US 11,724,805 B2
Control method, control device, and carrier system
Jie Qian, Shenzhen (CN); Cong Zhao, Shenzhen (CN); Junfeng Yu, Shenzhen (CN); Xuyang Feng, Shenzhen (CN); and Ang Liu, Shenzhen (CN)
Assigned to SZ DJI TECHNOLOGY CO., LTD., Shenzhen (CN)
Filed by SZ DJI TECHNOLOGY CO., LTD., Shenzhen (CN)
Filed on Aug. 16, 2021, as Appl. No. 17/403,371.
Application 17/403,371 is a continuation of application No. 16/356,620, granted, now 11,092,975, previously published as PCT/CN2016/100214, filed on Sep. 26, 2016.
Prior Publication US 2021/0373578 A1, Dec. 2, 2021
Int. Cl. B64C 39/02 (2023.01); G05D 1/00 (2006.01); G05D 1/02 (2020.01); G05D 1/10 (2006.01); G06F 18/00 (2023.01); G06V 20/17 (2022.01); G06T 7/00 (2017.01); G05D 1/08 (2006.01); G06V 40/16 (2022.01); B64U 101/30 (2023.01)
CPC B64C 39/024 (2013.01) [G05D 1/0094 (2013.01); G05D 1/0253 (2013.01); G05D 1/10 (2013.01); G06F 18/00 (2023.01); G06V 20/17 (2022.01); B64U 2101/30 (2023.01); G05D 1/0808 (2013.01); G05D 1/101 (2013.01); G06T 7/00 (2013.01); G06V 40/161 (2022.01)] 19 Claims
OG exemplary drawing
 
1. A control method, comprising:
acquiring motion information of a tracked object;
determining a relative relationship between the tracked object and a tracking device, wherein the relative relationship comprises at least an angle between a line connecting the tracked object and the tracking device and a direction of a velocity of the tracked object; and
based on the motion information and the relative relationship, controlling movement of a carrying device that carries the tracking device to enable the tracking device to track the tracked object while maintaining approximately unchanged the angle when the tracked object moves.