US 12,236,626 B2
Obstacle avoidance during target tracking
Cong Zhao, Shenzhen (CN); Shaojie Shen, Shenzhen (CN); Jie Qian, Shenzhen (CN); Xuyang Feng, Shenzhen (CN); Minjian Pang, Shenzhen (CN); and Junfeng Yu, Shenzhen (CN)
Assigned to SZ DJI TECHNOLOGY CO., LTD., Shenzhen (CN)
Filed by SZ DJI TECHNOLOGY CO., LTD., Shenzhen (CN)
Filed on Jun. 5, 2023, as Appl. No. 18/328,971.
Application 18/328,971 is a continuation of application No. 17/173,051, filed on Feb. 10, 2021, granted, now 11,669,987.
Application 17/173,051 is a continuation of application No. 16/114,968, filed on Aug. 28, 2018, granted, now 10,929,999, issued on Feb. 23, 2021.
Application 17/173,051 is a continuation of application No. PCT/CN2016/074821, filed on Feb. 29, 2016.
Prior Publication US 2023/0386064 A1, Nov. 30, 2023
This patent is subject to a terminal disclaimer.
Int. Cl. G06T 7/593 (2017.01); G06T 7/20 (2017.01); G06T 7/70 (2017.01); B64U 101/30 (2023.01)
CPC G06T 7/593 (2017.01) [G06T 7/20 (2013.01); G06T 7/70 (2017.01); B64U 2101/30 (2023.01); G06T 2207/30261 (2013.01)] 17 Claims
OG exemplary drawing
 
1. A method for controlling a movable object, comprising: determining, based on current location information of an obstacle, whether the obstacle is located within a certain distance range from the movable object; in response to determining that the obstacle is located within the certain distance range: determining, based on the current location information of the obstacle, whether the obstacle meets a first distance criterion or a second distance criterion, to obtain a determination result; and performing a first adjustment or a second adjustment on one or more movement characteristics of the movable object based on the determination result, wherein: the first adjustment corresponds to a situation that the obstacle meets the first distance criterion; the second adjustment corresponds to a situation that the obstacle meets the second distance criterion; and the first adjustment and the second adjustment are different from each other, obtaining the current location information of the obstacle while the movable object tracks a target; and in response to determining that the obstacle is located within the certain distance range: transmitting adjusted target tracking information to a control unit, the adjusted target tracking information including information related to adjustment of the one or more movement characteristics of the movable object; and in response to receiving the adjusted target tracking information: changing an appearance of a graphical tracking indicator or stopping displaying the graphical tracking indicator; or disabling or temporarily disabling tracking of the target.