An embodiment of the present application relate to the technical field of an unmanned aerial vehicle, in particular to an unmanned aerial vehicle and a pairing method and system thereof. The method includes establishing a master pairing relationship between a master controller and an unmanned aerial vehicle via pairing information transmitted by the master controller; receiving a slave pairing request forwarded by the master controller, generating temporary pairing information, and transmitting the temporary pairing information to the master controller, and transmitting the slave pairing request to the master controller; acquiring the temporary pairing information transmitted by the slave controller after the master controller transmits the temporary pairing information to the slave controller, and establishing a slave pairing relationship between the slave controller and the unmanned aerial vehicle according to the temporary pairing information transmitted by the slave controller.
Embodiments of the present application provide a method, device, storage medium, and electronic device for controlling flight equipment, wherein the method includes: acquiring positioning position information from a positioning system deployed on a target flight equipment; detecting an operating state of the positioning system according to positioning position information, wherein the operating state comprises: normal state and abnormal state; when the operating state is an abnormal state, controlling the target flight equipment to return to a ground control terminal according to the relative position information between the target flight equipment and the ground control terminal of the target flight equipment.
The present disclosure relates to the technical field of aircraft, and discloses a shock-absorbing device, a gimbal, and an unmanned aerial vehicle, including a first fixing plate; second fixing plates disposed on one side of the first fixing plate at intervals; and a first shock-absorbing mechanism including a first elastic member connected between the first fixing plate and the second fixing plate. The first elastic member has a hollow structure, the first elastic member has a circular cross-section in a direction parallel to the first fixing plate, the first elastic member includes a first installing portion, a second installing portion, and a first buffering portion connected between the first installing portion and the second installing portion, the first installing portion is fixed to the first fixing plate, and the second installing portion is fixed to the second fixing plate.
F16F 15/08 - Suppression of vibrations of non-rotating, e.g. reciprocating, systems; Suppression of vibrations of rotating systems by use of members not moving with the rotating system using elastic means with rubber springs
B64U 20/87 - Mounting of imaging devices, e.g. mounting of gimbals
F16M 11/12 - Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand allowing pivoting in more than one direction
5.
METHOD AND DEVICE FOR CONTROLLING FLIGHT OF UAV, AND UAV
A method and device for controlling a flight of an unmanned aerial vehicle (UAV) is provided. The UAV includes a fuselage, two wings, two supporting arms, two rotor wing structures, two second power modules, two third power modules, two steering modules, a lifting module, an altitude sensor, and a speed sensor. The two wings are fixed to the fuselage, the supporting arms are fixed to the wings, the rotor wing structure includes a first power module and a driving module, the driving module of the rotor wing structure is fixed to the supporting arm, and the driving module is configured to drive the first power module to rotate such that the first power module switches between the level flight mode and the lifting mode.
The present disclosure provides an antenna, a wireless signal processing device, and an unmanned aerial vehicle. The antenna includes: a substrate having a flat first surface; a first radiation portion disposed on the first surface of the substrate, the first radiation portion comprising a first radiator and a second radiator, and the second radiator being located behind the first radiator; and a second radiation portion disposed on the first surface of the substrate. The second radiation portion includes: a third radiator; and the third radiator being disposed proximate to the second radiator and having a proximate frequency and radiator arm effective length to couple the third radiator with the second radiator. The antenna adopts reasonable wiring and structural design and can be implemented on a base material with a small volume.
The embodiments of the present disclosure disclose an accommodation mechanism, an unmanned aerial vehicle tracking device and an unmanned aerial vehicle tracking system, wherein the accommodation mechanism comprises a housing, a connection assembly, a cover plate and a locking assembly, the housing is provided with a battery holder formed from a side wall of the housing facing an internal recess of the housing, and the battery holder is configured to accommodate a battery; the connecting assembly is respectively connected to one end of the cover plate and the housing, and the cover plate is configured to rotate relative to the housing; the cover plate is configured to open or cover an opening of the battery holder; a locking assembly is provided on the housing and is configured to lock or unlock the cover plate.
H01M 50/249 - Mountings; Secondary casings or frames; Racks, modules or packs; Suspension devices; Shock absorbers; Transport or carrying devices; Holders specially adapted for aircraft or vehicles, e.g. cars or trains
H01M 10/48 - Accumulators combined with arrangements for measuring, testing or indicating the condition of cells, e.g. the level or density of the electrolyte
H01M 50/262 - Mountings; Secondary casings or frames; Racks, modules or packs; Suspension devices; Shock absorbers; Transport or carrying devices; Holders with fastening means, e.g. locks
H04Q 9/00 - Arrangements in telecontrol or telemetry systems for selectively calling a substation from a main station, in which substation desired apparatus is selected for applying a control signal thereto or for obtaining measured values therefrom
8.
METHOD AND SYSTEM FOR CONTROLLING FLIGHT DEVICE, STORAGE MEDIUM AND ELECTRONIC DEVICE
A method and a system for controlling a flight device, a storage medium and an electronic device are provided. The method includes: acquiring a mission flight route of a first flight device, where the mission flight route is configure to indicate a flight route of a data acquisition mission to be performed by the first flight device; generating a relay flight route of the second flight device according to the mission flight route and a relay base station distribution on the mission flight route, where the relay flight route is configured to indicate a flight route of the second flight device during execution of the data acquisition mission by the first flight device; and controlling the first flight device to perform the data acquisition mission according to the mission flight route and controlling the second flight device to perform the data acquisition mission according to the relay flight route.
A remote control includes a body, a first rocker device, a second rocker device, a processor, and a signal transmission device. The first rocker device and the second rocker device are installed on the body. The processor connects to the first rocker device, the second rocker device, and the signal transmission device. The first rocker device includes a joystick component. The second rocker device includes a second joystick component. When the first joystick component moves in parallel relative to the body, the processor generates a remote control instruction used to control a movable object to move in a horizontal plane. When the second joystick component moves straightly relative to the body along a first direction or a second direction, the processor generates a remote control instruction used to control the movable object to move upward or move downward in a vertical direction of the movable object.
A63H 30/04 - Electrical arrangements using wireless transmission
G05G 9/047 - Manually-actuated control mechanisms provided with one single controlling member co-operating with two or more controlled members, e.g. selectively, simultaneously the controlling member being movable in different independent ways, movement in each individual way actuating one controlled member only in which movement in two or more ways can occur simultaneously the controlling member being movable by hand about orthogonal axes, e.g. joysticks
G05G 9/06 - Manually-actuated control mechanisms provided with one single controlling member co-operating with two or more controlled members, e.g. selectively, simultaneously the controlled members being actuated successively by repeated movement of the controlling member
G08C 17/02 - Arrangements for transmitting signals characterised by the use of a wireless electrical link using a radio link
10.
UNMANNED AERIAL VEHICLE CHARGING METHOD AND SYSTEM AND UNMANNED AERIAL VEHICLE
The present application relates to the field of power supply technologies, an unmanned aerial vehicle (UAV) charging method and system and a UAV. The method includes: controlling a UAV to be in a data transmission mode when a UAV battery is normally powered, and powering a UAV control system and a motor through the UAV battery; charging a supercapacitor module through the UAV battery until the supercapacitor module is fully charged; and controlling the UAV to be in a standby mode when it is detected that the UAV battery is removed, and powering the UAV control system and the motor through the supercapacitor module. The supercapacitor module is charged through the UAV battery during normal use of the UAV. The supercapacitor module discharges during replacement of the battery, with backup electric energy stored in the supercapacitor module generating a current to power the UAV control system and the motor.
The present disclosure relates to the field of remote controller technologies and discloses a protective cover for a control stick and a remote controller. The control stick protective cover includes: a first elastic member, where a first accommodation groove is provided in a middle of the first elastic member, and the first accommodation groove is configured to mount the control stick; a second elastic member, arranged around the first elastic member, where the second elastic member is fixed to a panel of the remote controller; and a buffer member, connected between the first elastic member and the second elastic member, where the buffer member is provided with a bent portion.
G06F 3/039 - Accessories therefor, e.g. mouse pads
G05G 9/047 - Manually-actuated control mechanisms provided with one single controlling member co-operating with two or more controlled members, e.g. selectively, simultaneously the controlling member being movable in different independent ways, movement in each individual way actuating one controlled member only in which movement in two or more ways can occur simultaneously the controlling member being movable by hand about orthogonal axes, e.g. joysticks
Embodiments of the present disclosure relate to the technical field of unmanned aerial vehicles, in particular to a tiltable wing and an unmanned aerial vehicle. The tiltable wing includes a wing body, a wingtip, a power device, a cable, a rotating shaft and a driving mechanism. The power device is mounted on the wingtip; one end of the cable is connected to the power device, the rotating shaft is rotatably connected to the wing body and the wingtip, respectively, a through hole is disposed in an axial direction of the rotating shaft, and the other end of the cable passes through the through hole and extends to the inside of the wing body; the driving mechanism is used for driving the wingtip to rotate with the rotating shaft as an axis; and the power device is switchable between a first preset position and a second preset position relative to the wing body, so that the power device is switched between a horizontal state and a vertical state.
An unmanned aerial vehicle (UAV) includes a fuselage, a power driving unit, and an UAV arm. The UAV arm includes a cantilever, a mounting base, and a connecting portion. The mounting base is connected to a first end of the cantilever. The mounting base is configured for a power driving unit of the UAV to be mounted. The connecting portion is connected to a second end of the cantilever. The connecting portion is configured to be connected to the fuselage of the UAV. An upper end of a cross section of the cantilever is arc-shaped, and a lower end of the cross section of the cantilever is pointed. The cross section of the cantilever is a section perpendicular to a direction from the first end of the cantilever toward the second end of the cantilever.
Embodiments of the present invention provide a method, an apparatus, a terminal, and a storage medium for elevation surrounding flight control. The method includes: obtaining surrounding parameter information of an unmanned aerial vehicle; determining, according to the surrounding parameter information, an elevation surrounding trajectory to be surrounded, where the elevation surrounding trajectory includes a plane with the point of interest as a center and the surrounding radius as a radius, and the plane where the elevation surrounding trajectory is located is perpendicular to a horizontal plane; controlling the unmanned aerial vehicle to fly along the elevation surrounding trajectory.
Embodiments of the present application provide an image fusion method and a bifocal camera. The method includes: acquiring a thermal image captured by the thermal imaging lens and a visible light image captured by the visible light lens; determining a first focal length when the thermal imaging lens captures the thermal image and a second focal length when the visible light lens captures the visible light image; determining a size calibration parameter and a position calibration parameter of the thermal image according to the first focal length and the second focal length; adjusting a size of the thermal image according to the size calibration parameter, and moving an adjusted thermal image to the visible light image according to the position calibration parameter for registration with the visible light image, to obtain to-be-fused images; and fusing the to-be-fused images to generate a bifocal fused image.
H04N 5/262 - Studio circuits, e.g. for mixing, switching-over, change of character of image, other special effects
H04N 23/11 - Cameras or camera modules comprising electronic image sensors; Control thereof for generating image signals from different wavelengths for generating image signals from visible and infrared light wavelengths
H04N 23/13 - Cameras or camera modules comprising electronic image sensors; Control thereof for generating image signals from different wavelengths with multiple sensors
H04N 23/23 - Cameras or camera modules comprising electronic image sensors; Control thereof for generating image signals from infrared radiation only from thermal infrared radiation
H04N 23/57 - Mechanical or electrical details of cameras or camera modules specially adapted for being embedded in other devices
H04N 23/69 - Control of means for changing angle of the field of view, e.g. optical zoom objectives or electronic zooming
16.
ANTENNA, WIRELESS SIGNAL PROCESSING DEVICE, AND UNMANNED AERIAL VEHICLE
The present disclosure provides an antenna, a wireless signal processing device, and an unmanned aerial vehicle. The antenna includes: a substrate having a first surface and a second surface opposite the first surface; a first radiator and a second radiator disposed on the first surface, the first radiator and the second radiator facing opposite each other, the first radiator being located at one end near a head of the substrate, and the second radiator being located at one end near a root of the substrate; a third radiator disposed on the second surface, the third radiator being mirror symmetric with a portion of a structure of the first radiator and conducting with the second radiator, so that the first radiator, the second radiator and the third radiator form a coupled resonance point; and a feed line connected with the first radiator, the second radiator and the third radiator.
A propeller, a propeller kit, a power assembly, a power kit and an unmanned aerial vehicle (UAV). The propeller includes a hub and at least two blades connected to the hub. The hub is detachably mounted on a corresponding drive apparatus by a mounting member corresponding to the hub, so that the propeller is mounted on the corresponding drive apparatus. A surface, facing the mounting member, of the hub is provided with a first fitting portion. A surface, facing the hub, of the mounting member is provided with a second fitting portion corresponding to the first fitting portion. The first fitting portion matches the second fitting portion. In the foregoing manner, a user can be prevented from incorrectly mounting a forward propeller and a counter-rotating propeller during the use of a quick-detachable propeller in the embodiments of the present application.
The present disclosure provides a dual-band external antenna for an unmanned aerial vehicle (UAV) and a UAV. The dual-band external antenna for the UAV includes a substrate, a low-frequency oscillator region, a high-frequency oscillator region, a feed coaxial line and ground terminals. Two ground terminals are respectively electrically connected to a feed terminal of the feed coaxial line. An avoidance region for arranging the feed coaxial line is disposed in the low-frequency oscillator region or the high-frequency oscillator region. The low-frequency oscillator region includes a first low-frequency oscillator region and a second low-frequency oscillator region. The high-frequency oscillator region includes a first high-frequency oscillator region and a second high-frequency oscillator region that are vertically asymmetrically disposed on the front and back sides of the substrate.
H01Q 5/20 - Arrangements for simultaneous operation of antennas on two or more different wavebands, e.g. dual-band or multi-band arrangements characterised by the operating wavebands
H01Q 5/335 - Individual or coupled radiating elements, each element being fed in an unspecified way using frequency dependent circuits or components, e.g. trap circuits or capacitors at the feed, e.g. for impedance matching
H01Q 1/28 - Adaptation for use in or on aircraft, missiles, satellites, or balloons
H01Q 1/50 - Structural association of antennas with earthing switches, lead-in devices or lightning protectors
An unmanned aerial vehicle (UAV) assembly includes an UAV and an UAV docking station. The UAV docking station includes a housing, an extension piece, and a door. The housing is provided with an accommodation cavity and a hatch communicating with the accommodation cavity. The extension piece comprises an extension cavity and is connected to the housing. The extension piece is disposed on a side portion of a housing end which is near the hatch, and the extension cavity communicates with the accommodation cavity. The door is connected to the housing and disposed at the hatch, and the door is configured to open or close the hatch. A cross-sectional area where the extension cavity communicates with the accommodation cavity is greater than a cross-sectional area of the accommodation cavity. The UAV can be accommodated in the accommodation cavity of the UAV docking station.
A radar ranging method and a ranging radar are applied to an unmanned aerial vehicle. A first range to an obstacle is obtained using a first radar waveform. range. A second range to the obstacle are obtained using a second radar waveform if the first range is less than a preset switching threshold. the maximum detection range of the first radar waveform is greater than that of the second radar waveform; and a detection range resolution of the second radar waveform is higher than that of the first radar waveform.
G01S 13/34 - Systems for measuring distance only using transmission of continuous waves, whether amplitude-, frequency-, or phase-modulated, or unmodulated using transmission of continuous, frequency-modulated waves while heterodyning the received signal, or a signal derived therefrom, with a locally-generated signal related to the contemporaneously transmitted signal
G01S 7/35 - RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES - Details of systems according to groups , , of systems according to group - Details of non-pulse systems
G01S 13/536 - Discriminating between fixed and moving objects or between objects moving at different speeds using transmission of continuous unmodulated waves, amplitude-, frequency-, or phase-modulated waves
G05D 1/10 - Simultaneous control of position or course in three dimensions
21.
AUTOMATIC OBSTACLE AVOIDANCE METHOD, ELECTRONIC DEVICE, AND UNMANNED AERIAL VEHICLE
An automatic obstacle avoidance method is applied to an unmanned aerial vehicle (UAV). The UAV includes at least one radar. The method includes: acquiring detected data of the radar; calculating theoretical state information of the detection target based on motion information of the UAV; excluding invalid data from the detected data using a Kalman filtering algorithm to obtain corrected data by combining the detected data with the theoretical state information; determining the height information of the UAV by correcting the detected data; and triggering an obstacle avoidance warning when the height information of the UAV is less than a pre-set height threshold value.
G01S 13/935 - Radar or analogous systems, specially adapted for specific applications for anti-collision purposes of aircraft or spacecraft for terrain-avoidance
G05D 1/10 - Simultaneous control of position or course in three dimensions
An unmanned aerial vehicle parking device includes a parking platform and a blocking assembly. The parking platform is configured to bear an unmanned aerial vehicle. The blocking assembly includes a driving rod and a stop bar, the stop bar is connected to a driving rod, and the driving rod is configured to move between the first position and the second position. When the driving rod moves from the first position to the second position, the driving rod drives the stop bar to rotate such that the stop bar lies flat relative to the parking platform, and the stop bar may not block the blade of the unmanned aerial vehicle from rotating. When the driving rod moves from the second position to the first position, the stop bar rotates relative to the driving rod and abuts against the parking platform.
A battery is detachably mounted on an unmanned aerial vehicle by using at least one attachment mechanism. The battery monitoring method includes: detecting, by the battery, before the unmanned aerial vehicle takes off, whether the at least one attachment mechanism is in place; and sending, by the battery, a first signal to the flight control system in response to detecting that the at least one attachment mechanism is in place, wherein the first signal is configured to instruct the flight control system to initiate takeoff of the unmanned aerial vehicle; or sending, by the battery, a second signal to the flight control system in response to detecting that at least one of the at least one attachment mechanism is not in place, wherein the second signal is configured to instruct the flight control system to prevent takeoff of the unmanned aerial vehicle.
B60L 58/10 - Methods or circuit arrangements for monitoring or controlling batteries or fuel cells, specially adapted for electric vehicles for monitoring or controlling batteries
B64D 27/24 - Aircraft characterised by the type or position of power plant using steam, electricity, or spring force
B64U 50/30 - Supply or distribution of electrical power
24.
METHOD FOR DETECTING LANDING OF UNMANNED AERIAL VEHICLE, ELECTRONIC DEVICE AND UNMANNED AERIAL VEHICLE
A method for detecting landing of an unmanned aerial vehicle includes: acquiring a current ground clearance of each supporting vertical rod; acquiring a current height above ground of the unmanned aerial vehicle when receiving a landing instruction; determining whether a fuselage of the unmanned aerial vehicle is horizontal; when the fuselage of the unmanned aerial vehicle is horizontal, adjusting a length of the supporting vertical rod according to the current ground clearance of the supporting vertical rod to keep the fuselage horizontal when the unmanned aerial vehicle lands; and controlling the unmanned aerial vehicle to descend for landing.
A joint calibration method is implemented in an unmanned aerial vehicle. In the method, pose information of a detection radar is obtained, and the pose information includes a ground height of the detection radar and a pitch angle of the detection radar. Target calibration parameters matching the pose information in a preset calibration parameter set are obtained. The calibration parameter set includes groups of calibration parameters, and each group of calibration parameters matching a pose information interval and the pose information interval includes a height interval and a pitch angle interval. A spatial conversion relationship between the detection radar and an image acquisition device is determined based on the target calibration parameters.
Joint calibration methods implemented by an unmanned aerial vehicle and a server are disclosed. The server receives pose information of a detection radar from the unmanned aerial vehicle. The pose information includes a ground height and a pitch angle of the detection radar. The server determines target calibration parameters matching the pose information of the detection radar, and sends the target calibration parameters to the unmanned aerial vehicle. The unmanned aerial vehicle determines a spatial conversion relationship between the detection radar and an image acquisition device based on the target calibration parameters, and performs data fusion between the detection radar and the image acquisition device according to the spatial conversion relationship.
Embodiments of the disclosure relate to the field of unmanned aerial vehicle (UAV) technologies, and specifically disclose an autonomous orbiting method and device and a UAV. The UAV includes a binocular camera assembly. The method includes: obtaining, through the binocular camera assembly, a target footage and an orbited object selected by a user from the target footage; obtaining a flying height of the UAV when obtaining the target footage; determining a spatial distance between the binocular camera assembly and the orbited object based on the target footage; detecting an optical axis direction of the binocular camera assembly in real time; and performing autonomous orbiting according to the flying height, the spatial distance and the optical axis direction of the binocular camera assembly detected in real time.
Method, system, and user terminal are disclosed for splicing a flight route splicing m. Various embodiments may includes: obtaining a first flight route and a second flight route of an unmanned aerial vehicle; obtaining a first estimated flight duration of the UAV required to complete the first flight route and the second flight route; obtaining the preset duration of the unmanned aerial vehicle; splicing the first flight route and the second flight route when the preset duration is greater than the first estimated flight duration. it improves the task execution efficiency of the unmanned aerial vehicle and saving the unmanned aerial vehicle resources and time, and further providing richer choices for users and providing more space for customized flight route planning for users.
A target tracking method, apparatus, device, and storage medium are disclosed. A single-target tracked result for a selected target and a multiple-target tracked result for multiple targets are acquired. The multiple targets include the selected target which is a target determined according to position information from an external device. The state information about the selected target is determined according to the single-target tracked result and the multiple-target tracked result. The selected target is tracked according to the state information about the selected target, the single-target tracked result and the multiple-target tracked result, so that the robustness of single-target tracking can be improved is achieved.
A method and an apparatus for protecting an unmanned aerial vehicle and an unmanned aerial vehicle are provided. After a positioning system of the unmanned aerial vehicle fails, a flight speed of the unmanned aerial vehicle is acquired at a time point before the positioning system fails, and then a flight state of the unmanned aerial vehicle is determined according to the flight speed, where the flight state includes a low-speed flight state and a high-speed flight state; and then a flight protection strategy of the unmanned aerial vehicle is adjusted according to the flight state. By implementing the method, after the positioning system of the unmanned aerial vehicle is in failure, explosion probability of the unmanned aerial vehicle can be reduced, and flight safety of the unmanned aerial vehicle can be improved.
An unmanned aerial vehicle includes a body, a first wing, a second wing, a first rotor assembly, a third rotor assembly, and a fourth rotor assembly. The body has a first accommodating cavity and a second accommodating cavity. The first wing and the second wing are disposed on two sides of the body. The first rotor assembly is mounted to the first wing, and the second rotor assembly is mounted to the second wing. The third rotor assembly includes a third motor and a third propeller connected to the third motor. The third motor is mounted in the first accommodating cavity and partially exposed to the body. The fourth rotor assembly includes a fourth motor and a fourth propeller connected to the fourth motor. The fourth motor is mounted in the second accommodating cavity and partially exposed to the body.
B64U 10/20 - Vertical take-off and landing [VTOL] aircraft
B64C 27/28 - Compound rotorcraft, i.e. aircraft using in flight the features of both aeroplane and rotorcraft with forward-propulsion propellers pivotable to act as lifting rotors
Embodiments of the present invention is an inertial measurement module, including a mount, a circuit board, a thermally conductive member and a cover plate mounted to the mount. The circuit board is mounted to an end surface of the mount, and is configured to mount an inertial measurement assembly and the thermally conductive member. The inertial measurement assembly includes a thermal resistor and an inertial measurement unit. The thermally conductive member is configured to abut against the thermal resistor and the inertial measurement unit. A surface of the cover plate is provided with a first groove. A receiving space is formed by the first groove and the surface of the mount. The circuit board and the thermally conductive member are both received in the receiving space. The thermally conductive member is arranged at a preset distance from a bottom of the first groove.
G01C 21/16 - Navigation; Navigational instruments not provided for in groups by using measurement of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation
B64U 20/80 - Arrangement of on-board electronics, e.g. avionics systems or wiring
A position estimation method for a tracking target is implemented in an unmanned aerial vehicle. The position estimation method include: estimating a target position of the tracking target at the next time according to an initial position of the tracking target at the current moment; determining an estimated width and an estimated height of the tracking target in an image captured by a pan-tilt-zoom camera of the unmanned aerial vehicle according to the estimated target position; obtaining an actual width and an actual height of the tracking target in the image; determining a height difference between the estimated width and the estimated height and a width difference between the actual height and the actual width; and updating the target position of the tracking target at the next time according to the height difference and the width difference.
An obstacle avoidance method is applicable to an unmanned aerial vehicle (UAV). The UAV includes binocular cameras. The the obstacle avoidance method includes: acquiring a binocular direction corresponding to each binocular camera, each binocular direction being corresponding to obstacle sectors; detecting an obstacle distance of each of obstacle sectors corresponding to each binocular direction; determining an obstacle distance in each binocular direction according to the obstacle distance of each of obstacle sectors corresponding to each binocular direction; and determining an obstacle avoidance policy according to the obstacle distance in each binocular direction with reference to a flight direction of the UAV. By determining the obstacle distance in each binocular direction, and then determining the obstacle avoidance policy with reference to the flight direction of the UAV, the obstacle avoidance success rate of the UAV is improved.
A camera lens is installed in an unmanned aerial vehicle. The camera lens includes, from an object side to an image side, a first lens group, a second lens group, a diaphragm, and a third lens group. The first lens group includes a first lens having a negative refractive power and a second lens having a positive refractive power. The second lens group includes a third lens having a positive refractive power, a fourth lens having a positive refractive power, a fifth lens having a positive or negative refractive power, a sixth lens having a negative refractive power, and a seventh lens having a negative refractive power. The third lens group including an eighth lens having a positive refractive power and a ninth lens having a positive or negative refractive power. The camera lens needs only nine lenses to achieve high-quality imaging for the unmanned aerial vehicle.
A remote control includes a body, a first rocker device, a second rocker device, a processor, and a signal transmission device. The first rocker device and the second rocker device are installed on the body. The processor connects to the first rocker device, the second rocker device, and the signal transmission device. The first rocker device includes a joystick component. The second rocker device includes a second joystick component. When the first joystick component moves in parallel relative to the body, the processor generates a remote control instruction used to control a movable object to move in a horizontal plane. When the second joystick component moves straightly relative to the body along a first direction or a second direction, the processor generates a remote control instruction used to control the movable object to move upward or move downward in a vertical direction of the movable object.
G06F 17/00 - Digital computing or data processing equipment or methods, specially adapted for specific functions
A63H 30/04 - Electrical arrangements using wireless transmission
G05G 9/047 - Manually-actuated control mechanisms provided with one single controlling member co-operating with two or more controlled members, e.g. selectively, simultaneously the controlling member being movable in different independent ways, movement in each individual way actuating one controlled member only in which movement in two or more ways can occur simultaneously the controlling member being movable by hand about orthogonal axes, e.g. joysticks
G05G 9/06 - Manually-actuated control mechanisms provided with one single controlling member co-operating with two or more controlled members, e.g. selectively, simultaneously the controlled members being actuated successively by repeated movement of the controlling member
G08C 17/02 - Arrangements for transmitting signals characterised by the use of a wireless electrical link using a radio link
Embodiments of the present invention are a trajectory tracking method and an unmanned aerial vehicle. The method is including an unmanned aerial vehicle body and a gimbal, and the unmanned aerial vehicle body being equipped with at least one visual sensor, and the method includes: obtaining a flight image acquired by the at least one visual sensor, the flight image including a to-be-tracked target; performing visual image processing on the flight image, to generate a gimbal rotation instruction and a path instruction; adjusting an angle of the gimbal according to the gimbal rotation instruction and a gimbal state parameter of the gimbal, to lock the to-be-tracked target; and controlling a motor speed of a flight motor of the unmanned aerial vehicle according to the path instruction and a flight state parameter of the unmanned aerial vehicle, to cause the unmanned aerial vehicle to track the to-be-tracked target according to the path instruction.
Embodiments of the present invention are an image processing method, a photographing device, and a storage medium. The method includes: acquiring an image according to a first resolution and processing the image in a first processing method in a real-time preview state, switching to a photographing state, acquiring an image according to a second resolution and processing the image in a second processing method in the photographing state, and then switching from the photographing state to the real-time preview state. In this way, in a process of switching between the two working states, the image can be processed in a corresponding state without restarting an ISP or re-importing a parameter. Compared with a method of switching different working states by powering on and off the ISP in the prior art, the method provided in the present application can achieve faster dynamic switching between different working states.
H04N 23/667 - Camera operation mode switching, e.g. between still and video, sport and normal or high and low resolution modes
H04N 23/951 - Computational photography systems, e.g. light-field imaging systems by using two or more images to influence resolution, frame rate or aspect ratio
B64U 20/87 - Mounting of imaging devices, e.g. mounting of gimbals
B64C 39/02 - Aircraft not otherwise provided for characterised by special use
51.
SHOCK-ABSORBING BRACKET, GIMBAL CAMERA ASSEMBLY, AND UNMANNED AERIAL VEHICLE ASSEMBLY
Embodiments of the present invention is a shock-absorbing bracket, including: a mounting bracket; a base, where the base is spaced apart from the mounting bracket; and a plurality of shock-absorbing elements, where one end of each of the plurality of shock-absorbing elements is connected with the mounting bracket. Through the structure, the mounting bracket and the base form a triangular shock-absorbing mounting structure in a vertical direction, the stability of the shock-absorbing bracket is improved, and the shock-absorbing effect is good.
F16F 15/04 - Suppression of vibrations of non-rotating, e.g. reciprocating, systems; Suppression of vibrations of rotating systems by use of members not moving with the rotating system using elastic means
G03B 15/00 - Special procedures for taking photographs; Apparatus therefor
F16M 11/12 - Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand allowing pivoting in more than one direction
F16M 13/02 - Other supports for positioning apparatus or articles; Means for steadying hand-held apparatus or articles for supporting on, or attaching to, an object, e.g. tree, gate, window-frame, cycle
52.
VEHICLE FLIGHT CONTROL METHOD AND APPARATUS FOR UNMANNED AERIAL VEHICLE, AND UNMANNED AERIAL VEHICLE
Embodiment of the present invention are a flight control method and apparatus for an unmanned aerial vehicle, and an unmanned aerial vehicle. The flight control method for an unmanned aerial vehicle includes: obtaining an obstacle position and an obstacle orientation of each obstacle within a preset range around the unmanned aerial vehicle; calculating a push-pull coefficient of each obstacle relative to the unmanned aerial vehicle according to the obstacle position of each obstacle; obtaining a target position and a target orientation of the unmanned aerial vehicle; calculating a baton coefficient of the target position relative to the unmanned aerial vehicle according to the target position; and adjusting a flight direction of the unmanned aerial vehicle according to the baton coefficient, the target orientation, the push-pull coefficient of each obstacle relative to the unmanned aerial vehicle, and the obstacle orientation.
Embodiments of the present invention are a returning method, a controller, an unmanned aerial vehicle and a storage medium. The returning method includes: first obtaining a flight mode of an unmanned aerial vehicle, and determining a returning mode of the unmanned aerial vehicle according to the flight mode; then controlling, according to the returning mode, the unmanned aerial vehicle to return from a current position to a landing point, and determining, in a returning process, whether to switch the returning mode of the unmanned aerial vehicle according to a flight speed of the unmanned aerial vehicle; returning according to a switched returning mode when it is determined to switch the returning mode of the unmanned aerial vehicle; and keeping the current returning mode and returning when it is determined not to switch the returning mode of the unmanned aerial vehicle.
The present invention discloses a camera imaging method, a camera system and an unmanned aerial vehicle (UAV). The camera imaging method is applied to a camera system of the UAV. The camera system includes a signal trigger device and a signal receiving device. The method includes: acquiring, by the signal trigger device, a shooting instruction;
The present invention discloses a camera imaging method, a camera system and an unmanned aerial vehicle (UAV). The camera imaging method is applied to a camera system of the UAV. The camera system includes a signal trigger device and a signal receiving device. The method includes: acquiring, by the signal trigger device, a shooting instruction;
generating, by the signal trigger device, a trigger signal with a preset trigger frame rate according to the shooting instruction; and performing, by the signal receiving device, exposure at the preset trigger frame rate according to the trigger signal; where the preset trigger frame rate is greater than a default exposure frame rate of the signal receiving device. According to the present invention, an exposure frame rate of the signal receiving device is adjusted to the preset trigger frame rate, so that the signal receiving device can perform exposure according to the preset trigger frame rate, and synchronous dual-light exposure is implemented.
An unmanned aerial vehicle includes a fuselage, a battery accommodation cavity, a battery pack, a battery circuit board, and a functional module. The battery accommodation cavity is disposed on the fuselage. The battery pack includes at least two battery blocks which are mounted inside the battery accommodation cavity. The battery circuit board is electrically connected to the battery blocks in the battery pack. The functional module is electrically connected to the battery circuit board, and the battery blocks in the battery pack supply power to the functional module via the battery circuit board at the same time.
B64C 39/02 - Aircraft not otherwise provided for characterised by special use
B64D 27/24 - Aircraft characterised by the type or position of power plant using steam, electricity, or spring force
B60L 50/60 - Electric propulsion with power supplied within the vehicle using propulsion power supplied by batteries or fuel cells using power supplied by batteries
The present invention provides a data read-write method and apparatus and a circular queue. The method includes: obtaining an offset position of a write pointer from a queue head of a circular queue; determining an offset position of a read pointer according to the offset position of the write pointer; and reading data from the circular queue according to the offset position of the read pointer. Single input multiple output of share memory is implemented, and therefore a plurality of read threads may read data from the circular queue in parallel, thereby effectively improving read-write efficiency of data, and reducing memory consumption.
Embodiments of the present invention are a high dynamic range (HDR) synthesis method and apparatus, an image processing chip and an aerial camera. The method includes: acquiring a plurality of to-be-synthesized images having different exposure time; calculating a mean brightness of the to-be-synthesized images; determining an image brightness type of the to-be-synthesized images according to the mean brightness; calculating a brightness difference between adjacent pixel points in one to-be-synthesized image; calculating an inter-frame difference of different to-be-synthesized images at a same pixel point position according to the brightness difference; determining a motion state of the to-be-synthesized images at the pixel point position according to the inter-frame difference; and weighting and synthesizing the to-be-synthesized images into a corresponding HDR image according to the image brightness type and the motion state.
Embodiments of the present invention are an inertial measurement module, includes a mount, a circuit board, an inertial measurement assembly, a thermally conductive member and a counterweight assembly. The circuit board is mounted to a surface of the mount. The inertial measurement assembly includes a thermal resistor and an inertial measurement unit. The thermally conductive member is configured to abut against the thermal resistor and the inertial measurement unit. The counterweight assembly is mounted to the surface of the mount. A first groove is arranged on an end surface of the counterweight assembly facing the mount. A receiving space is formed by the first groove and the end surface of the mount. The thermally conductive member and the inertial measurement assembly are both received in the receiving space. The thermally conductive member is arranged at a preset distance from a bottom of the first groove.
G01C 21/16 - Navigation; Navigational instruments not provided for in groups by using measurement of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation
G01K 7/16 - Measuring temperature based on the use of electric or magnetic elements directly sensitive to heat using resistive elements
60.
Propeller, propeller kit, power assembly, power kit and unmanned aerial vehicle
A propeller, a propeller kit, a power assembly, a power kit and an unmanned aerial vehicle (UAV). The propeller includes a hub and at least two blades connected to the hub. The hub is detachably mounted on a corresponding drive apparatus by a mounting member corresponding to the hub, so that the propeller is mounted on the corresponding drive apparatus. A surface, facing the mounting member, of the hub is provided with a first fitting portion. A surface, facing the hub, of the mounting member is provided with a second fitting portion corresponding to the first fitting portion. The first fitting portion matches the second fitting portion. In the foregoing manner, a user can be prevented from incorrectly mounting a forward propeller and a counter-rotating propeller during the use of a quick-detachable propeller in the embodiments of the present application.
Embodiments of the present application are a UAV foot stand and a UAV. The UAV foot stand includes a main body, a mounting board, and a support structure, where one end of the main body is provided with a lightening cavity, one end of the main body that is provided with the lightening cavity extends outward to form the mounting board, the support structure is fixed to the main body, and the support structure at least partially extends into the lightening cavity and is connected to an inner wall of the lightening cavity, so as to increase rigidity of the main body.
Embodiments of the present invention are an unmanned aerial vehicle (UAV) severe low-power protection method and a UAV. The method includes: first acquiring ground environment information when the UAV is in a severe low-power protection state, and then obtaining landing safety judgment information according to the ground environment information, and further controlling a flight state of the UAV according to the landing safety judgment information to realize a safe landing of the UAV. The foregoing method reduces the probability of explosion of the UAV, avoids injury accidents, and improves flight safety when the UAV is in a severe low-power state.
Embodiments are a high-dynamic-range (HDR) image automatic exposure method and an unmanned aerial vehicle (UAV). The HDR image automatic exposure method is applicable to a UAV and includes: obtaining statistical information and a window weight of automatic exposure; obtaining an evaluation value of the automatic exposure according to the statistical information and the window weight that are obtained; obtaining a compensation amount of the automatic exposure according to the evaluation value and an obtained automatic exposure target value; and triggering the automatic exposure when the compensation amount meets a preset trigger condition. Therefore, problems such as inaccurate brightness and darkness and oscillation during automatic exposure can be finally avoided.
Embodiments of the present application are an image fusion method and a bifocal camera. The method includes: acquiring a thermal image captured by the thermal imaging lens and a visible light image captured by the visible light lens; determining a first focal length when the thermal imaging lens captures the thermal image and a second focal length when the visible light lens captures the visible light image; determining a size calibration parameter and a position calibration parameter of the thermal image according to the first focal length and the second focal length; adjusting a size of the thermal image according to the size calibration parameter, and moving the adjusted thermal image to the visible light image according to the position calibration parameter for registration with the visible light image, to obtain to-be-fused images; and fusing the to-be-fused images to generate a bifocal fused image.
H04N 23/11 - Cameras or camera modules comprising electronic image sensors; Control thereof for generating image signals from different wavelengths for generating image signals from visible and infrared light wavelengths
H04N 5/262 - Studio circuits, e.g. for mixing, switching-over, change of character of image, other special effects
H04N 23/13 - Cameras or camera modules comprising electronic image sensors; Control thereof for generating image signals from different wavelengths with multiple sensors
H04N 23/23 - Cameras or camera modules comprising electronic image sensors; Control thereof for generating image signals from infrared radiation only from thermal infrared radiation
H04N 23/57 - Mechanical or electrical details of cameras or camera modules specially adapted for being embedded in other devices
H04N 23/69 - Control of means for changing angle of the field of view, e.g. optical zoom objectives or electronic zooming
Embodiments of the present invention are an image exposure method and device for an unmanned aerial vehicle, and an unmanned aerial vehicle. The method comprises: firstly, acquiring the original image information about a target object, then obtaining the weighted image information according to the original image information, further obtaining the compensation amount of an automatic exposure according to the weighted image information, and finally adjusting an automatic exposure strategy according to the compensation amount of the automatic exposure. The method prevents an unmanned aerial vehicle from easily losing a target during the process of the unmanned aerial vehicle automatically following a moving object, even when encountering a change in light and shadow.
Embodiments of the present invention relate to the technical field of automatic focusing, and disclose an auxiliary focusing method and apparatus and an unmanned aerial vehicle (UAV). The auxiliary focusing method is applicable to a UAV. The UAV includes a shooting device. The method includes: determining a position offset of the UAV; and controlling, according to the position offset of the UAV, the shooting device to perform focusing. In this way, the embodiments of the disclosure can capture relatively clear video images in different flight environments.
Embodiments are a multi-battery management apparatus and an unmanned aerial vehicle. The apparatus includes at least two batteries, a mutual-charging switch, a voltage conversion module and a microprocessor; each of the batteries is connected to the microprocessor, and each of the batteries is also connected to the voltage conversion module by the mutual-charging switch; and the microprocessor is also respectively connected to a control terminal of the mutual-charging switch and the voltage conversion module. In the present invention, when an abnormal battery of which an electric quantity does not meet the storage condition occurs, a corresponding mutual-charging switch is controlled to be switch on, so that a battery with a higher electric quantity in the abnormal batteries charges a battery with a lower electric quantity.
B60L 58/18 - Methods or circuit arrangements for monitoring or controlling batteries or fuel cells, specially adapted for electric vehicles for monitoring or controlling batteries of two or more battery modules
B64C 39/02 - Aircraft not otherwise provided for characterised by special use
B60L 3/00 - Electric devices on electrically-propelled vehicles for safety purposes; Monitoring operating variables, e.g. speed, deceleration or energy consumption
Embodiments of the present invention discloses an unmanned aerial vehicle, comprising: a fuselage, the centroid of the unmanned aerial vehicle being located on the fuselage; an arm connected to the fuselage; and a motor, wherein the motor is obliquely mounted on the arm, the projection of the inclination direction of the motor on a horizontal plane forms a preset angle with a connecting line between the motor and the centroid, and the inclination direction of the motor forms an acute angle with the vertical direction.
Embodiments of the present invention are a flight control method and device, and an unmanned aerial vehicle. The method comprises firstly acquiring the current flight velocity of the unmanned aerial vehicle, then obtaining the current optimum inclination angle corresponding to the unmanned aerial vehicle according to the current flight velocity, and further adjusting the flight state of the unmanned aerial vehicle according to the current optimum inclination angle. The method can relieve the restrictions on the flight freedom of unmanned aerial vehicles and make the user experience rapid flight pleasure.
Embodiments of the present invention relate to an unmanned aerial vehicle protection method and apparatus and an unmanned aerial vehicle. The method includes: switching the unmanned aerial vehicle to an attitude mode after a positioning system of the unmanned aerial vehicle fails; controlling the unmanned aerial vehicle in the attitude mode and reducing a height of the unmanned aerial vehicle; and controlling the unmanned aerial vehicle to land safely when obtained ground environment information meets a preset landing condition. By adopting the foregoing method, the unmanned aerial vehicle can safely and smoothly land on the ground after a positioning sensor of the unmanned aerial vehicle fails, thereby reducing the probability of explosion of the unmanned aerial vehicle and improving the flight safety of the unmanned aerial vehicle.
The embodiments are an aircraft return control method and device, an aircraft and a storage medium. The method includes: determining the location of a return target region according to the time and the phase of a return signal; and when flying to the return target region, according to a matching result between an image of a current region and a pre-collected image of the return target region, adjusting flight parameters to land at the return target. Embodiments of the present invention solve the technical problem in the prior art that the aircraft cannot be accurately landed at the return target due to the movement of the return target, and achieve the technical effect of controlling the aircraft to accurately and safely land at the return target on the return target region.
G05D 1/08 - Control of attitude, i.e. control of roll, pitch, or yaw
G05D 1/10 - Simultaneous control of position or course in three dimensions
G05D 1/00 - Control of position, course, altitude, or attitude of land, water, air, or space vehicles, e.g. automatic pilot
G06V 10/75 - Image or video pattern matching; Proximity measures in feature spaces using context analysis; Selection of dictionaries
G06V 20/17 - Terrestrial scenes taken from planes or by drones
G01S 13/36 - Systems for measuring distance only using transmission of continuous waves, whether amplitude-, frequency-, or phase-modulated, or unmodulated with phase comparison between the received signal and the contemporaneously transmitted signal
B64C 39/02 - Aircraft not otherwise provided for characterised by special use
72.
METHOD AND APPARATUS FOR IMAGING CALIBRATION, AND DUAL-LIGHT CAMERA
Embodiments of the present invention discloses an imaging calibration method and apparatus for a dual-light camera and a dual-light camera. A thermal imaging image including a first calibration frame image and a visible light image including a second calibration frame image are acquired. The first calibration frame image and the second calibration frame image are images of a same calibration frame respectively photographed by a thermal imaging camera and a visible light camera. First position information of the first calibration frame image in the thermal imaging image and second position information of the second calibration frame in the visible light image are acquired. Calibration parameters are generated according to the first position information and the second position information. A position of the thermal imaging image synthesized in the visible light image in the visible light image is adjusted according to the calibration parameters.
Embodiments are a method for controlling a lens module, an aerial vehicle, and an aircraft system, wherein the method for controlling a lens module is applied to the aerial vehicle, the aerial vehicle is provided with a tripod head to mount the lens module thereon, and the method includes: acquiring model data of the lens module if the lens module is adapted to the aerial vehicle; determining a lens model of the lens module according to the model data; identifying the lens module corresponding to the lens model to control the lens module. Following the method, the model data of the lens module is acquired, the lens module adapted to the corresponding aerial vehicle is identified, and a control program is called to control the lens module. Therefore, the aerial vehicle can identify and enable drive control over a new lens module.
The embodiments are a method and a system for synchronizing data. The method includes: sending, by any remote control in at least two remote controls, a configuration message to an unmanned aerial vehicle, the configuration message carrying current configuration information of the any remote control; broadcasting, by the unmanned aerial vehicle, the received configuration message; and synchronously updating, by the at least two remote controls, current configuration information of the at least two remote controls according to the received broadcast configuration message. Therefore, in a scenario in which a plurality of remote controls interact with an unmanned aerial vehicle, information synchronization among the plurality of remote controls may be implemented in a simple communication manner without adding a hardware module.
The embodiments are a method, a system and an apparatus for implementing an omnidirectional vision obstacle avoidance, and a storage medium. The method for implementing an omnidirectional vision obstacle avoidance includes: transmitting a trigger signal to an image capture device, to trigger the image capture device to capture image signals; combining the image signals to obtain combined image data; disassembling the combined image data to obtain disassembled image data; and visually processing the disassembled image data to acquire a visual image. Based on the technical solutions in the present invention, a multi-lens access problem of existing aircrafts during omnidirectional vision obstacle avoidance is resolved and image processing efficiency and performance are improved.
The embodiments are a method and apparatus for generating a safe flight path for an unmanned aerial vehicle, a control terminal and an unmanned aerial vehicle. The method includes: obtaining a path feature point set and attribute parameters, the path feature point set including at least one path planning key point and the attribute parameters including at least a flight height; generating a flight path according to the path feature point set, the attribute parameters and a preset path generation policy; and adjusting the flight path according to an elevation data file, to generate a flight path. According to embodiments of the present invention, elevation data is taken into consideration in the planning of the flight path, which avoids flight obstacles in a flight control process, thereby improving the safety of flight of the unmanned aerial vehicle.
The embodiments are a landing control method, an aircraft, and a storage medium. The method is applied to the aircraft, and includes: the current frame template image is subjected to image feature extraction, and the extracted image features are used to train the position filter and the scale filter of the first template image; the position information of the first template image in the next frame image is predicted by using the position filter and the scale filter; and the landing of the aircraft is corrected by using the position information, such that the aircraft can dynamically track the preset takeoff and landing point for landing, so as to realize the accurate landing of the aircraft.
G05D 1/08 - Control of attitude, i.e. control of roll, pitch, or yaw
G05D 1/10 - Simultaneous control of position or course in three dimensions
G06V 20/17 - Terrestrial scenes taken from planes or by drones
G06V 20/40 - Scenes; Scene-specific elements in video content
G06V 10/44 - Local feature extraction by analysis of parts of the pattern, e.g. by detecting edges, contours, loops, corners, strokes or intersections; Connectivity analysis, e.g. of connected components
G06V 10/50 - Extraction of image or video features by summing image-intensity values; Projection analysis
G06V 10/774 - Generating sets of training patterns; Bootstrap methods, e.g. bagging or boosting
G06T 7/73 - Determining position or orientation of objects or cameras using feature-based methods
B64C 39/02 - Aircraft not otherwise provided for characterised by special use
79.
METHOD OF CONTROLLING AN AIRCRAFT, FLIGHT CONTROL DEVICE FOR AN AIRCRAFT, AND AIRCRAFT WITH SUCH FLIGHT CONTROL DEVICE
Embodiments of the present invention relate to a method of controlling an aircraft and a flight control device for an aircraft, an aircraft with such flight control device and a storage medium. The method includes: determining a flight mode adopted by the aircraft in a non-static state; if the flight mode is an absolute hovering mode, determining a target speed of the aircraft according to a current flight speed, a current flight height and a first preset hovering height of the aircraft and a remote control speed set for the aircraft by remote control device; if the flight mode is a relative static hovering mode, determining the target speed of the aircraft according to a relative flight speed, the current flight height, a second preset switching hovering height and the remote control speed; and controlling the aircraft to fly according to the target speed.
The embodiments are an aircraft time synchronization system and method. The system comprises: a first communication module and a second communication module, wherein data transmission is performed between the first communication module and the second communication module via a communication line, and an I/O interface of the first communication module is connected to the I/O interface of the second communication module via an interruption signal line; the first communication module sends the data information to the second communication module via the communication line, and at the same time sends the triggered interruption signal to the second communication module via the interruption signal line; the second communication module performs time synchronization with the first communication module based on the communication time difference and system time difference with the first communication module determined according to the receiving time of the data information and interruption signal and the sending time.
The embodiment is an unmanned aerial vehicle. The unmanned aerial vehicle includes: an airframe, including first mounting portions, where the first mounting portion includes a first mounting body and connecting rods formed on the first mounting body, the connecting rods extending in a pitch axis direction; and a power assembly, including a first assembling body and eccentric wheels mounted on the first assembling body, where the eccentric wheel is rotatable between a first rotation position and a second rotation position of the first assembling body around a rotation axis of the first assembling body, the rotation axis being perpendicular to the pitch axis direction.
The embodiments are a replaceable gimbal camera, an aircraft, an aircraft system, and a gimbal replacement method for an aircraft. The replaceable gimbal camera is applied to the aircraft. The aircraft is provided with a fuselage and a gimbal. The replaceable gimbal camera includes an image capture module, a static storage module, and an image processing module. The static storage module is configured to store parameter data. The image processing module is configured to read the parameter data stored in the static storage module, where after the gimbal is replaced, the image processing module is configured to read parameter data of a gimbal after replacement and configure corresponding parameter data for an image capture module of the gimbal after replacement.
The embodiments is an unmanned aerial vehicle. The unmanned aerial vehicle includes: an airframe; and a fixed-wing assembly and a rotor assembly, both replaceably connected to the airframe. The fixed-wing assembly is connected to the airframe to form a vertical take-off and landing fixed-wing unmanned aerial vehicle and the rotor assembly is connected to the airframe to form a multi-rotor unmanned aerial vehicle, thereby implementing an unmanned aerial vehicle that can switch between the vertical take-off and landing fixed-wing unmanned aerial vehicle and the multi-rotor unmanned aerial vehicle.
The embodiments are a charging apparatus, a charging system and a charging method. The charging apparatus is configured to charge a data communication battery. The charging apparatus includes a charging power supply and a balancing apparatus. the charging power supply is electrically connected to the data communication battery, the balancing apparatus is electrically connected to the data communication battery, and the balancing apparatus is configured to obtain first information of the data communication battery to implement voltage balancing among the batteries in the data communication battery according to the first information; and the charging power supply is configured to obtain second information of the data communication battery to output a voltage or current according to the second information to charge the data communication battery.
The embodiments are an image processing method and apparatus, an aerial camera and a storage medium. The method includes: receiving an image mode switching instruction, wherein the image mode switching instruction is configured to indicate to switch a current image mode into a target image mode, and the image mode switching instruction carries the target image mode; and processing a collected image according to the target image mode. Therefore, the image can be flexibly processed based on the target image mode in the image mode switching instruction, such that the image display requirements in different scenarios are met.
The embodiments are a method and an apparatus for calibrating a joystick and a remote control device. The method includes: obtaining sampling parameters of a target point when a joystick is in a calibration mode; obtaining a maximum angle value to which the joystick is moved; calculating a calibration parameter of the target point according to the sampling parameters and the maximum angle value; and calibrating the joystick according to the calibration parameter. According to the implementation, a calibration function of the Hall joystick is realized. A whole process is simple, complexity of calibrating the Hall joystick is reduced and the implementation is suitable for most of remote control devices with Hall joysticks, which has relatively strong universality.
G01D 18/00 - Testing or calibrating apparatus or arrangements provided for in groups
G01D 5/14 - Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable using electric or magnetic means influencing the magnitude of a current or voltage
87.
METERING ADJUSTMENT METHOD, APPARATUS AND DEVICE AND STORAGE MEDIUM
Embodiments of the present invention discloses a metering adjustment method, apparatus and device and a storage medium. The method includes: acquiring brightness information of a current image frame and a previous image frame captured by a shooting apparatus of an unmanned aerial vehicle (UAV); determining whether the brightness information of the current image frame changes relative to the brightness information of the previous image frame; if so, acquiring motion state information of the shooting apparatus; and adjusting a metering mode of the shooting apparatus according to the motion state information of the shooting apparatus.
G01C 11/16 - Interpretation of pictures by comparison of two or more pictures of the same area the pictures being supported in the same relative position as when they were taken with optical projection in a common plane
G01C 11/02 - Picture-taking arrangements specially adapted for photogrammetry or photographic surveying, e.g. controlling overlapping of pictures
G01C 11/26 - Interpretation of pictures by comparison of two or more pictures of the same area the pictures being supported in the same relative position as when they were taken using computers to control the position of the pictures
Embodiments of the present invention discloses a wing detachment assembly and an aerial vehicle. The wing detachment assembly includes a first connecting portion and a second connecting portion, one of the first connecting portion and the second connecting portion being fixed on a wing and the other being fixed on a vehicle body. The second connecting portion includes a thumb wheel, the thumb wheel being provided with a threaded hole and being rotatably mounted on the vehicle body or the wing. The first connecting portion is threadedly connected to a threaded hole of the thumb wheel, the first connecting portion and the thumb wheel being fastened or detached when the thumb wheel is rotated. The aerial vehicle includes the foregoing wing detachment assembly. The wing detachment assembly and the aerial vehicle have the advantage of being convenient to detach and mount the wing.
B64C 1/26 - Attaching the wing or tail units or stabilising surfaces
F16B 39/28 - Locking of screws, bolts, or nuts in which the locking takes place during screwing down or tightening by special members on, or shape of, the nut or bolt
89.
UNMANNED AERIAL VEHICLE RETURN METHOD AND APPARATUS AND UNMANNED AERIAL VEHICLE
An unmanned aerial vehicle (UAV) return method and apparatus and a UAV. The method includes: performing real-time fusion to generate velocity information of the UAV; determining, through integrating the velocity information, displacement information of a current location of the UAV relative to a takeoff location; determining a return starting point location of the UAV according to the displacement information; obtaining a return instruction, and determining a return mode; and controlling, according to the return mode, the UAV to return from the return starting point location to the takeoff location. In the foregoing manner, the present invention resolves the technical problem of poor accuracy that a current UAV returns by relying on GPS location information, and improves the returning accuracy of the UAV.
The embodiment is an unmanned aerial vehicle, including a body and wings. A first connection portion is disposed on one of the body and the wing. A second connection portion is disposed on the other of the body and the wing. The first connection portion and the second connection portion are detachably connected. The first connection portion is engaged with the second connection portion. The body and the wing are locked by rotating or sliding the second connection portion. The body can be conveniently assembled with or disassembled from the wing and the connection part meets the reliability of strength and rigidity and does not affect the flight performance.
Embodiments of the disclosure relate to a flight method and apparatus for an unmanned aerial vehicle (UAV) and a UAV. The method includes: obtaining a distance between the UAV and an electronic fence; applying a virtual resistance force to the UAV if the distance is less than a preset distance threshold value; and obtaining a speed instruction according to the virtual resistance force, to adjust a flight speed of the UAV according to the speed instruction. In the embodiments of the disclosure, when a distance between a UAV and an electronic fence is less than a preset distance threshold value, a virtual resistance force is applied to the UAV, and a speed instruction is obtained according to the virtual resistance force, to adjust a flight speed of the UAV. By means of the embodiments of the disclosure, the acceleration of a UAV can be reduced. In this way, a distance by which the UAV rushes into a restricted area is reduced.
Embodiments of the present application relate to the technical field of aircrafts and disclose a method and apparatus for yaw fusion and an aircraft. The method for yaw fusion is applicable to an aircraft and includes: acquiring global positioning system (GPS) data, inertial measurement unit (IMU) data, and magnetometer data, wherein the GPS data includes GPS location, velocity, acceleration information, and GPS velocity signal quality, and the IMU data includes IMU acceleration information and IMU angular velocity information; determining a corrected yaw according to the IMU data, the GPS data, and the magnetometer data; determining a magnetometer alignment deviation angle according to the magnetometer data, the GPS data, and the corrected yaw; determining a GPS realignment deviation angle according to the GPS data and the IMU acceleration information; and generating a fused yaw according to the corrected yaw, the magnetometer alignment deviation angle, and the GPS realignment deviation angle.
G05D 1/08 - Control of attitude, i.e. control of roll, pitch, or yaw
G01C 21/16 - Navigation; Navigational instruments not provided for in groups by using measurement of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation
B64C 1/16 - Fuselages; Constructional features common to fuselages, wings, stabilising surfaces or the like specially adapted for mounting power plant
The method includes: obtaining a target image acquired by the camera apparatus, and performing image recognition on the target image, to obtain a target image region of a target in the target image; obtaining a raw point cloud of a surrounding environment of the UAV, and obtaining a first target location according to the target image region and the raw point cloud; obtaining attitude information of the camera apparatus, obtaining a first image location based on the target image region, and obtaining a second target location according to the first image location and the attitude information; obtaining a second image location based on the target image region; initializing a target state according to the first target location or the second target location; and using the first target location and/or the second target location and/or the second image location as measured values of an extended Kalman filter to obtain the target state. The embodiments of the present invention do not require strong assumptions, and the precision of state estimation is high.
The embodiment is a target tracking method. The method is applicable to a UAV including a visible light camera and an infrared camera, and includes: controlling the visible light camera to perform visual tracking on a target object, and recording first tracking information of the target object in real time; controlling the infrared camera to perform infrared tracking on the target object, and recording second tracking information of the target object in real time; controlling, in a case of determining that the target object is lost in the visible light camera, the visible light camera to re-lock the target object according to the second tracking information and continue to perform visual tracking; or controlling, in a case of determining that the target object is lost in the infrared camera, the infrared camera to re-lock the target object according to the first tracking information and continue to perform infrared tracking.
Embodiments of the present invention relate to an obstacle detection method and apparatus and an unmanned aerial vehicle. The unmanned aerial vehicle includes a binocular photographing component and a laser texture component. The method includes: determining to start the laser texture component; starting the laser texture component, to emit a laser texture; obtaining a binocular view that is collected by the binocular photographing component and that includes the laser texture, and setting the binocular view that includes the laser texture as a target binocular view; and performing obstacle detection based on the target binocular view. In the above technical solutions, according to the embodiments of the present invention, precision of binocular stereo matching can be improved without changing an original binocular matching algorithm and structure, thereby improving precision of obstacle detection. In addition, the unmanned aerial vehicle can perform binocular sensing while flying at night.
G06V 20/58 - Recognition of moving objects or obstacles, e.g. vehicles or pedestrians; Recognition of traffic objects, e.g. traffic signs, traffic lights or roads
H04N 13/296 - Synchronisation thereof; Control thereof
H04N 13/239 - Image signal generators using stereoscopic image cameras using two 2D image sensors having a relative position equal to or related to the interocular distance
96.
IMAGE PROCESSING METHOD AND APPARATUS, DEVICE AND STORAGE MEDIUM
Embodiments of the present invention discloses an image processing method and apparatus, a device and a storage medium. The method includes: acquiring a first image and a second image, where the first image and the second image are respectively captured and transmitted by a first lens and a second lens disposed on an unmanned aerial vehicle (UAV); acquiring current field of view (FOV) information of the first lens and the second lens; and determining target display information of the second lens according to the FOV information and datum display information set for the first lens.
Embodiments of the present application discloses a method and apparatus for correcting a yaw angle of an aircraft and an aircraft. The method includes: acquiring inertial measurement unit (IMU) data and magnetometer data, where the IMU data includes IMU acceleration information and IMU angular velocity information; determining a magnetometer yaw angle according to the magnetometer data; determining an initial value of a yaw angle according to the magnetometer yaw angle; determining an angular velocity compensation quantity of the yaw angle according to the magnetometer data; determining a corrected angular velocity according to the IMU angular velocity information and the angular velocity compensation quantity of the yaw angle; determining a relative value of the yaw angle according to the corrected angular velocity; and generating a fused yaw angle according to the initial value of the yaw angle and the relative value of the yaw angle.
G01C 21/16 - Navigation; Navigational instruments not provided for in groups by using measurement of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation
G05D 1/10 - Simultaneous control of position or course in three dimensions
B64C 39/02 - Aircraft not otherwise provided for characterised by special use
G01C 25/00 - Manufacturing, calibrating, cleaning, or repairing instruments or devices referred to in the other groups of this subclass
Embodiments of the present application relate to a battery equalization self-discharging circuit and an unmanned aerial vehicle. The circuit includes at least two battery cells and at least two battery cell equalization units, wherein the battery cell equalization unit includes a series circuit composed of a discharging load and a switch, its one end is electrically connected to one end of the battery cell, and the other end is connected to the other end of the battery cell; the battery cell connected adjacent to a second electrode of a battery is a third battery cell; the battery equalization unit of the third battery cell includes a third discharging load and a third switch; and the battery equalization circuit further includes a fourth switch and a current detection unit, and a second end of the third discharging load is connected to a second end of the third battery cell.
Embodiments of the present invention disclose a charging management system and method, a device, and a storage medium, wherein the system includes a microprocessor configured for acquiring current electric quantity parameters of at least two to-be-charged batteries; a control terminal of the microprocessor is connected to a controlled terminal of at least two charging circuit switches for determining whether to charge the at least two to-be-charged batteries according to the current electric quantity parameters and controlling an on-or-off state of any of the at least two charging circuit switches according to a working state of a power source. In the embodiments of the present invention, the microprocessor centrally manages a condition of charging multiple to-be-charged batteries with multiple power sources, without a DC-DC circuit, and realizing the automatic charging management of multiple to-be-charged batteries at reduced hardware costs.
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