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    Variable condition motor controller
    1.
    发明授权
    Variable condition motor controller 有权

    公开(公告)号：US11673665B2

    公开(公告)日：2023-06-13

    申请号：US17331962

    申请日：2021-05-27

    Applicant: GoPro, Inc.

    Inventor： Joseph Anthony Enke ,  Benjamin Tankersley ,  Jean-Bernard Berteaux ,  Axel Murguet ,  Garance Bruneau

    IPC: B64C39/02 ,  G05D1/06 ,  G05D1/08

    CPC classification number: B64C39/024 ,  G05D1/063 ,  G05D1/0858 ,  B64C2201/027 ,  B64C2201/146

    Abstract: A controller system of an aerial vehicle may receive environmental data from one or more sensors of the aerial vehicle and adjusts limits of the aerial vehicle given the environmental conditions. When the aerial vehicle receives an input, such as a flight input from a remote controller or an environmental input such as a gust of wind, the controller system calculates appropriate motor inputs that are provided to the thrust motors of the aerial vehicle such that the adjusted limits of the aerial vehicle are not exceeded. In calculating the appropriate input to the thrust motors, the controller system performs an iterative process. For example, for a given maximum torque that can be applied to the thrust motors, the controller system iteratively allocates the torque such that torque components that are important for the stability of the aerial are first fulfilled, whereas subsequent torque components may be fulfilled or scaled back.

    RELATIVE IMAGE CAPTURE DEVICE ORIENTATION CALIBRATION
    2.
    发明申请
    RELATIVE IMAGE CAPTURE DEVICE ORIENTATION CALIBRATION 审中-公开

    公开(公告)号：US20190227556A1

    公开(公告)日：2019-07-25

    申请号：US15906738

    申请日：2018-02-27

    Applicant: GoPro, Inc.

    Inventor： Sammy Omari ,  Pascal Gohl ,  Axel Murguet ,  Garance Bruneau ,  Fabio Diem ,  Lukas Schmid

    IPC: G05D1/00 ,  H04N7/18 ,  G06T7/73 ,  G06T7/80 ,  B64C39/02

    Abstract: Controlling an unmanned aerial vehicle may include obtaining a first image from a fixed orientation image capture device of the unmanned aerial vehicle, obtaining a second image from an adjustable orientation image capture device of the unmanned aerial vehicle, obtaining feature correlation data based on the first image and the second image, obtaining relative image capture device orientation calibration data based on the feature correlation data, the relative image capture device orientation calibration data indicating an orientation of the adjustable orientation image capture device relative to the fixed orientation image capture device, obtaining relative object orientation data based on the relative image capture device orientation calibration data, the relative object orientation data representing a three-dimensional orientation of an external object relative to the adjustable orientation image capture device, and controlling a trajectory of the unmanned aerial vehicle in response to the relative object orientation data.

    Relative image capture device orientation calibration
    4.
    发明授权
    Relative image capture device orientation calibration 有权

    公开(公告)号：US11048257B2

    公开(公告)日：2021-06-29

    申请号：US15906738

    申请日：2018-02-27

    Applicant: GoPro, Inc.

    Inventor： Sammy Omari ,  Pascal Gohl ,  Axel Murguet ,  Garance Bruneau ,  Fabio Diem ,  Lukas Schmid

    IPC: G05D1/00 ,  H04N7/18 ,  G06T7/73 ,  B64C39/02 ,  G06T7/80

    Abstract: Controlling an unmanned aerial vehicle may include obtaining a first image from a fixed orientation image capture device of the unmanned aerial vehicle, obtaining a second image from an adjustable orientation image capture device of the unmanned aerial vehicle, obtaining feature correlation data based on the first image and the second image, obtaining relative image capture device orientation calibration data based on the feature correlation data, the relative image capture device orientation calibration data indicating an orientation of the adjustable orientation image capture device relative to the fixed orientation image capture device, obtaining relative object orientation data based on the relative image capture device orientation calibration data, the relative object orientation data representing a three-dimensional orientation of an external object relative to the adjustable orientation image capture device, and controlling a trajectory of the unmanned aerial vehicle in response to the relative object orientation data.

    Variable condition motor controller
    5.
    发明授权
    Variable condition motor controller 有权

    公开(公告)号：US10464670B2

    公开(公告)日：2019-11-05

    申请号：US15439871

    申请日：2017-02-22

    Applicant: GoPro, Inc.

    Inventor： Joseph Anthony Enke ,  Benjamin Tankersley ,  Jean-Bernard Berteaux ,  Axel Murguet ,  Garance Bruneau

    IPC: B64C39/02 ,  G05D1/06 ,  G05D1/08

    Abstract: A controller system of an aerial vehicle may receive environmental data from one or more sensors of the aerial vehicle and adjusts limits of the aerial vehicle given the environmental conditions. When the aerial vehicle receives an input, such as a flight input from a remote controller or an environmental input such as a gust of wind, the controller system calculates appropriate motor inputs that are provided to the thrust motors of the aerial vehicle such that the adjusted limits of the aerial vehicle are not exceeded. In calculating the appropriate input to the thrust motors, the controller system performs an iterative process. For example, for a given maximum torque that can be applied to the thrust motors, the controller system iteratively allocates the torque such that torque components that are important for the stability of the aerial are first fulfilled, whereas subsequent torque components may be fulfilled or scaled back.

    Variable Condition Motor Controller
    6.
    发明申请
    Variable Condition Motor Controller 审中-公开

    公开(公告)号：US20180239353A1

    公开(公告)日：2018-08-23

    申请号：US15439871

    申请日：2017-02-22

    Applicant: GoPro, Inc.

    Inventor： Joseph Anthony Enke ,  Benjamin Tankersley ,  Jean-Bernard Berteaux ,  Axel Murguet ,  Garance Bruneau

    IPC: G05D1/00 ,  B64C39/02 ,  G05D1/10

    CPC classification number: B64C39/024 ,  B64C2201/027 ,  B64C2201/146 ,  G05D1/063 ,  G05D1/0858

    Abstract: A controller system of an aerial vehicle may receive environmental data from one or more sensors of the aerial vehicle and adjusts limits of the aerial vehicle given the environmental conditions. When the aerial vehicle receives an input, such as a flight input from a remote controller or an environmental input such as a gust of wind, the controller system calculates appropriate motor inputs that are provided to the thrust motors of the aerial vehicle such that the adjusted limits of the aerial vehicle are not exceeded. In calculating the appropriate input to the thrust motors, the controller system performs an iterative process. For example, for a given maximum torque that can be applied to the thrust motors, the controller system iteratively allocates the torque such that torque components that are important for the stability of the aerial are first fulfilled, whereas subsequent torque components may be fulfilled or scaled back.

    Adaptive modes of operation based on user intention or activity
    8.
    发明授权
    Adaptive modes of operation based on user intention or activity 有权

    公开(公告)号：US11375116B2

    公开(公告)日：2022-06-28

    申请号：US17231144

    申请日：2021-04-15

    Applicant: GoPro, Inc.

    Inventor： Pascal Gohl ,  Thomas Gubler ,  Axel Murguet ,  Garance Bruneau

    IPC: H04N5/232

    Abstract: Stabilizing an image capture device includes stabilizing the image capture device as the image capture device captures images; responsive to detecting an exceptional activity, stopping the stabilizing of the image capture device; and after the exceptional activity is completed, stabilizing the image capture device again. An image stabilization device for stabilizing an imaging device includes a processor that is configured to set at least one of a pitch angle or a roll angle of the image stabilization device to respective constant values and allow a yaw angle of the image stabilization device to vary; while the yaw angle is less than a threshold angle, maintain the yaw angle at a constant relative to a reference platform; when the yaw angle reaches the threshold angle, stop keeping the yaw angle relative to a reference platform constant; and set the yaw angle to follow a direction of motion of the reference platform.

    RELATIVE IMAGE CAPTURE DEVICE ORIENTATION CALIBRATION
    9.
    发明申请
    RELATIVE IMAGE CAPTURE DEVICE ORIENTATION CALIBRATION 有权

    公开(公告)号：US20210389764A1

    公开(公告)日：2021-12-16

    申请号：US17354326

    申请日：2021-06-22

    Applicant: GoPro, Inc.

    Inventor： Sammy Omari ,  Pascal Gohl ,  Axel Murguet ,  Garance Bruneau ,  Fabio Diem ,  Lukas Schmid

    IPC: G05D1/00 ,  H04N7/18 ,  G06T7/73 ,  G06T7/80 ,  B64C39/02

    Abstract: Controlling an unmanned aerial vehicle may include obtaining a first image from a fixed orientation image capture device of the unmanned aerial vehicle, obtaining a second image from an adjustable orientation image capture device of the unmanned aerial vehicle, obtaining feature correlation data based on the first image and the second image, obtaining relative image capture device orientation calibration data based on the feature correlation data, the relative image capture device orientation calibration data indicating an orientation of the adjustable orientation image capture device relative to the fixed orientation image capture device, obtaining relative object orientation data based on the relative image capture device orientation calibration data, the relative object orientation data representing a three-dimensional orientation of an external object relative to the adjustable orientation image capture device, and controlling a trajectory of the unmanned aerial vehicle in response to the relative object orientation data.

    Variable Condition Motor Controller
    10.
    发明申请
    Variable Condition Motor Controller 审中-公开

    公开(公告)号：US20200062397A1

    公开(公告)日：2020-02-27

    申请号：US16673355

    申请日：2019-11-04

    Applicant: GoPro, Inc.

    Inventor： Joseph Anthony Enke ,  Benjamin Tankersley ,  Jean-Bernard Berteaux ,  Axel Murguet ,  Garance Bruneau

    IPC: B64C39/02 ,  G05D1/06 ,  G05D1/08

    Abstract: A controller system of an aerial vehicle may receive environmental data from one or more sensors of the aerial vehicle and adjusts limits of the aerial vehicle given the environmental conditions. When the aerial vehicle receives an input, such as a flight input from a remote controller or an environmental input such as a gust of wind, the controller system calculates appropriate motor inputs that are provided to the thrust motors of the aerial vehicle such that the adjusted limits of the aerial vehicle are not exceeded. In calculating the appropriate input to the thrust motors, the controller system performs an iterative process. For example, for a given maximum torque that can be applied to the thrust motors, the controller system iteratively allocates the torque such that torque components that are important for the stability of the aerial are first fulfilled, whereas subsequent torque components may be fulfilled or scaled back.

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