coupled to an unmanned aerial vehicle (UAV);

(b) storing a primary copy of multimedia container information associated with the multimedia content data, wherein the primary
copy of the multimedia container information is stored on a second storage medium that is coupled with the recording device,
wherein the multimedia container information is used to generate a multimedia container file containing the multimedia content
data according to a multimedia container format, wherein the multimedia container file further contains physical state information
of the recording device collected with aid of one or more sensors, and wherein the one or more sensors are located on-board
the recording device or the UAV;

(c) storing one or more backup copies of the multimedia container information associated with the multimedia content data,
wherein the one or more backup copies are stored on the first storage medium;

(d) updating the one or more backup copies of multimedia container information based on different priorities or frequencies;
and

(e) determining, based in part on the physical state information of the recording device contained in the multimedia container
file, whether generation of the multimedia container file is affected by an abnormal event, and when the generation of the
multimedia container file is determined to be affected by the abnormal event:

(i) selecting, based on a validity indicator associated with the primary copy of multimedia container information, one copy
of multimedia container information between (1) the primary copy of multimedia container information and (2) the one or more
backup copies of multimedia container information, as a preferred copy of multimedia container information; and

(ii) generating the multimedia container file based at least in part on the multimedia content data and the preferred copy
of multimedia container information.

US Pat. No. 9,657,897

CONNECTING DEVICE AND A GIMBAL APPARATUS

SZ DJI TECHNOLOGY CO., LT...

1. A connecting device, comprising:
a connecting member comprising a first sliding slot and a limiting slot formed at one end of the connecting member;
a slider comprising:
a second sliding slot and an accommodating hole formed at one end of the slider, the second sliding slot being configured
to slidably engage with the

first sliding slot; and a through hole formed on a side wall of the slider and configured to communicate with the accommodating
hole; a blocking assembly comprising:

a limiting button comprising a transmission portion configured to be received in the through hole and be guided to slide in
the through hole;

a limiting column configured to be accommodated in the limiting slot and the accommodating hole, the limiting column comprising
a receiving hole configured to receive the transmission portion;

wherein the first sliding slot includes a sliding guide slot formed by a first protrusion portion and a second protrusion
portion arranged opposite to each other at the one end of the connecting member;

wherein the second sliding slot includes a sliding protrusion configured to engage with the sliding guide slot;
a clamping block;
a clamping bolt,
wherein:
the connecting member further comprises a receiving recess formed on a side wall of the connecting member and through the
first protrusion portion, the receiving recess being configured to receive the clamping block, and the receiving recess comprising
a bolt hole formed at a bottom of the receiving recess,

the clamping block comprises a through hole corresponding to the bolt hole, and the clamping bolt is configured to pass through
the through hole and fit in the bolt hole, and

the clamping block comprises an abutting protrusion at one end of the clamping block, and the abutting protrusion is configured
to abut against the sliding protrusion.

US Pat. No. 9,669,731

METHOD AND SYSTEM FOR RECYCLING MOTOR POWER OF A MOVABLE OBJECT

SZ DJI TECHNOLOGY CO., LT...

1. A method of power recycling for an unmanned aerial vehicle (UAV), said method comprising:
determining, with aid of a processor, operating states of a plurality of motors of the UAV, wherein the plurality of motors
are used to drive the UAV, and wherein at least one motor in a decelerating state is configured to work in concert with at
least one other motor in an accelerating state to effect rotation of the UAV;

collecting power from the at least one motor when the operating state of the at least one motor is the decelerating state;
and

distributing the power collected from the at least one motor in the decelerating state directly to the at least one other
motor in the accelerating state during the rotation of the UAV.

US Pat. No. 9,623,760

SYSTEM AND METHOD FOR MANAGING UNMANNED AERIAL VEHICLES

SZ DJI TECHNOLOGY CO., LT...

1. A method of managing a payload of a mobile platform positioned on a landing surface, comprising:
ascertaining a location of the mobile platform after landing on the landing surface;
moving a mechanical manipulator of a maintenance system to the mobile platform based on the ascertained location of the mobile
platform;

interacting with a selected replacement payload for the mobile platform at the ascertained location of the mobile platform
via the mechanical manipulator of the maintenance system; and

actuating a power switch of the mobile platform using the mechanical manipulator,
wherein said interacting occurs automatically and without user interaction.

US Pat. No. 9,805,607

AUTHENTICATION SYSTEMS AND METHODS FOR GENERATING FLIGHT REGULATIONS

SZ DJI Technology Co., Lt...

10. A system of authenticating an unmanned aerial vehicle (UAV), said system comprising:
an authentication module;
a communication module; and
one or more processors operably coupled to the authentication module and the communication module and configured to individually
or collectively:

receive an authentication request from a UAV, wherein the authentication request comprises a UAV identifier;
retrieve information that corresponds to the UAV identifier;
generate authentication vectors based on the retrieved information, wherein the authentication vectors comprise at least an
authentication token;

transmit the authentication token and a key evaluation reference to the UAV, wherein the UAV authenticates the authentication
vector based on a message authentication code generated based on the authentication token, the key evaluation reference, and
a key encoded on the UAV;

receive a response from the UAV, wherein the response is based on the key evaluation reference and the key encoded on the
UAV; and

verify the authentication request based on the response received from the UAV.

US Pat. No. 9,805,372

AUTHENTICATION SYSTEMS AND METHODS FOR GENERATING FLIGHT REGULATIONS

SZ DJI TECHNOLOGY CO., LT...

1. A system for regulating an unmanned aerial vehicle (UAV), said UAV comprising a flight control unit, the system comprising:
an air control unit configured to (1) receive a UAV identifier for an authenticated UAV and (2) receive a user identifier
for an authenticated UAV user, wherein the air control unit comprises one or more processors programmed to execute computer-readable
instructions for:

associating the user identifier with the UAV identifier to permit the user to operate the UAV; receiving multiple types of
contextual information selected from the group consisting of (a) information of the UAV, (b) information of a user of the
UAV, (c) information of an environment in which the UAV is located or to which the UAV is traveling, (d) time information
of the UAV, and (e) geographical location in which the UAV is located;

generating a set of flight regulations for the UAV based on multiple types of the contextual information received, wherein
generating the set of flight regulations includes generating different sets of flight regulations for different UAVs or users
having differing authorization types; and

transmitting the set of flight regulations to the flight control unit of the UAV to effect operation of the UAV by the user
in accordance with the flight regulations.

US Pat. No. 9,704,408

FLIGHT CONTROL FOR FLIGHT-RESTRICTED REGIONS

SZ DJI Technology Co., Lt...

1. An apparatus for determining a flight-restricted region along a boundary, said apparatus comprising:
one or more processors individually or collectively configured to:
acquire data regarding a location of the boundary;
select a plurality of points along the boundary; and
generate a plurality of flight restriction zones along the boundary, wherein each flight restriction zone of the plurality
of flight restriction zones (1) includes at least one of the plurality of points along the boundary, and (2) overlaps at least
one other flight restriction zone of said plurality of flight restriction zones.

US Pat. No. 9,688,411

IMPACT PROTECTION APPARATUS

SZ DJI Technology Co., Lt...

1. An impact protection apparatus for an unmanned aerial vehicle (UAV), comprising:
one or more inflatable members configured to be coupled to the UAV and inflatable to reduce forces experienced by the UAV
during an impact;

a container coupled to the one or more inflatable members and configured to hold compressed gas;
a control mechanism configured to cause the compressed gas to flow from the container into the one or more inflatable members;
and

a controller in communication with the control mechanism,
wherein the controller is configured to control the control mechanism to selectively inflate an inflatable member of the one
or more inflatable members based on a signal from a remote terminal, wherein the control mechanism is powered by a first power
source separate from a second power source configured to provide power to one or more components of the UAV, and wherein the
first power source is configured to be automatically recharged during operation of one or more propulsion units of the UAV.

US Pat. No. 9,664,516

INERTIAL SENSING DEVICE

SZ DJI TECHNOLOGY CO., LT...

1. An apparatus for determining a spatial disposition of a movable object, the apparatus comprising:
a support base configured to be carried by a movable object;
one or more accelerometers coupled to the support base via a first damping element configured to damp motion of the one or
more accelerometers; and

one or more gyroscopes coupled to the support base via a second damping element configured to damp motion of the one or more
gyroscopes, wherein an amount of motion damping provided by the first damping element is greater than an amount of motion
damping provided by the second damping element.

US Pat. No. 9,663,245

PAYLOAD MOUNTING PLATFORM

SZ DJI TECHNOLOGY CO., LT...

1. An apparatus for supporting a payload, the apparatus comprising:
a first support member rotatably coupled to the payload along a first axis, wherein the first support member comprises a motor
disposed at a distal portion of the first support member, and wherein the motor is configured to rotate the payload;

a second support member, wherein the first support member is rotatably coupled to the second support member along a second
axis; and

a flexible member coupled to the first and second support members, wherein the flexible member comprises a first portion and
a second portion, the first portion of the flexible member being fixed along a first portion of the motor, wherein the second
portion of the flexible member is configured to wind around a second portion of the motor, such that the second portion of
the flexible member is configured to wind up around the second portion of the motor when the first support member is rotated
in a first direction and unwind from the second portion of the motor when the first support member is rotated in a second
direction.

US Pat. No. 9,625,909

VELOCITY CONTROL FOR AN UNMANNED AERIAL VEHICLE

SZ DJI Technology Co., Lt...

1. A system for controlling an unmanned aerial vehicle within an environment, the system comprising:
one or more sensors carried on the unmanned aerial vehicle and configured to receive sensor data of the environment; and
one or more processors individually or collectively configured to:
select, based on the sensor data, a first set of operating rules for the unmanned aerial vehicle,
receive user input indicating a second set of operating rules for the unmanned aerial vehicle,
select one of the first or second sets of operating rules to be used to control the unmanned aerial vehicle,
receive a signal indicating a desired movement of the unmanned aerial vehicle in said environment, and
cause the unmanned aerial vehicle to move in accordance with the signal while complying with the selected one of the first
or second sets of operating rules.

US Pat. No. 9,716,872

AUTOMATIC WHITE BALANCING SYSTEM AND METHOD

SZ DJI TECHNOLOGY CO., LT...

1. A method for automatically white balancing a digital image, comprising:
in response to a white balancing trigger, automatically adjusting relative positions of an image sensor and one of a plurality
of reference regions each having a color compatible for white balancing by enabling the image sensor to scan surroundings
of the image sensor to select the one of the reference regions, such that the image sensor is positioned to acquire an image
of the selected one of the reference regions; and

white balancing the digital image based on the image of the selected one of the reference regions acquired using the image
sensor.

US Pat. No. 9,648,240

STABILIZING PLATFORM

SZ DJI TECHNOLOGY CO., LT...

1. An unmanned aerial vehicle (UAV) comprising:
(a) a central body;
(b) a plurality of propulsion units supported away from the central body and configured to rotate to generate lift during
flight of the UAV;

(c) an adjustable frame assembly configured to hold a device selected from a plurality of devices having different dimensions,
shapes and weights, wherein the frame assembly comprises:

a first frame member configured to be coupled to the device;
a second frame member, wherein the first frame member is rotatably coupled to the second frame member about a first rotational
axis of the device;

a third frame member, wherein the second frame member is rotatably coupled to the third frame member about a second rotational
axis of the device, wherein the second rotational axis is orthogonal to the first rotational axis;

a plurality of adjustment members positioned on at least two of the frame members selected from the first, second and third
frame members, wherein the plurality of adjustment members are configured to adjust dimensions defined by the first frame
member, the second frame member and the third frame member, so as to accommodate the plurality of devices having different
dimensions, shapes and weights, and wherein the plurality of adjustment members are configured to adjust a position of the
second frame member relative to the third frame member; and

(d) a motor assembly configured to directly drive the frame assembly in response to one or more motor signals so as to allow
the device to rotate around at least one of pitch, roll or yaw axes,

wherein the motor assembly comprises:
a first motor configured to directly drive the first frame member to rotate around a pitch axis in response to at least one
of the one or more motor signals;

a second motor configured to directly drive the second frame member to rotate around a roll axis in response to at least one
of the one or more motor signals; and

a third motor configured to directly drive the third frame member to rotate around a yaw axis in response to at least one
of the one or more motor signals.

US Pat. No. 9,630,703

SELF-TIGHTENING ROTOR

SZ DJI TECHNOLOGY CO., LT...

1. A multi-rotor self-propelled movable object, the movable object comprising:
(a) a first rotor assembly comprising:
a first hub coupled to a first plurality of blades, wherein the first hub comprises a first fastening feature including a
first aperture and a first pair of stops;

a first adapter coupled to the first hub, wherein the first adapter comprises a second fastening feature including a first
pair of protrusions; and

a first drive shaft coupled to the first hub through the first adapter by a mating connection of the first and second fastening
features,

wherein the first drive shaft is configured to cause rotation of the first hub in a first direction via a rotational force
component that is transmitted from the first drive shaft to the first hub via contact between the first pair of protrusions
and the first pair of stops, and wherein the first plurality of blades coupled to the first hub are configured to rotate therewith
in the first direction to generate a first propulsive force providing lift to the movable object; and

(b) a second rotor assembly comprising:
a second hub coupled to a second plurality of blades, wherein the second hub comprises a third fastening feature including
a second aperture and a second pair of stops;

a second adapter coupled to the second hub, wherein the second adapter comprises a fourth fastening feature including a second
pair of protrusions; and

a second drive shaft coupled to the second hub through the second adapter by a mating connection of the third and fourth fastening
features,

wherein the second drive shaft is configured to cause rotation of the second hub in a second direction opposite to the first
direction via a rotational force component that is transmitted from the second drive shaft to the second hub via contact between
the second pair of protrusions and the second pair of stops, and wherein the second plurality of blades coupled to the second
hub are configured to rotate therewith in the second direction to generate a second propulsive force providing lift to the
movable object.

US Pat. No. 9,621,877

RGB-D IMAGING SYSTEM AND METHOD USING ULTRASONIC DEPTH SENSING

SZ DJI TECHNOLOGY CO., LT...

1. A Red, Green, Blue plus Distance (RGB-D) imaging system, comprising:
a first ultrasonic sensor array comprising an ultrasonic emitter and a plurality of ultrasonic sensors;
a Red, Green and Blue (RGB) camera assembly comprising a photosensitive imaging chip and a lens and being operably connected
with said first ultrasonic sensor array; and

a second ultrasonic sensor array operably connected to said first ultrasonic sensor array and said RGB camera assembly,
wherein said photosensitive imaging chip is positioned between said first and second ultrasonic sensor arrays.

US Pat. No. 9,781,313

INTERCHANGEABLE MOUNTING ASSEMBLY

SZ DJI TECHNOLOGY CO., LT...

1. A handheld platform comprising:
an imaging device configured to obtain image data, wherein the image data is transmitted to a terminal that is provided separately
from the imaging device;

a support assembly coupled to the imaging device, wherein the support assembly is configured to control a spatial disposition
of the imaging device relative to a reference frame of a target that the imaging device is imaging;

a mounting assembly that is coupled to the support assembly; and
a handheld support member comprising a mating interface configured to releasably couple the handheld support member to the
terminal, wherein at least one of the handheld support member or the terminal comprises an input interface configured to receive
one or more control signals from a user for controlling the spatial disposition of the imaging device relative to the reference
frame of the target, wherein said control signals include (1) a first control signal that permits motion of the imaging device
relative to the reference frame, and (2) a second control signal that constrains motion of the imaging device relative to
the reference frame;

wherein said mounting assembly is configured to be interchangeably coupled to a plurality of types of base support including
the handheld support member and an unmanned aerial vehicle (UAV) via a quick release coupling, wherein the quick release coupling
enables the mounting assembly to be coupled to and decoupled from the handheld support member and the UAV, manually without
the use of tools,

and wherein, (a) when the mounting assembly and the terminal are coupled to the handheld support member, the mounting assembly
is configured to establish communication with the handheld support member and establish communication with the terminal to
effect handheld photography using the imaging device supported on the handheld support member, and (b) when the mounting assembly
is coupled to the unmanned aerial vehicle with the terminal located remotely from the unmanned aerial vehicle, the mounting
assembly is configured to establish communication with the unmanned aerial vehicle and establish communication with the remotely-located
terminal to effect aerial imaging using the imaging device supported on the unmanned aerial vehicle.

US Pat. No. 9,696,725

METHODS FOR LAUNCHING AND LANDING AN UNMANNED AERIAL VEHICLE

SZ DJI Technology Co., Lt...

1. A method for launching an unmanned aerial vehicle (UAV) comprising one or more rotor blades into flight, the method comprising:
detecting, via one or more sensors on-board the UAV, (1) a release of the UAV by a mechanical or human hand, and (2) a positional
change of the UAV during the release; and

processing, with aid of one or more processors on-board the UAV, the detected positional change and the detected release to
autonomously generate without human intervention one or more command signals to effect a lift and/or thrust through rotation
of the one or more rotor blades, thereby causing the UAV to be autonomously launched into flight after the release.

US Pat. No. 9,781,312

INTERCHANGEABLE MOUNTING PLATFORM

SZ DJI TECHNOLOGY CO., LT...

1. An assembly for interchangeably mounting onto a plurality of different types of base support comprising a first type of
base support and a second type of base support, wherein the first type of base support is an unmanned aerial vehicle (UAV)
and the second type of base support is a handheld support member, the assembly configured for both aerial imaging and handheld
photography comprising:
a payload configured to obtain image data, wherein the payload comprises or is operably coupled to a transmitter for transmitting
the image data to a terminal, wherein said terminal is provided separately from the payload or located remotely to the payload;
and

a mounting platform coupled to the payload via a first coupling, wherein the mounting platform comprises one or more sensors
configured to obtain sensing data indicative of a spatial disposition of the mounting platform or the payload, wherein said
sensing data is transmitted to the terminal, and wherein said mounting platform is configured to be releasably coupled via
a second coupling to each of the first type and the second type of base support, and wherein the second coupling is a quick
release coupling such that the quick release (1) is carried out manually without the use of tools and (2) enables the first
type of base support and the second type of base support to be releasably coupled to and decoupled from the mounting platform,

wherein the mounting platform is configured to establish electrical communication with each of the first type of base support
and the second type of base support separately, such that (1) the electrical communication is established with the first type
of base support when the mounting platform is coupled to the first type of base support via the second coupling and is receiving
power from a first power source on the first type of base support, and (2) the electrical communication is established with
the second type of base support when the mounting platform is coupled to the second type of base support via the second coupling
and is receiving power from a second power source on the second type of base support;

wherein the electrical communication is configured to initiate a recognition of whether the mounting platform is coupled to
the UAV or to the handheld support member;

wherein the mounting platform is configured to control the spatial disposition of the payload relative to each of the first
type of base support and the second type of base support based on the sensing data; and

when the mounting platform is coupled to the UAV and upon establishing the electrical communication between the mounting platform
and the UAV, a first set of control signals is obtained by the mounting platform to control the spatial disposition of the
payload relative to the UAV; and

when the mounting platform is coupled to the handheld support member and upon establishing the electrical communication between
the mounting platform and the handheld support member, a second set of control signals is obtained by the mounting platform
to control the spatial disposition of the payload relative to the handheld support member.

US Pat. No. 9,711,054

AUTHENTICATION SYSTEMS AND METHODS FOR GENERATING FLIGHT REGULATIONS

SZ DJI Technology Co., Lt...

10. A system of authenticating an unmanned aerial vehicle (UAV), said system comprising:
an authentication module;
a communication module; and
one or more processors operably coupled to the authentication module and the communication module and configured to individually
or collectively:

receive an authentication request from a UAV, wherein the authentication request comprises a UAV identifier;
retrieve information that corresponds to the UAV identifier;
generate authentication vectors based on the retrieved information, wherein the authentication vectors comprise at least an
authentication token;

transmit the authentication token and a key evaluation reference to the UAV, wherein the UAV authenticates the authentication
vector based on a message authentication code generated based on the authentication token, the key evaluation reference, and
a key encoded on the UAV;

receive a response from the UAV, wherein the response is based on the key evaluation reference and the key encoded on the
UAV; and

verify the authentication request based on the response received from the UAV.

US Pat. No. 9,740,201

SYSTEMS AND METHODS FOR TARGET TRACKING

SZ DJI TECHNOLOGY CO., LT...

1. A method of tracking a target using an unmanned aerial vehicle (UAV) having an on-board imaging device, the method comprising:
a) receiving at one or more receivers, target information of the target to be tracked by the UAV, wherein the imaging device
is configured to rotate around at least one axis relative to the UAV;

with aid of one or more processors,
b) tracking the target according to the target information while the UAV is in motion, wherein said tracking the target involves:
i. assessing whether to adjust 1) the UAV, 2) the imaging device, or 3) both the UAV and the imaging device to track the target,
wherein said assessing is based on a) maximum linear speed or maximum angular speed allowable for the UAV, or b) maximum angular
speed allowable for the imaging device, wherein the maximum angular speed of the UAV or the maximum angular speed of the imaging
device is configurable by a user of the UAV; and

ii. adjusting, based on said assessing of (i), 1) the UAV, 2) the imaging device, or 3) both the UAV and the imaging device
as the target is moving, such that the target stays within an image captured by the imaging device.

US Pat. No. 9,743,058

AUTOMATIC WHITE BALANCING SYSTEM AND METHOD

SZ DJI TECHNOLOGY CO., LT...

1. A method for automatically white balancing a digital image, comprising:
in response to a white balancing trigger, automatically adjusting relative positions of an image sensor and one of a plurality
of reference regions each having a color compatible for white balancing by enabling the image sensor to scan surroundings
of the image sensor to select the one of the reference regions, such that the image sensor is positioned to acquire an image
of the selected one of the reference regions; and

white balancing the digital image based on the image of the selected one of the reference regions acquired using the image
sensor.

US Pat. No. 10,029,789

CONTEXT-BASED FLIGHT MODE SELECTION

SZ DJI TECHNOLOGY CO., LT...

1. A system for controlling an unmanned aerial vehicle (UAV), the system comprising:one or more processors configured to:
identify an environment type for the UAV from a plurality of different environment types;
select a flight mode from a plurality of different flight modes based on the identified environment type, wherein each of the plurality of different flight modes contains a different set of operating rules for the UAV;
detect a safety risk for the UAV based on sensor data collected by one or more sensors carried onboard the UAV; and
effect operation of the UAV in response to the detected safety risk in accordance with the set of operating rules of the selected flight mode.

US Pat. No. 9,954,466

UNMANNED AERIAL VEHICLE AND DATA PROCESSING METHOD THEREOF

SZ DJI TECHNOLOGY CO., LT...

1. An unmanned aerial vehicle, comprising at least two controllers, at least two electronic speed controllers and at least two motors,wherein the at least two electronic speed controllers are electrically connected with the at least two controllers to obtain at least two sets of control data respectively from the at least two controllers; and
wherein the at least two electronic speed controllers are electrically connected with a corresponding one of the at least two motors respectively, and each of the at least two electronic speed controllers selects optimal control data from the at least two sets of control data and controls the rotation speed of the corresponding motor according to the optimal control data.

US Pat. No. 9,864,370

REMOTE CONTROL METHODS AND SYSTEMS

SZ DJI TECHNOLOGY CO., LT...

1. A system for controlling an unmanned aerial vehicle (UAV), the system comprising:
a first communication module configured to transmit control data directly to the UAV via a first wireless communication link,
the control data used to control operations of the UAV;

a second communication module configured to transmit the control data to a monitoring terminal located remotely from the UAV,
the monitoring terminal configured to transmit the control data to the UAV via a second wireless communication link; and

one or more processors, individually or collectively, configured to terminate and reactivate the first wireless communication
link based on one or more predetermined criteria.

US Pat. No. 10,108,188

DATA PROCESSING DEVICE AND AERIAL VEHICLE

SZ DJI TECHNOLOGY CO., LT...

1. A data processing device, comprising:a sensor configured to sense a data signal and comprising:
a data signal output pin configured to output the data signal; and
at least two clock output pins configured to output clock signals;
a clock converter configured to convert the clock signals output by the sensor into a single-ended clock signal, the clock converter comprising:
input pins, each of the at least two clock output pins of the sensor being connected with one of the input pins, and the input pins being configured to receive the clock signals from the at least two clock output pins; and
an output pin configured to output the single-ended clock signal; and
a processor configured to process the data signal based on the single-ended clock signal, the processor comprising:
a data signal input pin connected with the data signal output pin and configured to receive the data signal; and
a clock input pin connected with the output pin of the clock converter and configured to receive the single-ended clock signal.

US Pat. No. 9,856,033

METHOD AND SYSTEM FOR RECYCLING MOTOR POWER OF A MOVABLE OBJECT

SZ DJI TECHNOLOGY CO., LT...

1. A method of power redistribution for an unmanned aerial vehicle (UAV), said method comprising:
determining an amount of power collected from at least one motor of the UAV when the at least one motor is in a decelerating
state;

determining an apportionment of the amount of collected power between a plurality of components of the UAV, wherein the plurality
of components comprise at least one other motor of the UAV and one or more non-propulsion power consuming units; and

redistributing, based on the determined power apportionment, the power collected from the at least one decelerating motor
to the plurality of components of the UAV.

US Pat. No. 9,846,429

SYSTEMS AND METHODS FOR TARGET TRACKING

SZ DJI TECHNOLOGY CO., LT...

1. A method of tracking a target using an unmanned aerial vehicle (UAV) having an on-board imaging device, the method comprising:
a) receiving at one or more receivers, target information of the target to be tracked by the UAV, wherein the imaging device
is configured to rotate around at least one axis relative to the UAV;

with aid of one or more processors,
b) tracking the target according to the target information while the UAV is in motion, wherein said tracking the target involves:
i. assessing whether to adjust 1) the UAV, 2) the imaging device, or 3) both the UAV and the imaging device to track the target,
wherein said assessing is based on a) maximum linear speed or maximum angular speed allowable for the UAV, or b) maximum angular
speed allowable for the imaging device, wherein the maximum angular speed of the UAV or the maximum angular speed of the imaging
device is configurable by a user of the UAV; and

ii. adjusting, based on said assessing of (i), 1) the UAV, 2) the imaging device, or 3) both the UAV and the imaging device
as the target is moving, such that the target stays within an image captured by the imaging device.

US Pat. No. 9,843,788

RGB-D IMAGING SYSTEM AND METHOD USING ULTRASONIC DEPTH SENSING

SZ DJI TECHNOLOGY CO., LT...

1. A Red, Green, Blue plus Distance (RGB-D) imaging system, comprising:
an ultrasonic sensor array comprising an ultrasonic emitter and a plurality of ultrasonic sensors;
a Red, Green, and Blue (RGB) camera assembly comprising a photosensitive imaging chip and a lens and being operably connected
with the ultrasonic sensor array; and

a processor configured to:
receive RGB image data from the RGB camera assembly,
receive depth-map data from the ultrasonic sensor array, the depth-map data corresponding to a portion of the RGB image data;
and

combine the corresponding depth-map data and RGB image data to generate an RGB-D image, including at least one of cropping
a portion of the RGB image data that does not correspond to the depth-map data or cropping a portion of the depth-map data
that does not correspond to the RGB image data.

US Pat. No. 10,178,812

HEAT DISSIPATION DEVICE AND UAV USING THE SAME

SZ DJI TECHNOLOGY CO., LT...

1. A heat dissipation device, comprising:an air guiding cover comprising:
an air duct configured to guide an airflow and including a mounting window formed on a sidewall of the air duct;
an air inlet formed at a first end of the air duct;
an air outlet formed at a second end of the air duct; and
a flow guiding plate disposed within the air duct, a flow guiding face of the flow guiding plate being substantially perpendicular to the sidewall on which the mounting window is formed and being disposed aslope relative to an extending direction of the air duct to form a flow converging portion with a gradually narrowing width at a middle section of the air duct, and an end of the flow converging portion with a larger width being disposed towards the air inlet; and
a heat conduction plate disposed at the mounting window and covering the mounting window.

US Pat. No. 9,894,276

SYSTEM AND METHOD FOR SUPPORTING THREE-DIMENSIONAL DISPLAY IN FIRST PERSON VIEW (FPV)

SZ DJI TECHNOLOGY CO., LT...

1. A method for supporting three-dimensional (3D) display, comprising:
receiving a plurality of image frames, which are captured by an imaging device on a movable object;
obtaining state information of the imaging device on the movable object;
configuring a pair of image frames based on the plurality of image frames using the state information of the imaging device
on the movable object, wherein configuring the pair of image frames includes:

selecting an image frame from the plurality of image frames as a first image frame in a pair of image frames;
obtaining a transformation relationship between the first image frame in the pair of image frames and a first image frame
in a base pair of image frames, wherein the first image frame in the pair of image frames was captured by the imaging device
at a different time than either the first image frame or a second image frame in the base pair of image frames, wherein the
transformation relationship includes transforming the first image frame in the base pair of image frames into the first image
frame in the pair of image frames; and

generating a second image frame in the pair of image frames by transforming the second image frame in the base pair of image
frames using the transformation relationship.

US Pat. No. 9,885,942

ROLL AXIS ASSEMBLY AND GIMBAL PLATFORM USING SAME

SZ DJI TECHNOLOGY CO., LT...

1. A rotary shaft assembly, comprising:
a first supporting arm;
a second supporting arm;
a connecting arm connecting the first supporting arm and the second supporting arm; and
a driving device coupled to the second supporting arm, the driving device comprising a rotor assembly and a stator assembly,
wherein:
the first supporting arm, the second supporting arm, and the connecting arm are integrally formed,
the first supporting arm and the second supporting arm are arranged symmetrically with respect to a central point of the connecting
arm,

the second supporting arm comprises a connecting base arranged at an end distal from the connecting arm, the connecting base
including a receiving groove, and

the rotor assembly is directly received in the receiving groove.

US Pat. No. 9,858,023

SYSTEMS AND METHODS FOR GIMBAL SIMULATION

SZ DJI TECHNOLOGY CO., LT...

1. A gimbal simulation system comprising:
a gimbal that is physically coupled to a vehicle, wherein the gimbal is configured to carry a payload;
a gimbal control system on-board the vehicle configured to (1) receive gimbal control data from a remote control system, wherein
the gimbal control data is used to control the gimbal based on a first input from the remote control system, (2) receive position
data describing a simulated attitude of the vehicle generated from a vehicle control system on-board the vehicle in response
to a second input from the remote control system; and (3) generate simulated gimbal response data based on (i) the gimbal
control data and (ii) the position data describing the simulated attitude of the vehicle, wherein the simulated gimbal response
data indicates a simulated attitude of the gimbal that determines an orientation of the payload; and

a transmitter configured to transmit the simulated gimbal response data to the remote control system.

US Pat. No. 9,849,964

AERIAL VEHICLE WITH FRAME ASSEMBLIES

SZ DJI TECHNOLOGY CO., LT...

1. A unmanned aerial vehicle (UAV) comprising:
a central body;
at least two transformable frame assemblies respectively disposed on the central body, each of the at least two transformable
frame assemblies having a proximal portion pivotally coupled to the central body and a distal portion; and

a plurality of propulsion units mounted on the at least two transformable frame assemblies and operable to move the UAV;
wherein each of the at least two transformable frame assemblies are configured to pivot at the proximal portion through a
plurality of vertical angles relative to a yaw axis of the central body, the plurality of vertical angles comprising: (1)
a first vertical angle permitting the distal portion of each of the at least two transformable frame assemblies to be even
with the central body during at least a portion of a takeoff phase and a landing phase, (2) a second vertical angle different
from the first vertical angle during a flight phase, and (3) a third vertical angle permitting the at least two transformable
frame assemblies to support the UAV on a surface when the UAV is in a resting phase.

US Pat. No. 9,861,075

SYSTEMS AND METHODS FOR WALKING PETS

SZ DJI TECHNOLOGY CO., LT...

1. An unmanned aerial vehicle (UAV) configured to guide a target, said UAV comprising:
one or more vision sensors configured to capture at least one image of the target;
one or more processors configured to, individually or collectively, recognize the target from the image of the target;
an attractor display mechanism configured to display, without human aid or intervention, an attractor to the target when the
target is recognized; and

one or more propulsion units configured to permit flight of the UAV while the attractor is displayed to the target.

US Pat. No. 9,858,644

BAYER COLOR FILTER ARRAY BASED HIGH DYNAMIC RANGE VIDEO RECORDING METHOD AND DEVICE

SZ DJI TECHNOLOGY CO., LT...

1. A Bayer color filter array based high dynamic range video recording method, comprising:
configuring different photosensitive times for exposure according to odd-numbered dual columns and even-numbered dual columns,
wherein the odd-numbered dual columns are columns with column indices divisible by 4 or having a remainder of 1 when divided
by 4, and the even-numbered dual columns are columns with column indices having a remainder of 2 or 3 when divided by 4;

obtaining an image frame with different exposure values for the odd-numbered dual columns and the even-numbered dual columns;
decomposing the image frame into an underexposure image frame and an overexposure image frame, wherein underexposure dual
columns and missing dual columns are alternatingly distributed in the underexposure image frame, and overexposure dual columns
and missing dual columns are alternatingly distributed in the overexposure image frame;

with respect to the underexposure image frame, based on pixel values of pixel points in the underexposure dual columns, respectively
acquiring on red, green, and blue channels recovered pixel values of pixel points of the missing dual columns in the underexposure
image frame as the pixel values of the corresponding pixel points;

with respect to the overexposure image frame, based on pixel values of pixel points in the overexposure dual columns, respectively
acquiring on the red, green, and blue channels recovered pixel values of pixel points of the missing dual columns in the overexposure
image frame as the pixel values of the corresponding pixel points; and

according to the pixel values of the pixel points on the red, green, and blue channels in the underexposure image frame and
the overexposure image frame, merging the overexposure image frame and the underexposure image frame to obtain a high dynamic
range image frame.

US Pat. No. 9,856,019

AERIAL VEHICLE WITH FRAME ASSEMBLIES

SZ DJI TECHNOLOGY CO., LT...

1. An aerial vehicle, the vehicle comprising:
a central body;
at least a first frame assembly and a second frame assembly, each of the first frame assembly and the second frame assembly
is pivotally coupled to the central body at a respective coupling portion; and

a plurality of propulsion units operable to move the aerial vehicle, wherein at least two propulsion units of said plurality
are mounted to the first frame assembly and at least two other propulsion unit of said plurality are mounted to the second
frame assembly,

wherein the aerial vehicle is configured to transform between a first configuration and a second configuration,
wherein the first frame assembly and the second frame assembly are configured to have a first vertical angle at the respective
coupling portion in the first configuration and the first frame assembly and the second frame assembly are configured to have
a second vertical angle at the respective coupling portion in the second configuration, and wherein the first vertical angle
and the second vertical angle are different, and

wherein at the first vertical angle, the first frame assembly and the second frame assembly are at a folding position, and
wherein at the second vertical angle, the first frame assembly and the second frame assembly are at an unfolding position.

US Pat. No. 9,648,302

RGB-D IMAGING SYSTEM AND METHOD USING ULTRASONIC DEPTH SENSING

SZ DJI TECHNOLOGY CO., LT...

1. A Red, Green, Blue plus Distance (RGB-D) imaging system, comprising:
a first ultrasonic sensor array comprising an ultrasonic emitter and a plurality of ultrasonic sensors;
a Red, Green and Blue (RGB) camera assembly comprising a photosensitive imaging chip and a lens and being operably connected
with said first ultrasonic sensor array; and

a second ultrasonic sensor array operably connected to said first ultrasonic sensor array and said RGB camera assembly,
wherein said photosensitive imaging chip is positioned between said first and second ultrasonic sensor arrays.

US Pat. No. 10,086,954

UAV FLIGHT DISPLAY

SZ DJI TECHNOLOGY CO., LT...

1. A method for providing flight information related to an unmanned aerial vehicle (UAV) coupled to a payload, said method comprising:receiving, at a remote terminal, UAV state information comprising at least attitude information of the UAV when the UAV is airborne;
receiving, at the remote terminal, payload state information comprising at least attitude information of the payload relative to the UAV when the UAV is airborne;
receiving, at the remote terminal, an image captured by the payload;
determining, based on sensing data from one or more sensors of the remote terminal, remote terminal state information comprising at least orientation information of the remote terminal;
processing the received UAV state information and the remote terminal state information to determine a spatial relationship between the UAV and the remote terminal; and
simultaneously displaying, in a same display area on a display of the remote terminal, the UAV attitude information, the payload attitude information, the image, the remote terminal state information, and the determined spatial relationship between the UAV and the remote terminal, wherein displaying the remote terminal state information comprises displaying a graphical indicator that indicates a direction the remote terminal is facing.

US Pat. No. 10,060,746

METHODS AND SYSTEMS FOR DETERMINING A STATE OF AN UNMANNED AERIAL VEHICLE

SZ DJI TECHNOLOGY CO., LT...

1. A method for determining an external state of an unmanned aerial vehicle (UAV), said method comprising:determining, individually or collectively by one or more processors onboard the UAV, external state information of the UAV based on image data of an environment of the UAV captured by a monocular camera onboard the UAV;
calculating, individually or collectively by the one or more processors onboard the UAV, a relative proportional relationship to be applied to the external state information of the UAV based at least in part on (1) a predetermined positional relationship between the monocular camera and a proximity sensor and (2) proximity data about the environment of the UAV that is acquired by the proximity sensor, the relative proportional relationship including a proportional relationship between coordinates under a local reference frame based on the monocular camera and coordinates under a global reference frame;
updating, individually or collectively by the one or more processors onboard the UAV, the external state information of the UAV at least by applying the relative proportional relationship to the external state information; and
controlling the UAV according to the updated external state information.

US Pat. No. 10,048,687

SYSTEM AND METHOD FOR MOBILE PLATFORM OPERATION

SZ DJI TECHNOLOGY CO., LT...

1. A method for operating a mobile platform, comprising:measuring a distance between the mobile platform and an obstacle via time-of-flight sensing or ultrasound sensing, including:
performing, by a time-of-flight sensor, a first measurement on the distance via time-of-flight sensing;
performing, by an ultrasound sensor, a second measurement on the distance via ultrasound sensing;
determining, by a processor, at least one of the first measurement or the second measurement is determinate;
determining, by a processor, the distance based on the at least one of the first measurement or the second measurement that is determinate;
measuring, by a sensor, a speed of the mobile platform; and
controlling, by a processor, a movement of the mobile platform according to the measured distance and the measured speed, a controlling method for controlling the movement of the mobile platform depending on which one or both of the time-of-flight sensor and the ultrasound sensor are used for measuring the distance.

US Pat. No. 9,998,632

COLOR CORRECTION SYSTEM AND METHOD

SZ DJI TECHNOLOGY CO., LT...

1. A computer-implemented method for color correction, comprising:color correcting a noise evaluation image using a plurality of color correction parameters;
determining a noise amplification metric by comparing the corrected noise evaluation image with the pre-correction noise evaluation image, wherein determining the noise amplification metric further comprises determining a ratio between a first variance of a color space component for the pre-corrected noise evaluation image and a second variance of the color space component for the post-corrected noise evaluation image; and
adjusting the plurality of color correction parameters based on the noise amplification metric.

US Pat. No. 9,841,432

INERTIA MEASUREMENT MODULE FOR UNMANNED AIRCRAFT

SZ DJI TECHNOLOGY CO., LT...

1. An inertia measurement module for an unmanned aircraft, the inertia measurement module comprising:
a second circuit board with an inertia sensor;
a first circuit board with a processor to process one or more signals from the inertia sensor;
a signal line between the first circuit board and the second circuit board;
a weight block comprising a recess, wherein the second circuit board is embedded in the recess of the weight block, and wherein
the weight block comprising the recess is of a mass such that an inherent frequency of the inertia measurement module is reduced
to be less than an operation frequency of the unmanned aircraft; and

a vibration damper provided to attenuate vibration of the inertia sensor.

US Pat. No. 9,842,505

FLIGHT CONTROL FOR FLIGHT-RESTRICTED REGIONS

SZ DJI TECHNOLOGY CO., LT...

1. An unmanned aerial vehicle comprising:
one or more processors individually or collectively configured to:
assess a location of an external device in communication with the unmanned aerial vehicle, wherein the external device is
capable of receiving data from the unmanned aerial vehicle or transmitting control data to the unmanned aerial vehicle to
control flight of the unmanned aerial vehicle;

assess, at a first time, a location of the unmanned aerial vehicle relative to a flight-restricted region using the location
of the external device;

instruct the unmanned aerial vehicle to take a flight response measure when the location of the unmanned aerial vehicle relative
to the flight-restricted region thus within a threshold, wherein the flight response measure defines a behavior of the unmanned
aerial vehicle that is different from a behavior of the unmanned aerial vehicle outside the threshold; and

re-assess, at a second time, the location of the unmanned aerial vehicle relative to the flight-restricted region using the
location of the external device; and

one or more propulsion units in communication with the one or more processors that permit the unmanned aerial vehicle to take
the flight response measure.

US Pat. No. 9,826,217

SYSTEM AND METHOD FOR ADJUSTING A BASELINE OF AN IMAGING SYSTEM WITH MICROLENS ARRAY

SZ DJI TECHNOLOGY CO., LT...

1. A method for establishing a baseline of a stereoscopic imaging system having a microlens array, comprising:
acquiring an object distance between the microlens array and an object of interest based on images of the object of interest
taken by the microlens array;

dynamically selecting a first lens and a second lens from among a plurality of lenses of the micro lens array based upon said
acquiring, comprising:

estimating a detective range of the object distance based on a minimum baseline available for the microlens array, a rectified
focal length and a predetermined disparity range;

calculating a baseline range based on the estimated detective range of the object distance; and
selecting with a minimum baseline while ascertaining a disparity greater than a predetermined level; and
establishing the baseline based upon said selecting the first lens and the second lens.

US Pat. No. 9,789,969

IMPACT PROTECTION APPARATUS

SZ DJI Technology Co., Lt...

1. An impact protection apparatus for an unmanned aerial vehicle (UAV), comprising:
one or more inflatable members configured to be coupled to the UAV and inflatable to reduce forces experienced by the UAV
during an impact;

a container coupled to the one or more inflatable members and configured to hold compressed gas;
a control mechanism configured to cause the compressed gas to flow from the container into the one or more inflatable members;
and

a controller in communication with the control mechanism,
wherein the controller is configured to control the control mechanism to selectively inflate an inflatable member of the one
or more inflatable members based on a signal from a remote terminal, wherein the control mechanism is powered by a first power
source separate from a second power source configured to provide power to one or more components of the UAV, and wherein the
first power source is configured to be automatically recharged during operation of one or more propulsion units of the UAV.

US Pat. No. 9,743,059

AUTOMATIC WHITE BALANCING SYSTEM AND METHOD

SZ DJI TECHNOLOGY CO., LT...

1. A mobile platform, comprising:
a central body having a plurality of predetermined body regions each with a color compatible for white balancing; and
an imaging sensor for:
acquiring a selected image of a scene,
scanning surroundings of said imaging sensor and selecting one of the predetermined body regions,
acquiring a reference image of the selected one of the predetermined body regions, and
white balancing the selected image based on the reference image.

US Pat. No. 9,742,960

COLOR CORRECTION SYSTEM AND METHOD

SZ DJI TECHNOLOGY CO., LT...

1. A method for calibrating a digital imaging device for color correction, comprising:
obtaining input color values and reference color values for respective color references, the input color values and reference
color values being in a non-linear color space;

obtaining a noise evaluation image having a color noise for evaluating noise reduction; and
adjusting a plurality of color correction parameters based on the input color values, reference color values, and the noise
evaluation image using a fitness function, having a color correction error and a noise amplification metric, wherein said
adjusting comprises determining the noise amplification metric by:

color correcting the noise evaluation image using the color correction parameters; and
comparing the corrected noise evaluation image with the pre-correction noise evaluation image.

US Pat. No. 9,704,265

OPTICAL-FLOW IMAGING SYSTEM AND METHOD USING ULTRASONIC DEPTH SENSING

SZ DJI TECHNOLOGY CO., LT...

1. A method of determining a physical velocity in physical space, comprising:
receiving depth data from a distance sensor;
receiving image data from an imaging device being operably coupled with the distance sensor;
aligning the received image data and the received depth data, comprising:
generating a distance map based upon the received image data and the received depth data; and
aligning the received image data and the received depth data based upon at least one distance value of the distance map;
identifying a plurality of special feature points in the received image data;
determining a pixel velocity from the identified special feature points; and
converting the determined pixel velocity into the physical velocity based on the received depth data associated with the identified
special feature points.

US Pat. No. 10,074,998

CHARGING SYSTEM, POWER SUPPLY DEVICE AND AIRCRAFT

SZ DJI TECHNOLOGY CO., LT...

1. A charging system, comprising:a power supply device including:
a power supply; and
at least two exposed power supply panels that are connected to the power supply, the at least two power supply panels being electrically insulated from each other and including:
at least one anode power supply panel connected to an anode of the power supply; and
at least one cathode power supply panel connected to a cathode of the power supply,
wherein the at least one anode power supply panel and the at least one cathode power supply panel are alternately arranged;
a charging device including:
a charging circuit; and
at least two charging contacts each being connected to a charging anode and a charging cathode of the charging circuit respectively through a diode,
wherein the charging device is configured to contact the power supply panels through the charging contacts to charge a connected load.

US Pat. No. 9,896,195

AERIAL VEHICLE AND A SIGNAL LINE PROTECTION ASSEMBLY THEREOF

SZ DJI TECHNOLOGY CO., LT...

1. A signal line protection assembly connecting to a body of an aerial vehicle, comprising:
a foot stand including:
a foot stand sleeve;
a shock absorber including a hydraulic damping shock absorber; and
a protection sleeve configured to receive a signal line,
wherein:
the protection sleeve and the foot stand sleeve are separate structures,
the protection sleeve is connected between the body and the foot stand sleeve, and
at least a portion of the protection sleeve away from the body is received in the foot stand sleeve.

US Pat. No. 9,773,297

SYSTEM AND METHOD FOR SUPPORTING IMAGE DENOISING BASED ON NEIGHBORHOOD BLOCK DIMENSIONALITY REDUCTION

SZ DJI TECHNOLOGY CO., LT...

1. A image processing method, comprising:
obtaining a first set of characterization values, which represents a first group of pixels that are associated with a denoising
pixel in a filter window of an image, wherein obtaining the first set of characterization values includes determining a component
in the first set of characterization values based on a value associated with one or more pixels in a first neighborhood block
formed by the first group of pixels;

obtaining a second set of characterization values, which represents a second group of pixels that are associated with a denoising
reference pixel in the filter window; wherein obtaining the second set of characterization values includes determining a component
in the second set of characterization values based on a value associated with one or more pixels in a second neighborhood
block formed by the second group of pixels; and

using the first set of characterization values and the second set of characterization values to determine a similarity between
the denoising pixel and the denoising reference pixel.

US Pat. No. 9,663,244

PAYLOAD MOUNTING PLATFORM

SZ DJI TECHNOLOGY CO., LT...

1. An apparatus for supporting a payload, the apparatus comprising:
a first support member coupled to the payload, wherein the payload is configured to rotate around a first rotational axis
relative to the first support member; and

a flexible member configured to be coupled to the first support member and the payload,
wherein the flexible member comprises a branched configuration comprising a first extension, a second extension, a third extension,
and a first connection portion extending between the first extension and the second extension, the first extension being configured
to couple to the payload and the second extension being configured to couple to the first support member, and

wherein the first connection portion of the flexible member is configured to (i) wind around a portion of the first support
member or the payload when the payload is rotated in a first direction around the first rotational axis, and (ii) unwind from
around the portion when the first support member is rotated in a second direction opposite the first direction around the
first rotational axis.

US Pat. No. 10,057,473

CIRCUIT BOARD DEVICE AND IMAGE CAPTURING MODULE HAVING THE CIRCUIT BOARD DEVICE

SZ DJI TECHNOLOGY CO., LT...

1. A circuit board device, comprising:a polyhedral support frame, each side of the polyhedral support frame including an opening; and
a circuit board unit comprising at least two rigid boards and at least one flexible board connecting the at least two rigid boards,
wherein the at least two rigid boards are folded with respect to each other through the at least one flexible board and are disposed on different sides of the support frame, respectively.

US Pat. No. 10,001,778

VELOCITY CONTROL FOR AN UNMANNED AERIAL VEHICLE

SZ DJI TECHNOLOGY CO., LT...

1. A system for controlling an unmanned aerial vehicle within an environment, the system comprising:one or more sensors carried on the unmanned aerial vehicle; and
one or more processors individually or collectively configured to:
determine, based on data from the one or more sensors, an environmental complexity factor representative of an obstacle density for the environment,
determine, based on the environmental complexity factor, a first set of operating rules for the unmanned aerial vehicle,
detect, based on data from the one or more sensors, a change in the environmental complexity factor corresponding to a change in the obstacle density for the environment, and
modify the first set of operating rules based on the change in the environmental complexity factor to provide a second set of operating rules for the unmanned aerial vehicle.

US Pat. No. 9,958,874

AIRCRAFT ATTITUDE CONTROL METHODS

SZ DJI TECHNOLOGY CO., LT...

1. A method for controlling aircraft attitude, said method comprising:(a) calculating one or more aircraft configuration parameters based on one or more physical characteristics of an aircraft;
(b) receiving, at a processor, a signal indicative of a target attitude of the aircraft;
(c) generating, with aid of the processor, a command signal to be delivered to at least one actuator of the aircraft operably coupled to one or more propulsion units of the aircraft, wherein said generation is based on (1) the signal indicative of the target attitude of (b), and (2) the one or more aircraft configuration parameters of (a), and where said generation further uses a feedback control scheme that includes an angular acceleration loop with angular acceleration feedback;
(d) measuring, with aid of one or more sensors operably coupled to the aircraft, dynamics of the aircraft resulting from actuation of the one or more propulsion units; and
(e) feeding the dynamics to the processor to yield the feedback control scheme that adjusts or confirms the command signal of (c).

US Pat. No. 9,905,060

SYSTEM AND METHOD FOR DATA RECORDING AND ANALYSIS

SZ DJI TECHNOLOGY CO., LT...

1. A data analyzing method comprising:
analyzing, by a processor, operational data of a platform operator of a moving platform collected by a sensor mounted on the
moving platform; and

updating, by the processor, an operating parameter of the moving platform in response to analyzing the operational data, including:
retrieving selected operational data from a plurality of prior events;
analyzing the selected operational data to determine an experience level of the platform operator;
characterizing the experience level of the platform operator based on analyzing the selected operational data; and
either:
increasing platform performance characteristics of the moving platform when the moving platform is operated by an experienced
platform operator as determined by characterizing the experience level of the platform operator;

decreasing the platform performance characteristics when the moving platform is operated by a novice platform operator as
determined by characterizing the experience level of the platform operator; or

a combination thereof.

US Pat. No. 9,884,681

AERIAL VEHICLE WITH FRAME ASSEMBLIES

SZ DJI TECHNOLOGY CO., LT...

1. An aerial vehicle, the vehicle comprising:
a central body;
at least a first frame assembly and a second frame assembly, each of the first frame assembly and the second frame assembly
is pivotally coupled to the central body at a respective coupling portion; and

a plurality of propulsion units operable to move the aerial vehicle, wherein at least two propulsion units of said plurality
are mounted to the first frame assembly and at least two other propulsion unit of said plurality are mounted to the second
frame assembly,

wherein the aerial vehicle is configured to transform between a first configuration and a second configuration,
wherein the first frame assembly and the second frame assembly are configured to have a first vertical angle at the respective
coupling portion in the first configuration and the first frame assembly and the second frame assembly are configured to have
a second vertical angle at the respective coupling portion in the second configuration, and wherein the first vertical angle
and the second vertical angle are different, and

wherein at the first vertical angle, the first frame assembly and the second frame assembly are at a folding position, and
wherein at the second vertical angle, the first frame assembly and the second frame assembly are at an unfolding position.

US Pat. No. 9,868,363

METHOD AND SYSTEM FOR RECYCLING MOTOR POWER OF A MOVABLE OBJECT

SZ DJI TECHNOLOGY CO., LT...

1. A method of power recycling for an unmanned aerial vehicle (UAV), said method comprising:
determining, with aid of a processor, operating states of a plurality of motors of the UAV, wherein the plurality of motors
are used to drive the UAV, and wherein at least one motor in a decelerating state is configured to work in concert with at
least one other motor in an accelerating state to effect rotation of the UAV;

collecting power from the at least one motor when the operating state of the at least one motor is the decelerating state;
and

distributing the power collected from the at least one motor in the decelerating state directly to the at least one other
motor in the accelerating state during the rotation of the UAV.

US Pat. No. 9,792,613

AUTHENTICATION SYSTEMS AND METHODS FOR GENERATING FLIGHT REGULATIONS

SZ DJI TECHNOLOGY CO., LT...

1. A method for regulating an unmanned aerial vehicle (UAV) comprising onboard one or more of a sensor, communication unit,
payload, or power supply, said method comprising:
(a) assessing whether the UAV or a user of the UAV has been registered with a control entity;
(b) notifying the user of the UAV to update the software of the UAV within a grace period, and permitting the UAV to operate
in a regular operational mode while within the grace period, wherein the regular operational mode permits operation of the
one or more sensor, communication unit, payload, or power supply of the UAV; and

(c) wirelessly transmitting a software update to the UAV or a device configured to operably communicate with the UAV, only
when the UAV or a user of the UAV is registered with the control entity, wherein the software update regulates operation of
the one or more sensor, communication unit, payload, or power supply, thereby regulating the UAV, and wherein the one or more
sensor, communication unit, payload, or power supply of the UAV is inoperable without the software update outside the grace
period, and wherein the user is unable to access some or all of the UAV flight zones when the user does not upgrade the software
within the grace period.

US Pat. No. 9,778,661

SELECTIVE PROCESSING OF SENSOR DATA

SZ DJI TECHNOLOGY CO., LT...

24. A method for controlling a moving vehicle operably coupled thereto a plurality of imaging devices, comprising:
capturing a plurality of images with each imaging device of the plurality of imaging devices; and
with aid of one or more processors, individually or collectively,
assessing image quality of the plurality of images from each imaging device, wherein the image quality is assessed based on
a feature point number of each image captured by said plurality of imaging devices, wherein said feature point number of each
image is calculated using a corner detection algorithm that is a Features from Accelerated Segmented Test (FAST) algorithm;

selecting at least one of the plurality of imaging devices based on the assessment of the image quality of the plurality of
images; and

determining state information for the vehicle using the plurality of images from the selected imaging device(s), wherein the
state information of the vehicle comprises information about an environment surrounding the vehicle.

US Pat. No. 9,778,662

CAMERA CONFIGURATION ON MOVABLE OBJECTS

SZ DJI TECHNOLOGY CO., Lt...

1. A method of detecting obstacles using an imaging device carried by a movable object, the method comprising:
receiving, at one or more processors, first image data of an obstacle from the imaging device carried by the movable object,
wherein the imaging device is arranged on the movable object so as to have a field of view oriented upward or downward relative
to the movable object;

generating, at the one or more processors, a control signal to control one or more propulsion units of the movable object
to cause the movable object to move;

receiving, at the one or more processors, second image data of the obstacle from the imaging device after the movable object
has moved;

calculating, with aid of the one or more processors, a distance between the movable object and the obstacle based on the first
image data and the second image data; and

determining a speed moved by the movable object between collection of the first image data and the second image data, based
on the first image data and the second image data.

US Pat. No. 10,101,748

METHODS FOR LAUNCHING AND LANDING AN UNMANNED AERIAL VEHICLE

SZ DJI TECHNOLOGY CO., LT...

1. An unmanned aerial vehicle (UAV), comprising:one or more rotor blades;
one or more holding members attached to a body of the UAV, wherein the one or more holding members are configured to be held by a human hand;
one or more sensors configured to detect a positional change of the UAV caused by a release of the human hand from the one or more holding members; and
one or more processors on-board the UAV configured to provide an actuation signal in response to the detected positional change caused by the release of the human hand from the one or more holding members, wherein the actuation signal is configured to direct the UAV to generate a lift and/or thrust to maintain the UAV in an airborne state.

US Pat. No. 9,973,728

SYSTEM AND METHOD FOR SUPPORTING SELECTIVE BACKTRACKING DATA RECORDING

SZ DJI TECHNOLOGY CO., LT...

1. A data processing method, comprising:receiving a data flow from one or more data sources;
storing the data flow in a first storage medium;
associating one or more tags with the data flow, wherein said one or more tags are associated with one or more timestamps in a time sequence;
saving the one or more timestamps in a record;
accessing a timestamp from the record, the timestamp representing a first time in the time sequence;
determining a first reference time by subtracting a first predetermined time period from the first time;
determining a second reference time by adding a second predetermined time period to the first time;
selecting a subset of data in the received data flow corresponding to a time period from the first reference time to the second reference time; and
transferring the subset of data from the first storage medium to a second storage medium for longer term storage than the first storage medium.

US Pat. No. 9,967,477

DUAL LENS SYSTEM HAVING A LIGHT SPLITTER

SZ DJI TECHNOLOGY CO., LT...

1. A system for capturing images, said system comprising:an optical element configured to separate light into a first light beam and a second light beam;
a first lens module having a first focal length configured to focus the first light beam;
a second lens module having a second focal length configured to focus the second light beam, wherein the second focal length is different from the first focal length;
a first sensor configured to capture a first image from the first light beam focused by the first lens module onto the first sensor;
a second sensor configured to capture a second image from the second light beam focused by the second lens module onto the second sensor; and
one or more processors configured to:
receive a desired focal length;
modify the first image based on the desired focal length to generate a modified first image;
modify the second image based on the desired focal length to generate a modified second image; and
generate a combined image based on the modified first image and the modified second image, wherein the combined image has a field of view corresponding to the desired focal length.

US Pat. No. 9,875,584

SYSTEMS AND METHODS FOR MONITORING FLIGHT

SZ DJI TECHNOLOGY CO., LT...

1. A system for recording user operation data and vehicle operation data for a remotely controlled vehicle, the system comprising:
a user operation data recorder remote to the remotely controlled vehicle, the user operation data recorder having a first
memory configured to record the user operation data, the user operation data comprising outgoing operation commands that affect
operation of the remotely controlled vehicle, said outgoing operation commands (1) received from a remote controller of the
remotely controlled vehicle and (2) transmitted to the remotely controlled vehicle;

a vehicle operation data recorder on-board the remotely controlled vehicle, the vehicle operation data recorder having a second
memory configured to record vehicle operation data, the vehicle operation data comprising incoming operation commands that
affect operation of the remotely controlled vehicle, said incoming operation commands received by the remotely controlled
vehicle from the remote controller of the remotely controlled vehicle; and

one or more processors that compare the user operation data and the vehicle operation data for identifying discrepancies which
comprise (1) differences between the outgoing operation commands and the incoming operation commands, or (2) differences between
the incoming operation commands and vehicle status data.

US Pat. No. 9,870,566

AUTHENTICATION SYSTEMS AND METHODS FOR GENERATING FLIGHT REGULATIONS

SZ DJI TECHNOLOGY CO., LT...

1. A system for operating an unmanned aerial vehicle (UAV), said system comprising:
one or more communication units configured to:
receive authentication of an identity of a UAV;
receive authentication of an identity of a UAV user, wherein the authenticated UAV user is an owner and/or operator of the
authenticated UAV; and

receive information including a geographical location in which the authenticated UAV is, or to which the UAV is to fly; and
a non-transitory computer readable medium storing an application that is configured to, with aid of one or more processors,
generate a location-dependent payload usage parameter based on the geographical location that is received by the one or more
communication units,

wherein the one or more communication units are further configured to transmit said location-dependent payload usage parameter
to the UAV and/or a payload on board the UAV based on (a) the received authentication of the identity of the UAV, and (b)
the received authentication of the identity of the UAV user to effect operation of the payload onboard the UAV in compliance
with the payload usage parameter.

US Pat. No. 9,777,887

INTERCHANGEABLE MOUNTING PLATFORM

SZ DJI TECHNOLOGY CO., LT...

1. An assembly comprising:
a camera configured to obtain image data;
a mounting platform coupled to the camera, wherein the mounting platform comprises:
an actuator configured to rotate the camera; and
one or more sensors configured to obtain sensing data indicative of a spatial disposition of the mounting platform or the
camera;

a handheld support member comprising:
a handle including a distal end configured to be coupled to the mounting platform;
an input interface on the handle for interacting with a user's finger for adjusting an orientation of the camera;
an electrical coupling configured to be electrically coupled to the mounting platform; and
an interface configured to be coupled to a display, said display provided as a separate component from the camera, wherein
the handheld support member is configured to be releasably coupled to the display via the interface, wherein (1) the camera
is configured to provide the image data and (2) the mounting platform is configured to provide the sensing data, to the display
to be shown on the display.

US Pat. No. 10,194,541

FASTENING ASSEMBLY, HOLDING MECHANISM, BRACKET AND REMOTE CONTROLLER USING THE HOLDING MECHANISM

SZ DJI TECHNOLOGY CO., LT...

1. A remote controller comprising:a remote controller body;
a control stick provided on the remote controller body; and
a bracket mounted on the remote controller body, the bracket comprising:
a connecting frame; and
a holding mechanism comprising:
a first clamping member rotatably connected to the connecting frame and comprising a first clamping part;
a second clamping member comprising a second clamping part and a limiting part, the second clamping member being slidably mounted on the first clamping member and configured to adjust a spacing between the second clamping part and the first clamping part;
a limiter rotatably provided on the first clamping member, and the limiter being fitted with the limiting part and configured to limit a relative sliding position of the first and second clamping members, wherein the limiter is configured to be separated from the limiting part in response to the limiter being pressed or to be snapped with the limiting part in response to the limiter being released.

US Pat. No. 10,055,872

SYSTEM AND METHOD OF FAST ADAPTIVE BLENDING FOR HIGH DYNAMIC RANGE IMAGING

SZ DJI TECHNOLOGY CO., LT...

1. A method for high dynamic range (HDR) imaging, comprising:calculating weights of yellow-luminance (Y) components of a set of images in yellow-luminance/blue-luminance/red-luminance (YUV) color space based on a set of lookup tables (LUTs), including:
applying to the Y component of a maximum underexposed one of the images with a first modified sigmoid function;
applying to the Y component of a normal exposed one of the images with a derivative of the first modified sigmoid function; and
applying to the Y component of a maximum overexposed one of the images with a second modified sigmoid function different from the first modified sigmoid function;
blending the Y components of the set of images with the weights to generate blended Y components; and
combining the blended Y components with corresponding blue-luminance/red-luminance (UV) components to generate a single HDR image in YUV color space.

US Pat. No. 10,030,974

SYSTEM AND METHOD FOR PROVIDING A SIMPLE AND RELIABLE INERTIA MEASUREMENT UNIT (IMU)

SZ DJI TECHNOLOGY CO., LT...

1. An inertia measurement module for an unmanned aircraft, said inertia measurement module comprising:a weight block assembly comprising a first weight block and a second weight block coupled together to form an inner chamber therein;
a first circuit board comprising one or more sensors, said first circuit board being supported within the inner chamber of the weight block assembly;
a housing assembly configured to support the weight block assembly therein, wherein the housing assembly is mounted onto a second circuit board located outside of said housing assembly; and
a signal line that connects the first circuit board with the second circuit board, wherein the signal line is (1) coupled to a first edge of the first circuit board and (2) extends out of openings from the weight block assembly and the housing assembly to the second circuit board, wherein said openings are located proximal to a second edge of the first circuit board that is different from the first edge of the first circuit board.

US Pat. No. 10,026,154

SYSTEM AND METHOD FOR SUPPORTING IMAGE DENOISING BASED ON NEIGHBORHOOD BLOCK DIMENSIONALITY REDUCTION

SZ DJI TECHNOLOGY CO., LT...

1. An image processing method, comprising:obtaining a set of characterization values, which represents a first group of pixels that are associated with a denoising pixel in a filter window of an image, wherein obtaining the set of characterization values includes determining a component in the set of characterization values based on a value associated with one or more pixels in a first neighborhood block formed by the first group of pixels;
using the set of characterization values to determine a similarity between the denoising pixel and a denoising reference pixel in a second neighborhood block formed by a second group of pixels in the filter window of the image; and
calculating a denoised value for the denoising pixel based on the determined similarity between the denoising pixel and the denoising reference pixel.

US Pat. No. 10,021,324

METHOD AND SYSTEM OF CORRECTING DEFECTIVE PIXELS

SZ DJI TECHNOLOGY CO., LT...

1. A method of correcting a defective pixel of a digital image, comprising:pre-correcting the defective pixel;
calculating similarities between a plurality of normal pixels and the defective pixel;
calculating weights of the plurality of normal pixels to the defective pixel based on the similarities between the plurality of normal pixel and the defective pixel; and
normalizing the weights and adopting a weighted sum of values of the normal pixels according to the normalized weights as a corrected value of the defective pixel, wherein the calculating similarities between the plurality of normal pixels and the defective pixel comprises:
calculating the similarities between the normal pixels and the defective pixel based on a neighborhood similarity by the following equation:
D(Pi,Pj)=?UR(Pi)?UR(Pj)?,
where Pi represents the defective pixel; Pj represents a normal pixel neighboring the defective pixel Pi; and D(Pi, Pj) is a distance representing a similarity between the pixels Pi and Pj, where the greater the distance is, the lower the similarity becomes, and the lower the weight becomes; UR(Pi) represents a neighborhood of the defective pixel Pi, which is a matrix having a size of 2R+1 centered on the defective pixel Pi; and UR(Pj) represents a neighborhood of the normal pixel Pj, which is a matrix having a size of 2R+1 centered on the normal pixel Pj.

US Pat. No. 9,918,061

SYSTEM AND METHOD FOR STORING IMAGE DATA IN PARALLEL IN A CAMERA SYSTEM

SZ DJI TECHNOLOGY CO., LT...

1. An image signal processing method, comprising:
receiving, at a processing device, one or more image data from an image sensor, the processing device having a first input/output
(I/O) pin assignment corresponding to a configuration of the image sensor;

forwarding, via the processing device, the received one or more image data to an image signal processor, wherein said image
signal processor operates to compress the received one or more image data and save the compressed image data in a first storage
medium, and said processing device is a field programmable gate array (FPGA) device;

exporting, via the processing device, the received one or more image data to a second storage medium; and
modifying, via the processing device, the first I/O pin assignment in order to support a modified configuration for the image
sensor.

US Pat. No. 9,914,537

SYSTEMS AND METHODS FOR FOLDABLE ARMS

SZ DJI TECHNOLOGY CO., LT...

1. An unmanned aerial vehicle (UAV), the UAV comprising:
a central body;
a plurality of arms that extend out from the central body, each arm having one or more joints that segment the arm into a
stem portion proximal to the central body and one or more branch portions distal to the central body, wherein the one or more
joints permit the one or more branch portions to move horizontally relative to the stem portion; and

a plurality of rotors, each rotor in the plurality attached to the one or more branch portions, wherein the plurality of arms
are configured to provide fluid to the plurality of rotors.

US Pat. No. 10,140,874

SYSTEM AND METHOD FOR ENABLING VIRTUAL SIGHTSEEING USING UNMANNED AERIAL VEHICLES

SZ DJI TECHNOLOGY CO., LT...

1. A method for operating unmanned aerial vehicle (UAV), comprising:assigning a plurality of UAVs to station in a plurality of ground stations within a plurality of cells of a honeycomb UAV ground configuration covering an operational region, wherein a said cell in the honeycomb UAV ground configuration includes multiple said ground stations positioned in a miniature honeycomb pattern, each of the plurality of UAVs being assigned to station in at least one of the plurality of ground stations, and more UAVs being stationed in a first cell of high demand than in a second cell of low demand;
in response to an operating request and according to navigational information, redeploying at least one said UAV from the first cell to a region of interest within the second cell, and the operating request including operating settings, a location of the region of interest and a characteristic of the region of interest; and
acquiring data regarding the region of interest via the redeployed UAV.

US Pat. No. 10,073,325

LENS LIMITING ASSEMBLY, CAMERA BODY AND CAMERA

SZ DJI TECHNOLOGY CO., LT...

1. A camera body comprising:a fixing frame having a contact base mounting position; and
a lens limiting assembly arranged at the contact base mounting position and comprising:
an elastic element arranged on the contact base mounting position;
a lens assembly ring arranged on the elastic element; and
a locking ring arranged outside the lens assembly ring and configured to abut against and press the elastic element when the locking ring rotates in one direction.

US Pat. No. 10,046,844

AERIAL VEHICLE WITH FRAME ASSEMBLIES

SZ DJI TECHNOLOGY CO., LT...

1. A unmanned aerial vehicle (UAV) comprising:a central body;
at least two transformable frame assemblies respectively disposed on the central body, each of the at least two transformable frame assemblies having a proximal portion pivotally coupled to the central body and a distal portion; and
a plurality of propulsion units mounted on the at least two transformable frame assemblies and operable to move the UAV;
wherein each of the at least two transformable frame assemblies are configured to pivot at the proximal portion through a plurality of vertical angles relative to a yaw axis of the central body, the plurality of vertical angles comprising: (1) a first vertical angle permitting the distal portion of each of the at least two transformable frame assemblies to be even with the central body during at least a portion of a takeoff phase and a landing phase, (2) a second vertical angle different from the first vertical angle during a flight phase, and (3) a third vertical angle permitting the at least two transformable frame assemblies to support the UAV on a surface when the UAV is in a resting phase.

US Pat. No. 10,038,492

METHOD, APPARATUS AND SYSTEM OF PROVIDING COMMUNICATION COVERAGE TO AN UNMANNED AERIAL VEHICLE

SZ DJI TECHNOLOGY CO., LT...

1. A method of providing communication coverage to an unmanned aerial vehicle (UAV), said method comprising:collecting a proposed flight path of the UAV;
determining a communication signal distribution along the proposed flight path of the UAV, the communication signal distribution being collected by another aerial vehicle flying along the proposed flight path; and
determining, based on the communication signal distribution, one or more locations along the proposed flight path of the UAV for arranging one or more relays, to provide communication coverage in one or more areas where a quality of communication signal is beneath a threshold value and/or where an available bandwidth for the UAV is beneath a threshold value.

US Pat. No. 9,995,992

TELESCOPIC LIMITING STRUCTURE, CAMERA BODY AND CAMERA

SZ DJI TECHNOLOGY CO., LT...

1. A telescopic limiting structure comprising:a first retractable member including a first inclined face, the first retractable member being configured to move along a first direction; and
a second retractable member including a second inclined face bearing against the first inclined face, the first inclined face and the second inclined face being configured to drive the second retractable member to move along a second direction in response to the first retractable member moving along the first direction, and the second direction being different from the first direction,
wherein the first retractable member comprises a press key and an elastic element, the elastic element being arranged between the press key and the second retractable member along the first direction.

US Pat. No. 10,046,854

UNMANNED AERIAL VEHICLE AND OPERATIONS THEREOF

SZ DJI TECHNOLOGY CO., LT...

1. A multi-rotor unmanned aerial vehicle (UAV), comprising:a central body comprising an upper housing member and a lower housing member, the upper housing member and the lower housing member forming a central cavity configured to house at least one electrical component for controlling operation of the UAV;
a branch housing member configured to extend from the central body, wherein the branch housing member comprises a branch cavity, and wherein the branch housing member is configured to be foldable relative to the central body to transform the UAV between a folded configuration and an expanded configuration; and
an actuator assembly coupled to the branch housing member, wherein the actuator assembly comprises an actuator configured to effect movement of the UAV,
wherein at least a portion of the branch housing member extends beneath the actuator; and wherein the actuator is partially within the branch cavity of the branch housing member and partially extending from the branch cavity of the branch housing member.

US Pat. No. 10,120,068

CALIBRATION OF LASER SENSORS

SZ DJI Technology Co., Lt...

1. A computer-implemented method for calibrating a first laser unit and a second laser unit both affixed to a common autonomous car, comprising:transforming point cloud information obtained from the first laser unit into a first point cloud in a coordinate system associated with the autonomous car based at least in part on a first transformation matrix, the first transformation matrix defined at least in part by a position and orientation of the first laser unit relative to the autonomous car;
transforming point cloud information obtained from the second laser unit into a second point cloud in the coordinate system associated with the autonomous car based at least in part on a second transformation matrix, the second transformation matrix defined at least in part by a position and orientation of the second laser unit relative to the autonomous car;
determining an overlapping region between the first and second point clouds based at least in part on paired points between the first and second point clouds, wherein the paired points include at least a nearest neighbor in the second point cloud for at least one point in the first point cloud;
deriving a plurality of first features that at least partially characterize a surface of the first point cloud in the overlapping region;
deriving a plurality of second features that at least partially characterize a surface of the second point cloud in the overlapping region;
generating at least one calibration rule for calibration between the first and second laser units based at least in part on evaluating a function that includes at least the first and second features, wherein the at least one calibration rule includes at least one of a translational transformation or a rotational transformation; and
causing calibration between the first and second laser units based on the at least one calibration rule.

US Pat. No. 10,066,893

POSITION ADJUSTING DEVICE, SHOOTING GAME DEVICE USING THE SAME AND SHOOTING METHOD THEREOF

SZ DJI TECHNOLOGY CO., LT...

14. A shooting game device, comprising:a load; and
a position adjusting device comprising:
a first support member;
a yaw axis motor disposed on the first support member;
a second support member rotatably disposed on the first support member through the yaw axis motor; and
a pitch axis motor disposed on the second support member and configured to drive the load to rotate about a pitch axis,
wherein the yaw axis motor is configured to drive the second support member to rotate about a yaw axis of the yaw axis motor to cause the load to rotate about the yaw axis.

US Pat. No. 10,067,408

IMAGE CAPTURING MODULE

SZ DJI TECHNOLOGY CO., LT...

1. An image capturing module comprising:a camera unit;
a circuit board device connected to the camera unit, the circuit board device comprising:
a circuit board unit disposed at a periphery of the camera unit and comprising a functional module;
a heat dissipation device comprising:
a heat sink attached on a surface of the functional module for dissipating heat from the functional module;
a support frame having a hollow frame-shaped structure with a receiving portion formed inside, wherein the camera unit is received in the receiving portion, and the circuit board unit is disposed at a side portion of the support frame; and
a casing, comprising a ventilating window, a first housing body, a second housing body connected to the first housing, a front enclosure, and a back enclosure, wherein the first housing body, the second housing body, the front enclosure, and the back enclosure jointly enclose a receiving space for receiving the camera unit, the circuit board device, and the heat dissipation device; and wherein the ventilating window is in communication with the receiving space and for ventilating the receiving space.

US Pat. No. 10,184,795

INERTIAL SENSING DEVICE

SZ DJI TECHNOLOGY CO., LT...

1. A system for determining a spatial disposition of a movable object, the system comprising:a support base configured to be carried by the movable object, wherein the movable object is an unmanned aerial vehicle (UAV);
a plurality of damping elements coupled to the support base; and
a plurality of inertial measurement units coupled to the support base via the plurality of damping elements,
wherein each of the plurality of inertial measurement units are coupled to the support base via at least one of the plurality of damping elements to provide a corresponding damping motion for each of the plurality of inertial measurement units,
wherein a first corresponding damping motion provided for a first inertial measurement unit of the plurality of inertial measurement units is different from a second corresponding damping motion provided for a second inertial measurement unit of the plurality of inertial measurement units, and
wherein a stiffness of a first damping element of the plurality of damping elements is less than that of a second damping element of the plurality of damping elements.

US Pat. No. 10,179,658

PAYLOAD MOUNTING PLATFORM

SZ DJI TECHNOLOGY CO., LT...

1. An apparatus for supporting a payload, the apparatus comprising:a first support member configured to be coupled to a payload, wherein the first support member comprises a first motor configured to rotate the payload around a first rotational axis relative to the first support member;
a second support member configured to be coupled to the first support member, wherein the second support member comprises a second motor configured to rotate the first support member around a second rotational axis relative to the second support member; and
a flexible member configured to be electrically coupled to the first support member and the second support member, wherein the flexible member comprises a branched configuration comprising a first extension, a second extension and a third extension, and a first connection portion extending between the first extension and the second extension, wherein the first extension is configured to electrically couple to the first motor of the first support member and the second extension is configured to electrically couple to the second motor of the second support member.

US Pat. No. 10,123,511

SYSTEMS AND METHODS FOR WALKING PETS

SZ DJI TECHNOLOGY CO., LT...

1. A method of guiding a target comprising:receiving, through a user device, a user input indicating a travel route for an unmanned aerial vehicle (UAV) to guide the target;
guiding the target using the UAV by flying the UAV along the travel route while the target is in motion, wherein a location of the UAV is known;
receiving, through the user device while the UAV is guiding the target along the travel route, a change to the travel route to provide an updated travel route; and
guiding the target by flying the UAV along the updated travel route.

US Pat. No. 10,129,478

SYSTEM AND METHOD FOR SUPPORTING SMOOTH TARGET FOLLOWING

SZ DJI TECHNOLOGY CO., LT...

1. A method for supporting target tracking, comprising:acquiring a target from one or more images, which are captured by an imaging device that is carried by a movable object, including:
obtaining a plurality of object proposal candidates;
comparing aspect ratios of the object proposal candidates with an aspect ratio of an initial object bounding box to filter out object proposal candidates that have an aspect ratio out of a certain range;
calculating a correlation in a spatial domain for remaining object proposal candidates;
selecting one of the remaining object proposal candidates as a bounding box based on the correlation; and
using the bounding box to define the target in said one or more images;
obtaining a relative distance between the movable object and the target; and
generating, based on the relative distance, one or more control signals to direct the movable object to track the target.

US Pat. No. 10,120,156

LENS MODULE

SZ DJI TECHNOLOGY CO., LT...

1. A lens module, comprising:a base having a bottom portion and an extension portion extending vertically along the bottom portion, with a stepped surface formed where the bottom portion connects with the extension portion, and an internal thread formed on an inner wall of the extension portion;
an elastic element disposed on the stepped surface;
an optical lens;
an abutting member configured to be received in the extension portion of the base, disposed between the optical lens and the stepped surface, and fixed to the stepped surface; and
a receiving element configured to receive the optical lens and comprising a threaded portion and a receiving portion connected with the threaded portion, the threaded portion comprising an external thread matching with the internal thread and connectable with the internal thread by threading to connect the receiving element with the base, wherein the elastic element abuts against the threaded portion to provide a pretightening force for the receiving element.

US Pat. No. 10,116,753

SYSTEM AND METHOD FOR SUPPORTING DATA COMMUNICATION IN A HETEROGENEOUS ENVIRONMENT

SZ DJI TECHNOLOGY CO., LT...

1. A method for supporting data communication in a heterogeneous environment, comprising:establishing a connection between a first device and a second device, wherein the connection is based on a protocol, which associates a host mode or an accessory mode with one or more connected devices;
determining, via a controller on the first device, a device type associated with the second device based on a mobile device platform installed on the second device, wherein determining the device type comprises:
detecting an identifier value associated with the mobile device platform installed on the second device;
identifying the mobile device platform installed on the second device based on whether the detected identifier value matches a predetermined value corresponding to the mobile device platform; and
determining the device type based on the identified mobile device platform;
configuring the first device to be in either the host mode or the accessory mode, based on the determined device type associated with the second device, to handle data communication between the first device and the second device; and
exchanging data between the first device and an application running on the second device via a communication interface associated with the mobile device platform installed on the second device.

US Pat. No. 10,116,785

SYSTEM AND METHOD FOR SUPPORTING MOVABLE OBJECT APPLICATION DEVELOPMENT

SZ DJI TECHNOLOGY CO., LT...

1. A method for supporting application development in a movable object environment, comprising:establishing, via a movable object manager, a connection with a movable object configured to process commands for controlling at least one hardware module on the movable object;
receiving, via said movable object manager, one or more data packets from the movable object, wherein the data packets include information corresponding to the at least one hardware module on the movable object;
providing, via said movable object manager, the information in said one or more data packets to an application on a user terminal; and
providing, via said movable object manager, one or more commands from the application to the movable object, wherein the commands include information corresponding to the at least one hardware module on the movable object.

US Pat. No. 10,192,325

METHOD FOR CALIBRATING AN IMAGING DEVICE AND AN IMAGING DEVICE

SZ DJI TECHNOLOGY CO., LT...

1. A method for calibrating an imaging device comprising:calculating attitude information of the imaging device relative to a screen based at least in part on an image captured by the imaging device, the image comprising information of at least a portion of a checkerboard displayed on the screen;
generating a calibration signal based at least in part on the attitude information;
displaying the calibration signal on the checkerboard on the screen; and
displaying a guiding signal on the screen, the guiding signal being configured to guide a user to move the imaging device or the screen.

US Pat. No. 10,189,562

UNMANNED AERIAL VEHICLE AND OPERATIONS THEREOF

SZ DJI Technology Co., Lt...

1. A multi-rotor unmanned aerial vehicle (UAV), comprising:a central body comprising an upper housing member and a lower housing member, the upper housing member and the lower housing member forming a central cavity, wherein the central cavity is configured to house one or more electrical components configured to control the operation of the UAV;
one or more branch housing members extending from the central body, the one or more branch housing members each comprising an upper branch housing member and a lower branch housing member, and
one or more electrical components disposed inside the central cavity, wherein the one or more electrical components (1) are configured to control the operation of the UAV, and (2) comprise at least a flight control module and an inertial measurement unit (IMU);
a magnetometer attached onto a landing stand at a position sufficiently distal from the one or more electrical components to effect a reduction of interference from said one or more electrical components, wherein the landing stand extends away from the body of the UAV and is configured to bear weight of the UAV when the UAV is not airborne;
wherein the one or more branch housing members are configured to support one or more actuator assemblies, each actuator assembly comprising an actuator configured to effect movement of the UAV, wherein the thrust of the one or more actuator assemblies is oriented in a vertical direction relative to the central body, and
wherein at least a portion of each of the lower branch housing members extends beneath at least a portion of the corresponding actuator.

US Pat. No. 10,181,211

METHOD AND APPARATUS OF PROMPTING POSITION OF AERIAL VEHICLE

SZ DJI TECHNOLOGY CO., LT...

1. A method of prompting a position of an aerial vehicle, comprising:obtaining first position information of the aerial vehicle and second position information of a terminal configured to control the aerial vehicle;
presenting a relative position relationship between the aerial vehicle and the terminal on a preset map according to the first position information and the second position information;
obtaining first orientation information of the aerial vehicle and second orientation information of the terminal; and
displaying the preset map in a displaying interface aligned with a reference direction, the reference direction being dynamically determined based on at least one of the first orientation information or the second orientation information.

US Pat. No. 10,174,879

CLAMPING MECHANISM AND GIMBAL HAVING THE CLAMPING MECHANISM

SZ DJI TECHNOLOGY CO., LT...

1. A gimbal comprising:a main body; and
a clamping mechanism rotatably connected to the main body, the clamping mechanism comprising:
an adaptor connecting the clamping mechanism to the main body, the adaptor comprising a connecting member connecting the adaptor to the main body;
a holding portion rotatably connected to the adaptor; and
one or more damping members disposed between the holding portion and the adaptor, and configured to provide a resistance to a rotation of the holding portion with respect to the adaptor.

US Pat. No. 10,171,749

IMAGING DEVICE, METHOD AND SYSTEM OF PROVIDING FILL LIGHT, AND MOVABLE OBJECT

SZ DJI TECHNOLOGY CO., LT...

1. A fill light providing method comprising:obtaining an automatic exposure parameter of an image sensor; and
controlling a fill light lamp to provide a fill light based upon the automatic exposure parameter, including:
adjusting an illumination intensity of the fill light lamp in response to the automatic exposure parameter satisfying a preset condition.

US Pat. No. 10,159,218

SYSTEMS AND METHODS FOR WALKING PETS

SZ DJI TECHNOLOGY CO., LT...

1. A method of guiding a target comprising:receiving, through a user device, a user input indicating a travel route for an unmanned aerial vehicle (UAV) to guide the target;
guiding the target using the UAV by flying the UAV along the travel route while the target is in motion, wherein a location of the UAV is known;
receiving, through the user device while the UAV is guiding the target along the travel route, a change to the travel route to provide an updated travel route; and
guiding the target by flying the UAV along the updated travel route.

US Pat. No. 10,160,538

SELF-TIGHTENING ROTOR

SZ DJI TECHNOLOGY CO., LT...

1. An aerial vehicle comprising:(a) a first rotor comprising a first receptacle with a first passage extending through the first receptacle, a first plurality of rotor blades coupled to the first receptacle, a first insert having a first cap and a first body, and a first screw thread carried by the first insert, wherein at least a portion of the first insert is positioned in the first passage, the first cap is wider than at least a portion of the first passage, and the first cap extends from the first receptacle;
(b) a first support element coupled to a first motor, the first support element comprising a second screw thread, wherein the first motor is configured to rotate the first support element in a first direction;
(c) a second rotor comprising a second receptacle with a second passage extending through the second receptacle, a second plurality of rotor blades coupled to the second receptacle, a second insert having a second cap and a second body, and a third screw thread carried by the second insert, wherein at least a portion of the second insert is positioned in the second passage, the second cap is wider than at least a portion of the second passage, and the second cap extends from the second receptacle; and
(d) a second support element coupled to a second motor, the second support element comprising a fourth screw thread, wherein the second motor is configured to rotate the second support element in a second direction opposite the first direction;
wherein the first rotor is coupled to the first support element via a first mating connection between the first screw thread and the second screw thread, the first mating connection being tightened by rotation of the first support element in the first direction, and wherein the first plurality of rotor blades produces lift for the aerial vehicle when the first support element rotates in the first direction; and
wherein the second rotor is coupled to the second support element via a second mating connection between the third screw thread and the fourth screw thread, the second mating connection being tightened by rotation of the second support element in the second direction, and wherein the second plurality of rotor blades produces lift for the aerial vehicle when the second support element rotates in the second direction.

US Pat. No. 10,152,771

CORRECTION OF MOTION-BASED INACCURACY IN POINT CLOUDS

SZ DJI Technology Co., Lt...

1. A computer-implemented method for adjusting point clouds generated using at least one scanning unit carried by a scanning platform, the method comprising:obtaining a base point cloud comprising a plurality of scanning points that are produced by the scanning unit during a period of time, wherein each of the scanning points indicates a position of at least a portion of a target object and wherein the target object moves relative to the scanning unit during the period of time;
associating a motion model with the target object, wherein the motion model includes a constant speed translational motion component and a constant speed rotational motion component;
assessing a volume measurement relating to the base point cloud based, at least in part, on application of the motion model over the period of time;
determining one or more adjusting factors applicable to the scanning points based, at least in part, on the assessing of the volume measurement;
transforming at least a subset of the scanning points based, at least in part, on the one or more adjusting factors to generate a corrected point cloud; and
locating the target object based, at least in part, on the corrected point cloud.

US Pat. No. 10,148,060

LIDAR SENSOR SYSTEM WITH SMALL FORM FACTOR

SZ DJI Technology Co., Lt...

1. A sensor system, comprising:an emitting structure that comprises:
a light source configured to generate a light pulse that is collimated in a first optical path, and
a reflective surface positioned to receive the light pulse from the light source and direct the light pulse in a second, different optical path;
a plurality of optical elements positioned in an optical aperture to allow the light pulse from the reflective surface to pass through the optical aperture via the plurality of optical elements, wherein individual optical elements are configured to rotate independently about a substantially common axis that corresponds to the second optical path, and wherein the plurality of optical elements is operable to collectively direct the light pulse to one or more objects in an angle of view of a sensor system; and
a detector configured to
receive, via the plurality of optical elements, at least a portion of photon energy of the light pulse that is reflected back from the one or more objects in the angle of view of the sensor system, wherein the reflective surface is positioned at a distance from a center of the optical aperture to reduce blocking the light pulse that is reflected back from the one or more objects; and
convert the received photon energy into at least one electrical signal.

US Pat. No. 10,147,329

OPEN PLATFORM FOR FLIGHT RESTRICTED REGION

SZ DJI TECHNOLOGY CO., LT...

1. A system for designating a flight restriction region, said system comprising:one or more processors individually or collectively configured to:
receive, from a user via a user input device, an input configured to designate one or more parameters of the flight restriction region, wherein the one or more parameters include a location associated with a private residence; and
verify that the user is authorized to designate the location associated with the private residence as the flight restriction region.

US Pat. No. 10,136,035

INTERCHANGEABLE MOUNTING PLATFORM

SZ DJI TECHNOLOGY CO., LT...

1. A handheld assembly comprising:a payload comprising a mobile device having a camera and a display;
a mounting platform releasably coupled to the payload via a mating interface, said mounting platform comprising a plurality of actuators for rotating the payload about two or more axes; and
a handheld support member comprising a handle having a distal end coupled to the mounting platform,
wherein the display is configured to display (1) payload data generated or obtained by the payload, said payload data comprising image data obtained by the camera and state information of the payload, and (2) non-payload data associated with the mounting platform and the handheld support member.

US Pat. No. 10,134,298

SYSTEM AND METHOD FOR SUPPORTING SIMULATED MOVEMENT

SZ DJI TECHNOLOGY CO., LT...

1. A method of supporting a simulated flight of an unmanned aircraft vehicle (UAV) operable in a flight mode and a simulation mode, the method comprising:receiving flight control data via an input module of a user terminal when the UAV is in the simulation mode;
receiving, via a process executing on the user terminal, state information of a virtual UAV in the simulated flight from a flight simulator that is associated with the UAV, wherein the state information includes information identifying a location of the virtual UAV in a virtual space;
determining flight information for the simulated flight by associating the received state information with context information obtained by the process executing on the user terminal, wherein the context information includes information identifying a location of the user terminal, the user terminal being at a different location than the UAV in a real space;
providing the determined flight information to the user terminal; and
displaying the simulated flight of the virtual UAV on a display associated with the user terminal based on the determined flight information and the flight control data, wherein the user is able to control the simulated flight of the virtual UAV in the virtual space using the user terminal when the UAV is in the simulation mode and is able to control flight of the UAV in the real space when the UAV is in the flight mode.

US Pat. No. 10,134,299

SYSTEMS AND METHODS FOR FLIGHT SIMULATION

SZ DJI TECHNOLOGY CO., LT...

1. A method of operating a flight simulator, said method comprising:receiving, at a display device, simulated flight data from a flight control system on-board an unmanned aerial vehicle (UAV) when the UAV is in a simulation mode, wherein the simulated flight data is provided to the display device via the UAV, and wherein the UAV is configured to communicate with a remote controller configured to control flight of the UAV when the UAV is in a flight mode, wherein virtual sensor data from one or more virtual sensors is provided to an inertial measurement unit configured to (1) receive the virtual sensor data when the UAV is in the simulation mode, (2) generate flight state information based on the virtual sensor data, and (3) communicate the flight state information to the flight control system; and
displaying, on a visual display of the display device, simulated flight state information of the UAV in response to the simulated flight data.

US Pat. No. 10,132,827

MICRO INERTIAL MEASUREMENT SYSTEM

SZ DJI TECHNOLOGY CO., LT...

1. An inertial measurement device, the device comprising:a sensing module comprising a support and a flexible circuit board,
wherein the support comprises six external surfaces, at least one external surface comprising a groove engraved thereon, and
wherein the flexible circuit board (1) comprises one or more electrical components, the one or more electrical components comprising at least one of a gyroscope or an accelerometer, (2) is coupled to the support with the at least one of the gyroscope or the accelerometer embedded within the groove on the at least one external surface of the support, and (3) comprises a front surface configured to support the one or more electrical components and a back surface opposite the front surface and not supporting any electrical components, wherein a portion of the flexible circuit board is disposed over a corresponding portion of the at least one external surface outside of the groove engraved thereon, the front surface of the flexible circuit board facing the at least one external surface and the back surface facing away from the at least one external surface.

US Pat. No. 10,209,039

BULLET COLLECTING ROBOT, BULLET COLLECTING DEVICE THEREOF AND SHOOTING GAME SYSTEM

SZ DJI TECHNOLOGY CO., LT...

1. A bullet collecting robot, comprising:a bullet collecting device comprising:
a collection bin including a bullet accommodating cavity and a collection opening in communication with the bullet accommodating cavity, wherein an inner wall of the collection opening includes a collection surface for bullets to roll on;
a friction roller provided at the collection opening and configured to rotate freely, wherein a rotation shaft of the friction roller is disposed opposite to and spaced from the collection surface to form a preset gap exists between a peripheral surface of the friction roller and the collection surface;
a collection driving member connected with the friction roller and configured to drive the friction roller to rotate about the rotation shaft; and
a bullet classifying mechanism mounted within the collection bin and configured to separate different types of bullets,
wherein when the bullets are located outside of the friction roller, the friction roller rotates such that the bullets are caught into the collection opening from the preset gap and roll into the bullet accommodating cavity along the collection surface, and
wherein the friction roller comprises an inner tube, the collection driving member being a motor, a rotor of the motor being received within an opening end of the inner tube and fixedly connected with the opening end of the inner tube to cause the inner tube to rotate along with the rotor of the motor;
a travel driving mechanism configured to drive the bullet collecting device to move; and
a controller connected in communication with the collection driving member and the travel driving mechanism, and configured to control the collection driving member and the travel driving mechanism.

US Pat. No. 10,202,191

SYSTEMS AND METHODS FOR FOLDABLE ARMS

SZ DJI TECHNOLOGY CO., LT...

1. An unmanned aerial vehicle (UAV), the UAV comprising:a central body;
a plurality of arms that extend out from the central body, each arm having one or more joints that segment the arm into a stem portion proximal to the central body and two branch portions distal to the central body, wherein the one or more joints permit the one or more branch portions to move horizontally relative to the stem portion between an extended state and a compacted state, wherein each of the two branch portions of each arm is arranged substantially parallel to a different perimeter edge of the central body in the compacted state; and
a plurality of rotors, each rotor in the plurality attached to the branch portions of each arm.

US Pat. No. 10,196,137

UNMANNED AERIAL VEHICLE AND OPERATIONS THEREOF

SZ DJI TECHNOLOGY CO., LT...

1. A multi-rotor unmanned aerial vehicle (UAV), comprising:a central body comprising an upper housing member and a lower housing member;
a plurality of branch housing members extending from the central body, each comprising an upper branch housing member and a lower branch housing member, the plurality of upper branch housing members and the upper housing member forming an integral upper body portion, the plurality of lower branch housing members and the lower housing member forming an integral lower body portion, the integral upper body portion and the integral lower body portion coupled together to form a hollow body portion defining a central cavity and a plurality of branch cavities, wherein the plurality of branch housing members are configured to support a plurality of actuator assemblies, the actuator assemblies being configured to product thrust, wherein the branch housing members and the central body collectively form an “X” shaped arrangement with the central body located at the center of the “X” shaped arrangement and the branch housing members being distributed around the central body in a symmetric fashion;
one or more electrical components comprising at least a flight control module and a wireless transceiver, the flight control module and the wireless transceiver disposed inside the central cavity;
a plurality of electronic speed control (ESC) modules, each electrically coupled to a corresponding actuator assembly of the plurality of actuator assemblies and to the flight control module, in order to control an actuator of the corresponding actuator assembly to effect movement of the UAV, wherein the thrust of the plurality of actuator assemblies is oriented in a vertical direction relative to the central body;
a plurality of electrical wires disposed inside the branch housing members, wherein individual wires of the plurality of electrical wires are configured to electrically connect a corresponding one of the plurality of ESC modules and a corresponding one of the plurality of actuator assemblies;
a landing stand extending from the integral lower body portion, wherein the landing stand is configured to bear weight of the UAV when the UAV is not airborne, the landing stand comprising two substantially vertical support portions which are connected by a substantially horizontal connecting portion;
a magnetometer located on one of the vertical support portion of the landing stand, wherein the magnetometer is at a distance of at least 3 cm and no more than 0.5 m away from the one or more electrical components; and
an indicator light source, wherein the indicator light source is positioned at a window, wherein the window is made of a transparent or semi-transparent material, and the window is on a branch housing member of the one or more branch housing members;
wherein the one of the vertical support portions has an attachment interface comprising one or more opening configured to accommodate wires connecting the magnetometer and other components; and
wherein the plurality of actuator assemblies comprises four actuator assemblies and four ESC modules.

US Pat. No. 10,196,138

SELF-TIGHTENING ROTOR

SZ DJI TECHNOLOGY CO., LT...

1. A multi-rotor self-propelled aerial vehicle, the aerial vehicle comprising:(a) a first rotor assembly comprising:
a first hub coupled to a first plurality of blades, wherein the first hub comprises a first fastener disposed within a first cavity of the first hub; and
a first drive shaft comprising a second fastener configured to be coupled to the first hub through a mating connection of the first and second fasteners,
wherein the first drive shaft is configured to cause rotation of the first hub in a first direction via a first rotational force component that is transmitted from the first drive shaft to the first hub via contact between the first and second fasteners, and wherein the first plurality of blades configured to be coupled to the first hub are configured to rotate therewith in the first direction due to the rotation of the first hub to generate a first propulsive force providing lift to the aerial vehicle; and
(b) a second rotor assembly comprising:
a second hub coupled to a second plurality of blades, wherein the second hub comprises a third fastener disposed within a second cavity of the second hub; and
a second drive shaft comprising a fourth fastener and configured to be coupled to the second hub through a mating connection of the third and fourth fasteners,
wherein the second drive shaft is configured to cause rotation of the second hub in a second direction opposite to the first direction via a second rotational force component that is transmitted from the second drive shaft to the second hub via contact between the third and fourth fasteners , and wherein the second plurality of blades configured to be coupled to the second hub are configured to rotate therewith in the second direction due to the rotation of the second hub to generate a second propulsive force providing lift to the aerial vehicle.

US Pat. No. 10,195,952

SYSTEM AND METHOD FOR MANAGING UNMANNED AERIAL VEHICLES

SZ DJI TECHNOLOGY CO., LT...

1. A base station for a mobile platform having a payload, comprising:a landing surface;
a sensor configured to ascertain a location of the mobile platform on the landing surface;
a resource storage storing a replacement payload; and
a mechanical manipulator configured to:
connect a physical cable assembly to the mobile platform,
interact with the replacement payload and the payload of the mobile platform automatically and without user interaction,
grasp the replacement payload from the resource storage,
move the replacement payload to the mobile platform based on the ascertained location of the mobile platform,
insert the replacement payload into a payload-slot positioned on the mobile platform, and
decouple from the replacement payload.

US Pat. No. 10,198,634

SYSTEMS AND METHODS FOR DETECTING AND TRACKING MOVABLE OBJECTS

SZ DJI TECHNOLOGY CO., LT...

1. A method for supporting visual tracking, the method comprising:obtaining, via a mobile visual tracking device, movement characteristics of a plurality of feature points;
selecting a group of feature points from the plurality of feature points based on the movement characteristics of the plurality of feature points; and
tracking the group of feature points by adjusting motion characteristics of the mobile visual tracking device, so as to position the group of feature points in a target region of each image frame captured using the mobile visual tracking device,
wherein the mobile visual tracking device is configured to track the group of feature points so long as the group of feature points share a same movement characteristic.

US Pat. No. 10,227,131

AERIAL VEHICLE AND A SIGNAL LINE PROTECTION ASSEMBLY THEREOF

SZ DJI TECHNOLOGY CO., LT...

1. A signal line protection assembly connecting to a propulsion system of an aerial vehicle, comprising:a foot stand including a foot stand sleeve, the foot stand sleeve including:
an electronic speed controller compartment arranged below a motor of the propulsion system and forming a closed space to receive an electronic speed controller of the aerial vehicle; and
a protection sleeve configured to receive a power line for the electronic speed controller, at least a portion of the protection sleeve being received in the electronic speed controller compartment.

US Pat. No. 10,216,197

VEHICLE ALTITUDE RESTRICTIONS AND CONTROL

SZ DJI TECHNOLOGY CO., LT...

1. A system for implementing a flight response measure for an unmanned aerial vehicle (UAV), the system comprising:one or more propulsion units configured to effect movement of the UAV; and
one or more processors operably coupled to the UAV and individually or collectively configured to:
(a) receive one or more altitude restrictions for the UAV;
(b) receive information regarding an area the UAV is operating in, or will operate in;
(c) modify the one or more altitude restrictions based on information regarding the area so as to produce one or more modified altitude restrictions for the UAV;
(d) receive an altitude of the UAV;
(e) compare the one or more modified altitude restriction with the altitude of the UAV; and
(f) generate instructions to implement a flight response measure for the UAV based on the comparison by controlling the one or more propulsion units.

US Pat. No. 9,457,915

SYSTEMS AND METHODS FOR UAV DOCKING

SZ DJI TECHNOLOGY Co., Lt...

1. A method for displaying information based on data received from and transmitted to an unmanned aerial vehicle (UAV), the
method comprising:
(a) receiving data from the UAV;
(b) transmitting data from a vehicle to the UAV, wherein said transmitted data comprises a location of the vehicle;
(c) generating the information for display based on the data transmitted to and received from the UAV; and
(d) displaying the information of (c) at a display unit within the vehicle while the vehicle is in motion,
wherein the vehicle is configured to permit the UAV to (1) autonomously take off from the vehicle and (2) autonomously land
in or on the vehicle while the vehicle is in motion, wherein the autonomous taking off and landing of the UAV is effected
via a thrust generated by the UAV, and wherein the autonomous landing of the UAV is effected using in part the transmitted
location of the vehicle.