US 11,789,464 B2
Mobile robot orbiting photography path control methods and apparatuses
Jinsong Li, Shenzhen (CN); You Zhou, Shenzhen (CN); and Jie Liu, Shenzhen (CN)
Assigned to SZ DJI TECHNOLOGY CO., LTD., Shenzhen (CN)
Filed by SZ DJI TECHNOLOGY CO., LTD., Shenzhen (CN)
Filed on Dec. 16, 2020, as Appl. No. 17/123,125.
Application 17/123,125 is a continuation of application No. PCT/CN2018/096534, filed on Jul. 20, 2018.
Prior Publication US 2021/0103293 A1, Apr. 8, 2021
Int. Cl. G05D 1/08 (2006.01); B64C 39/02 (2023.01); B64D 47/08 (2006.01); G05D 1/02 (2020.01); B64U 10/13 (2023.01); B64U 101/30 (2023.01)
CPC G05D 1/0808 (2013.01) [B64C 39/024 (2013.01); B64D 47/08 (2013.01); G05D 1/0202 (2013.01); B64U 10/13 (2023.01); B64U 2101/30 (2023.01); B64U 2201/10 (2023.01)] 20 Claims
OG exemplary drawing
 
1. A control method for a mobile robot, comprising:
obtaining indication information of a target object, wherein the indication information includes position information of the target object in a reference image output by a photographic apparatus of a mobile robot;
determining the position information of the target object according to the indication information; and
controlling, according to the position information of the target object, the mobile robot to move around the target object, wherein
the controlling of the mobile robot to move around the target object includes: when a parallax of the photographic apparatus is greater than a first preset parallax threshold, determining, according to the position information of the target object, an orbit trajectory for the mobile robot to move around the target object, and controlling the mobile robot to move on the orbit trajectory.