US 12,169,415 B2
Method, apparatus, terminal, and storage medium for elevation surrounding flight control
Ziming Zhong, Shenzhen (CN)
Assigned to AUTEL ROBOTICS CO., LTD., Shenzhen (CN)
Filed by AUTEL ROBOTICS CO., LTD., Shenzhen (CN)
Filed on Sep. 14, 2023, as Appl. No. 18/368,550.
Application 18/368,550 is a continuation of application No. 17/451,355, filed on Oct. 19, 2021, granted, now 11,789,467.
Application 17/451,355 is a continuation of application No. PCT/CN2020/085083, filed on Apr. 16, 2020.
Claims priority of application No. 201910319646.9 (CN), filed on Apr. 19, 2019.
Prior Publication US 2024/0028054 A1, Jan. 25, 2024
This patent is subject to a terminal disclaimer.
Int. Cl. G05D 1/00 (2024.01); B64U 20/87 (2023.01); B64U 10/14 (2023.01); B64U 101/30 (2023.01)
CPC G05D 1/106 (2019.05) [B64U 20/87 (2023.01); G05D 1/0094 (2013.01); G05D 1/042 (2013.01); B64U 10/14 (2023.01); B64U 2101/30 (2023.01); B64U 2201/00 (2023.01); B64U 2201/10 (2023.01)] 15 Claims
OG exemplary drawing
 
1. A method for elevation surrounding flight control, applied to an unmanned aerial vehicle, the unmanned aerial vehicle comprising a fuselage and a photographing apparatus disposed in the fuselage, and the method comprising:
obtaining surrounding parameter information of the unmanned aerial vehicle, wherein the surrounding parameter information comprises position information of a point of interest and a surrounding radius of the unmanned aerial vehicle;
determining, according to the surrounding parameter information, an elevation surrounding trajectory to be surrounded, wherein the elevation surrounding trajectory comprises a plane with the point of interest as a center and the surrounding radius as a radius, and the plane where the elevation surrounding trajectory is located is perpendicular to a horizontal plane; and
controlling the unmanned aerial vehicle to fly along the elevation surrounding trajectory.