Granted Patent B2

US 12,210,358 · App. 18/360,365 · Granted Jan 28, 2025

Inventor: Ziming Zhong (Guangdong, CN)

Assignee: AUTEL ROBOTICS CO., LTD.

G05D1/12G05D1/0094G05D1/101B64U2101/30B64U2201/10

Abstract

Claims (81)

1. An autonomous orbiting method, applicable to an unmanned aerial vehicle (UAV), the method comprising:

obtaining, through the binocular camera assembly, a target footage and an orbited object selected by a user from 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 by adjusting a flight direction of the UAV according to the optical axis, maintaining the spatial distance, with the orbited object as a center, to perform autonomous orbit shooting.

2. The autonomous orbiting method according to claim 1 , wherein the method further comprises:

obtaining a moving direction of the orbited object in real time; and

maintaining the target flying height and the target spatial distance unchanged, and adjusting a flight direction of the UAV according to the moving direction of the orbited object obtained in real time and the optical axis direction of the binocular camera assembly detected in real time.

3. The autonomous orbiting method according to claim 2 , wherein the method further comprises:

use the flying height as a target flying height of the UAV;

use the spatial distance as a target spatial distance between the binocular camera assembly and the orbited object;

maintaining the target flying height and the target spatial distance while performing autonomous orbiting.

4. The autonomous orbiting method according to claim 3 , wherein the method further comprises:

determining a shooting mode for the orbited object; and

performing autonomous orbiting with reference to the shooting mode, the flying height, the spatial distance and the optical axis direction of the binocular camera assembly detected in real time.

5. The autonomous orbiting method according to claim 4 , wherein the shooting mode includes at least one or more of a constant mode, a gradual change mode, a custom mode, users determine the shooting mode for the orbited object while performing autonomous orbiting.

6. The autonomous orbiting method according to claim 4 , wherein the performing autonomous orbiting with reference to the shooting mode, the spatial distance and the optical axis direction of the binocular camera assembly detected in real time comprises:

using the spatial distance as an initial spatial distance between the UAV and the orbited object;

determining a target spatial distance between the UAV and the orbited object in each shooting time period according to the shooting mode, the initial flying height and the initial spatial distance; and

flying in the each shooting time period according to the target spatial distance, and adjusting a flight direction of the UAV according to the optical axis direction of the binocular camera assembly detected in real time, to perform autonomous orbiting centered on the orbited object.

7. The autonomous orbiting method according to claim 4 , wherein the performing autonomous orbiting with reference to the shooting mode, the flying height, the spatial distance and the optical axis direction of the binocular camera assembly detected in real time comprises:

using the flying height as an initial flying height;

using the spatial distance as an initial spatial distance between the UAV and the orbited object;

determining a target flying height of the UAV and a target spatial distance between the UAV and the orbited object in each shooting time period according to the shooting mode, the initial flying height and the initial spatial distance; and

flying in the each shooting time period according to the target flying height and the target spatial distance, and adjusting a flight direction of the UAV according to the optical axis direction of the binocular camera assembly detected in real time, to perform autonomous orbiting centered on the orbited object.

8. The method according to claim 1 , wherein the obtaining, through the binocular camera assembly, a target footage and an orbited object selected by a user from the target footage comprises:

receiving a control instruction sent by a remote control device, wherein the remote control device is communicably connected to the UAV;

flying to a target shooting position according to the control instruction; and

using a footage acquired by the binocular camera assembly at the target shooting position as the target footage, and obtaining the orbited object selected by the user from the target footage.

9. An autonomous orbiting device, applicable to an unmanned aerial vehicle (UAV), the UAV comprising a binocular camera assembly, the device comprising:

at least a processor; and a memory communicably connected to the at least one processor, wherein the memory stores instructions executable by the at least one processor, the instructions, executed by the at least one processor, enabling the at least one processor to perform the following steps:

obtaining, through the binocular camera assembly, a target footage and an orbited object selected by a user from 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 by adjusting a flight direction of the UAV according to the optical axis, maintaining the spatial distance, with the orbited object as a center, to perform autonomous orbit shoot.

10. The device according to claim 9 , wherein the processor is further configured to:

obtaining a moving direction of the orbited object in real time; and

maintaining the target flying height and the target spatial distance unchanged, and adjusting a flight direction of the UAV according to the moving direction of the orbited object obtained in real time and the optical axis direction of the binocular camera assembly detected in real time.

11. The device according to claim 10 , wherein the processor is further configured to:

obtaining a flying height of the UAV when obtaining the target footage;

use the flying height as a target flying height of the UAV;

use the spatial distance as a target spatial distance between the binocular camera assembly and the orbited object;

maintaining the target flying height and the target spatial distance while performing autonomous orbiting.

12. The device according to claim 11 , wherein the processor is further configured to:

determining a shooting mode for the orbited object; and

performing autonomous orbiting with reference to the shooting mode, the flying height, the spatial distance and the optical axis direction of the binocular camera assembly detected in real time.

13. The device according to claim 12 , wherein the shooting mode includes at least one or more of a constant mode, a gradual change mode, a custom mode, users determine the shooting mode for the orbited object while performing autonomous orbiting.

14. The device according to claim 12 , wherein the performing autonomous orbiting with reference to the shooting mode, the flying height, the spatial distance and the optical axis direction of the binocular camera assembly detected in real time comprises:

using the flying height as an initial flying height;

using the spatial distance as an initial spatial distance between the UAV and the orbited object;

determining a target flying height of the UAV and a target spatial distance between the UAV and the orbited object in each shooting time period according to the shooting mode, the initial flying height and the initial spatial distance; and

flying in the each shooting time period according to the target flying height and the target spatial distance, and adjusting a flight direction of the UAV according to the optical axis direction of the binocular camera assembly detected in real time, to perform autonomous orbiting centered on the orbited object.

15. An unmanned aerial vehicle (UAV), comprising:

a body;

arms, connected to the body;

power assemblies, disposed on the arms;

a binocular camera assembly, disposed on the body;

at least one processor, disposed in the body and communicably connected to the binocular camera assembly; and

a memory, communicably connected to the at least one processor, wherein

the memory stores instructions executable by the at least one processor, the instructions, executed by the at least one processor, enabling the at least one processor to perform the following steps:

obtaining, through the binocular camera assembly, a target footage and an orbited object selected by a user from 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 by adjusting a flight direction of the UAV according to the optical axis, maintaining the spatial distance, with the orbited object as a center, to perform autonomous orbit shooting.

16. The UAV according to claim 15 , wherein the processor is further configured to:

obtaining a moving direction of the orbited object in real time; and

maintaining the target flying height and the target spatial distance unchanged, and adjusting a flight direction of the UAV according to the moving direction of the orbited object obtained in real time and the optical axis direction of the binocular camera assembly detected in real time.

17. The UAV according to claim 16 , wherein the processor is further configured to:

obtaining a flying height of the UAV when obtaining the target footage;

use the flying height as a target flying height of the UAV;

use the spatial distance as a target spatial distance between the binocular camera assembly and the orbited object;

maintaining the target flying height and the target spatial distance while performing autonomous orbiting.

18. The UAV according to claim 17 , wherein the processor is further configured to:

determining a shooting mode for the orbited object; and

performing autonomous orbiting with reference to the shooting mode, the flying height, the spatial distance and the optical axis direction of the binocular camera assembly detected in real time.

19. The UAV according to claim 17 , wherein the shooting mode includes at least one or more of a constant mode, a gradual change mode, a custom mode, users determine the shooting mode for the orbited object while performing autonomous orbiting.

20. The UAV according to claim 17 , wherein the performing autonomous orbiting with reference to the shooting mode, the flying height, the spatial distance and the optical axis direction of the binocular camera assembly detected in real time comprises:

using the flying height as an initial flying height;

using the spatial distance as an initial spatial distance between the UAV and the orbited object;

determining a target flying height of the UAV and a target spatial distance between the UAV and the orbited object in each shooting time period according to the shooting mode, the initial flying height and the initial spatial distance; and

flying in the each shooting time period according to the target flying height and the target spatial distance, and adjusting a flight direction of the UAV according to the optical axis direction of the binocular camera assembly detected in real time, to perform autonomous orbiting centered on the orbited object.

Assignments (1)

Priority Claims (1)

Continuity (3)

References Cited (10)