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1. 发明授权

EP3241758B1 FULLY-PROTECTED UNMANNED AERIAL VEHICLE 有权
公开(公告)号：EP3241758B1
公开(公告)日：2020-05-06
申请号：EP15875205.5
申请日：2015-12-29
申请人： Beijing Zero Zero Infinity Technology Co. Ltd.
发明人： ZHANG, Tong , WANG, Mengqiu , WANG, Zhaozhe , ZHANG, Xuyang , ZHANG, Guanqun , GONG, Shuang , ZHANG, Yalin , WANG, Jinglong , LIU, Lixin
IPC分类号： B64C39/02

2. 发明公开

EP3241758A1 FULLY-PROTECTED UNMANNED AERIAL VEHICLE 审中-公开
标题翻译：充分保护的无人驾驶航空器
公开(公告)号：EP3241758A1
公开(公告)日：2017-11-08
申请号：EP15875205.5
申请日：2015-12-29
申请人： Beijing Zero Zero Infinity Technology Co. Ltd.
发明人： ZHANG, Tong , WANG, Mengqiu , WANG, Zhaozhe , ZHANG, Xuyang , ZHANG, Guanqun , GONG, Shuang , ZHANG, Yalin , WANG, Jinglong , LIU, Lixin
IPC分类号： B64D45/00 , B64C27/08
CPC分类号： B64C27/006 , B64C1/30 , B64C27/08 , B64C39/024 , B64C2201/027 , B64C2201/042 , B64C2201/108 , B64C2201/20 , B64C2201/201
摘要： A fully-protected unmanned aerial vehicle comprises an unmanned aerial vehicle body (1) and a rotor (2) connected to the unmanned aerial vehicle body (1), and further comprises a protection housing (3) connected to the unmanned aerial vehicle body (1). The protection housing (3) is a hollowed-out closed housing and has a hollow cavity (31), and the rotor (2) is installed in the hollow cavity (31). Because the rotor is installed in the hollow cavity of the protection housing, the rotor cannot make contact with a human body, so that the unmanned aerial vehicle can be released or reclaimed by an operator with the hand, and the operation portability and safety of the rotor are improved. The hollowed-out structure provides a forming space of lift for the rotor and normal flight of the unmanned aerial vehicle is ensured. The rotor is installed in the protection housing that is connected to the unmanned aerial vehicle body, so that the overall height of the unmanned aerial vehicle is reduced, and the portability of the unmanned aerial vehicle is further improved.
摘要翻译：一种全保护式无人飞行器，包括无人机体（1）和与无人机体（1）连接的转子（2），还包括与无人机体（1）连接的保护壳体（3） 1）。保护壳体（3）为镂空封闭壳体，并具有空腔（31），转子（2）安装在空腔（31）中。由于转子安装在保护壳体的空腔内，因此转子不会与人体接触，使得无人飞行器可以由操作者用手释放或回收，并且操作的便携性和安全性转子得到改进。镂空结构为转子提供了升力形成空间，保证了无人飞行器的正常飞行。转子安装在与无人机相连的保护壳内，使无人机的整体高度降低，无人机的便携性进一步提高。

3. 发明公开

EP3241741A1 FOLDABLE UNMANNED AERIAL VEHICLE 审中-公开
标题翻译：可折叠的无人机空中车辆
公开(公告)号：EP3241741A1
公开(公告)日：2017-11-08
申请号：EP15875204.8
申请日：2015-12-29
申请人： Beijing Zero Zero Infinity Technology Co. Ltd.
发明人： ZHANG, Tong , WANG, Mengqiu , WANG, Zhaozhe , ZHANG, Xuyang , ZHANG, Guanqun , GONG, Shuang , ZHANG, Yalin , WANG, Jinglong , LIU, Lixin
IPC分类号： B64C3/56 , B64C27/08
CPC分类号： B64C27/006 , B64C1/30 , B64C27/08 , B64C39/024 , B64C2201/027 , B64C2201/042 , B64C2201/108 , B64C2201/20 , B64C2201/201
摘要： A foldable unmanned aerial vehicle for improving the portability of unmanned aerial vehicles comprises an unmanned aerial vehicle body (1) and a rotor portion connected to the unmanned aerial vehicle body (1). The rotor portion comprises a first rotor module (2) and a second rotor module (3) each having at least one rotor. The first rotor module and the second rotor module can be folded or unfolded by rotation around their own hinge shafts (4). According to the unmanned aerial vehicle, the rotor is designed in a modular manner: first, two rotor modules that can be folded or unfolded relatively are formed, and the folding and unfolding are implemented by the rotation of the rotor modules, so that the state of the unmanned aerial vehicle is changed, the folding and flying demands for the unmanned aerial vehicle are satisfied, and the portability of the unmanned aerial vehicle is improved; a flight path and a control module that the unmanned aerial vehicle needs can be arranged in the unmanned aerial vehicle body and do not need to be separately arranged in the rotor modules, so that the control reliability is improved.
摘要翻译：一种用于提高无人机便携性的可折叠无人飞行器，包括无人机（1）和与无人机体（1）连接的转子部分。转子部分包括各自具有至少一个转子的第一转子模块（2）和第二转子模块（3）。第一转子模块和第二转子模块可以通过围绕它们自己的铰链轴（4）旋转而折叠或展开。根据无人机，转子以模块化方式设计：首先，形成两个可以相对折叠或展开的转子模块，通过转子模块的转动来实现折叠和展开，从而使得状态改变了无人机的折叠飞行需求，提高了无人机的便携性; 无人机需要的飞行路径和控制模块可以设置在无人机体内，不需要单独设置在转子模块中，提高了控制的可靠性。

4. 发明申请

US20160340021A1 FOLDABLE DRONE 审中-公开
标题翻译：可折刀
公开(公告)号：US20160340021A1
公开(公告)日：2016-11-24
申请号：US15035934
申请日：2015-12-29
申请人： BEIJING ZERO ZERO INFINITY TECHNOLOGY CO., LTD
发明人： Tong Zhang , Mengqiu Wang , Zhaozhe Wang , Xuyang Zhang , Guanqun Zhang , Shuang Gong , Yalin Zhang , Jinglong Wang , Lixin Liu
IPC分类号： B64C1/30 , B64C39/02 , B64C27/08
CPC分类号： B64C27/006 , B64C1/30 , B64C27/08 , B64C39/024 , B64C2201/027 , B64C2201/042 , B64C2201/108 , B64C2201/20 , B64C2201/201
摘要： A foldable drone is provided to improve the portability of the drone, which includes a drone body and a rotary wing part connected to the drone body. The rotary wing part includes a first rotary wing module and a second rotary wing module with each having at least one rotary wing, and the first rotary wing module and the second rotary wing module are respectively articulated to two sides of the drone body, to allow the first rotary wing module and the second rotary wing module to rotate about their respective articulating shafts, so as to be folded or unfolded.
摘要翻译：提供可折叠的无人机以改善无人机的可携带性，其包括无人机和连接到无人机体的旋翼部。旋转翼部包括第一旋转翼模块和第二旋转翼模块，每个具有至少一个旋转翼，并且第一旋转翼模块和第二旋转翼模块分别铰接到无人机主体的两侧，以允许第一旋转翼模块和第二旋转翼模块围绕其相应的铰接轴旋转，以便被折叠或展开。

5. 发明授权

US10261507B2 Method and device for controlling unmanned aerial vehicle with gesture 有权
公开(公告)号：US10261507B2
公开(公告)日：2019-04-16
申请号：US15108390
申请日：2016-01-11
申请人： BEIJING ZERO ZERO INFINITY TECHNOLOGY CO., LTD
发明人： Mengqiu Wang , Tong Zhang , Qicheng Li , Jia Lu , Lixin Liu
IPC分类号： G05D1/00 , G05D1/08 , B64C39/02 , G06F3/01 , G06K9/00 , G06K9/46 , B64D47/08 , G06F3/03
摘要： A method and device for controlling an unmanned aerial vehicle with a gesture are provided. A camera is arranged in the unmanned aerial vehicle, and the method includes: detecting a gesture in an image by using a gesture detection framework; judging whether the gesture is a predetermined gesture for controlling the unmanned aerial vehicle; acquiring a motion trajectory of the gesture in a case that it is determined that the gesture is the predetermined gesture for controlling the unmanned aerial vehicle; and controlling, based on the motion trajectory of the gesture, the unmanned aerial vehicle to perform a control operation corresponding to the motion trajectory of the gesture, where a correspondence between a motion trajectory of a gesture and a control operation is predetermined.

6. 发明申请

US20180196419A1 METHOD AND DEVICE FOR CONTROLLING UNMANNED AERIAL VEHICLE WITH GESTURE 审中-公开
公开(公告)号：US20180196419A1
公开(公告)日：2018-07-12
申请号：US15108390
申请日：2016-01-11
申请人： BEIJING ZERO ZERO INFINITY TECHNOLOGY CO., LTD
发明人： Mengqiu WANG , Tong ZHANG , Qicheng LI , Jia LU , Lixin LIU
IPC分类号： G05D1/00 , G06F3/01 , G06K9/00
CPC分类号： G05D1/0016 , B64C39/024 , B64C2201/14 , B64D47/08 , G05D1/08 , G06F3/017 , G06F3/0304 , G06K9/00355 , G06K9/4671
摘要： A method and device for controlling an unmanned aerial vehicle with a gesture are provided. A camera is arranged in the unmanned aerial vehicle, and the method includes: detecting a gesture in an image by using a gesture detection framework; judging whether the gesture is a predetermined gesture for controlling the unmanned aerial vehicle; acquiring a motion trajectory of the gesture in a case that it is determined that the gesture is the predetermined gesture for controlling the unmanned aerial vehicle; and controlling, based on the motion trajectory of the gesture, the unmanned aerial vehicle to perform a control operation corresponding to the motion trajectory of the gesture, where a correspondence between a motion trajectory of a gesture and a control operation is predetermined.

7. 发明申请

US20170277200A1 METHOD FOR CONTROLLING UNMANNED AERIAL VEHICLE TO FOLLOW FACE ROTATION AND DEVICE THEREOF 审中-公开
公开(公告)号：US20170277200A1
公开(公告)日：2017-09-28
申请号：US15504790
申请日：2016-01-11
申请人： BEIJING ZERO ZERO INFINITY TECHNOLOGY CO., LTD
发明人： Mengqiu WANG , Tong ZHANG , Qicheng LI , Jia LU , Lixin LIU
IPC分类号： G05D1/08 , G06K9/00 , G05D1/02 , B64C19/00 , B64C39/02
CPC分类号： G05D1/0825 , B64C19/00 , B64C39/024 , B64C2201/146 , G05D1/0094 , G05D1/0202 , G06F3/01 , G06F3/012 , G06K9/00221 , G06K9/00261 , G06K9/0063 , G06K9/3216 , G06K2009/3291
摘要： A method and a device for controlling an unmanned aerial vehicle (UAV) to follow face rotation are provided. The UAV is provided with a camera, the method includes: detecting a face in an image based on the Viola-Jones face detection framework; tracking the face and determining two-dimensional position of the facial feature on the face in pixel coordinates; obtaining three-dimensional position of the facial feature in world coordinates by looking up a standard three-dimensional face database; obtaining the three-dimensional position, in camera-centered coordinates, of the face on the UAV based on the two-dimensional position of the facial feature in the pixel coordinates and the three-dimensional position of the facial feature in world coordinates; and controlling, based on the three-dimensional position, in camera-centered coordinates, of the face on the UAV, the UAV to adjust its position to make the camera is aligned to the face.

8. 外观设计

USD809969S1 Drone 有权
公开(公告)号：USD809969S1
公开(公告)日：2018-02-13
申请号：US29569115
申请日：2016-06-23
申请人： BEIJING ZERO ZERO INFINITY TECHNOLOGY CO., LTD
设计人： Guanqun Zhang , Tong Zhang , Mengqiu Wang , Zhaozhe Wang , Lixin Liu

9. 外观设计

USD798192S1 Drone 有权
公开(公告)号：USD798192S1
公开(公告)日：2017-09-26
申请号：US29569110
申请日：2016-06-23
申请人： BEIJING ZERO ZERO INFINITY TECHNOLOGY CO., LTD
设计人： Guanqun Zhang , Tong Zhang , Mengqiu Wang , Zhaozhe Wang , Lixin Liu

10. 发明申请

US20170177004A1 METHOD AND DEVICE FOR RETRIEVING UNMANNED AERIAL VEHICLE BY HAND AND UNMANNED AERIAL VEHICLE 审中-公开
公开(公告)号：US20170177004A1
公开(公告)日：2017-06-22
申请号：US15115789
申请日：2016-01-11
申请人： BEIJING ZERO ZERO INFINITY TECHNOLOGY CO., LTD
发明人： Mengqiu WANG , Tong ZHANG , Qicheng LI , Jia LU , Lixin LIU
IPC分类号： G05D1/08 , B64C39/02
CPC分类号： G05D1/0808 , B64C39/024 , B64C2201/108 , B64C2201/182 , G05D1/0858
摘要： A method and a device for retrieving an unmanned aerial vehicle by a hand and an unmanned aerial vehicle are provided. The method includes: detecting a state parameter of the unmanned aerial vehicle in real time; determining whether the unmanned aerial vehicle is disturbed by a hand according to the state parameter of the unmanned aerial vehicle; and controlling a rotor wing of the unmanned aerial vehicle to stop rotation if it is determined that the unmanned aerial vehicle is disturbed by the hand. The unmanned aerial vehicle is retrieved directly by the hand without using a remote control device.

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