# US 12,192,604 B2 · Replaceable gimbal camera, aircraft, aircraft system, and gimbal replacement method for aircraft

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- Number: US 12,192,604 B2
- Document ID: US12192604B2
- Status: Granted
- Kind: B2
- Application number: 17/660,255
- Filed: 2022-04-22
- Published: 2022-08-04
- Granted: 2025-01-07
- Earliest claimed: 2019-10-24
- Assignees: Autel Robotics Co., Ltd.
- Applicants: Autel Robotics Co., Ltd.
- Inventors: Zhaozao Li
- Web page: https://patentgrep.com/patent/US12192604B2

## CPC

- H04N 23/54: Mounting of pick-up tubes, electronic image sensors, deviation or focusing coils
- B64D 47/08: Arrangements of cameras
- B64U 10/14: with four distinct rotor axes, e.g. quadcopters
- G02B 13/14: for use with infrared or ultraviolet radiation ({G02B13/008, } G02B13/16 take precedence)
- G03B 15/006: {Apparatus mounted on flying objects}
- G03B 17/561: {Support related camera accessories}
- H04N 5/77: between a recording apparatus and a television camera
- H04N 5/907: using static stores, e.g. storage tubes or semiconductor memories (H04N5/91 takes precedence)
- H04N 7/015: High-definition television systems
- H04N 7/183: {for receiving images from a single remote source}
- H04N 7/185: {from a mobile camera, e.g. for remote control}
- H04N 17/002: {for television cameras}
- H04N 23/55: Optical parts specially adapted for electronic image sensors; Mounting thereof
- H04N 23/617: Upgrading or updating of programs or applications for camera control
- H04N 23/66: Remote control of cameras or camera parts, e.g. by remote control devices
- H04N 23/67: Focus control based on electronic image sensor signals
- B64U 2101/30: for imaging, photography or videography
- H04N 23/663: for controlling interchangeable camera parts based on electronic image sensor signals
- H04N: PICTORIAL COMMUNICATION, e.g. TELEVISION
- B64D: EQUIPMENT FOR FITTING IN OR TO AIRCRAFT; FLIGHT SUITS; PARACHUTES; ARRANGEMENT OR MOUNTING OF POWER PLANTS OR PROPULSION TRANSMISSIONS IN AIRCRAFT
- B64U: UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- G02B: OPTICAL ELEMENTS, SYSTEMS OR APPARATUS
- G03B: APPARATUS OR ARRANGEMENTS FOR TAKING PHOTOGRAPHS OR FOR PROJECTING OR VIEWING THEM; APPARATUS OR ARRANGEMENTS EMPLOYING ANALOGOUS TECHNIQUES USING WAVES OTHER THAN OPTICAL WAVES; ACCESSORIES THEREFOR (optical parts of such apparatus G02B; photosensitive materials or processes for photographic purposes G03C; apparatus for processing exposed photographic materials G03D)

## Abstract

The embodiments are a replaceable gimbal camera, an aircraft, an aircraft system, and a gimbal replacement method for an aircraft. The replaceable gimbal camera is applied to the aircraft. The aircraft is provided with a fuselage and a gimbal. The replaceable gimbal camera includes an image capture module, a static storage module, and an image processing module. The static storage module is configured to store parameter data. The image processing module is configured to read the parameter data stored in the static storage module, where after the gimbal is replaced, the image processing module is configured to read parameter data of a gimbal after replacement and configure corresponding parameter data for an image capture module of the gimbal after replacement.

## Claims

### Claim 1

A replaceable gimbal camera, applicable to an aircraft, wherein the aircraft is provided with a fuselage and a gimbal, the gimbal is a replaceable gimbal, and the gimbal camera comprises:
an image capture module, disposed on the gimbal and configured to capture an image;
a static storage module, configured to store parameter data; and
an image processing module, disposed on the fuselage, communicatively connected to the static storage module, and configured to read the parameter data stored in the static storage module, wherein after the gimbal is replaced, the image processing module is configured to read parameter data of a gimbal after the replacement and configure corresponding parameter data for an image capture module of the gimbal after the replacement;
wherein the gimbal camera is provided with a mobile industry processor interface (MIPI), an inter-integrated circuit (I2C) bus interface, a first serial port, a second serial port, a scalable low voltage signaling embedded clock (SLVS-EC) serial interface, and a universal serial bus (USB) interface, and each gimbal comprises an MIPI, an I2C bus interface, a first serial port, a second serial port, an SLVS-EC serial interface and a USB interface.

### Claim 2 (depends on 1)

The gimbal camera according to claim 1, wherein the image capture module comprises:
a lens, disposed on the gimbal and configured to obtain an original image; and
an image sensor, disposed on the gimbal, connected to the lens, and configured to convert the original image captured by the lens into a digital image signal.

### Claim 3 (depends on 1)

The gimbal camera according to claim 1, wherein the parameter data is compressed into a gimbal parameter file, the gimbal parameter file is stored in the static storage module, and the image processing module is configured to read the parameter data in the gimbal parameter file by decompressing the gimbal parameter file.

### Claim 4 (depends on 1)

The gimbal camera according to claim 1, wherein the static storage module is disposed on the gimbal, and each replaceable gimbal is provided with a static storage module configured to store parameter data, so that the gimbal camera reads the parameter data from the static storage module of the gimbal.

### Claim 5 (depends on 1)

The gimbal camera according to claim 1, wherein the replaceable gimbal comprises an 8K gimbal, an 8K lens, and an 8K sensor, wherein the 8K lens and the 8K sensor are disposed on the 8K gimbal, the 8K sensor is communicatively connected to the image processing module through an MIPI line, and the gimbal camera controls an automatic focus of the 8K lens and an exposure of the 8K sensor through the I2C bus interface.

### Claim 6 (depends on 1)

The gimbal camera according to claim 1, wherein the replaceable gimbal comprises a dual-light gimbal, an 8K visible light lens, an 8K visible light sensor, an infrared thermal imaging lens, and an infrared thermal imaging sensor, wherein the 8K visible light lens, the 8K visible light sensor, the infrared thermal imaging lens, and the infrared thermal imaging sensor are disposed on the dual-light gimbal, the infrared thermal imaging sensor is communicatively connected to the image processing module through a USB data line, and the gimbal camera controls a parameter of the infrared thermal imaging sensor through a second serial port line.

### Claim 7 (depends on 1)

The gimbal camera according to claim 1, wherein the replaceable gimbal comprises a one-inch gimbal, a one-inch lens, and a one-inch sensor, wherein the one-inch lens and the one-inch sensor are disposed on the one-inch gimbal, the one-inch sensor is communicatively connected to the image processing module through an SLVS-EC serial bus, the gimbal camera controls an automatic focus and an automatic aperture of the one-inch lens through a second serial port line, and the gimbal camera controls movement of the one-inch gimbal through a first serial port line.

### Claim 8 (depends on 1)

The gimbal camera according to claim 1, further comprising:
an encoding module, disposed on the fuselage, connected to the image processing module, and configured to encode the image captured by the image capture module to generate an encoded image;
a photographing and recording module, disposed on the fuselage and configured to take a picture and/or a video; and
an image transmission module, disposed on the fuselage and configured to transmit the encoded image to an image receiving terminal.

### Claim 9 (depends on 1)

The gimbal camera according to claim 1, wherein the parameter data comprises: a model of the gimbal camera, an image resolution, a frame rate, an image quality parameter, and a calibration parameter.

### Claim 10

An aircraft, comprising:
a fuselage;
a plurality of replaceable gimbals, connected to the fuselage;
an arm, connected to the fuselage;
a power apparatus, disposed on the fuselage and/or the arm and configured to provide flight power for the aircraft;
a flight controller, disposed on the fuselage; and
a gimbal camera, comprising:
an image capture module, disposed on the gimbal and configured to capture an image;
a static storage module, configured to store parameter data; and
an image processing module, disposed on the fuselage, communicatively connected to the static storage module, and configured to read the parameter data stored in the static storage module, wherein after the gimbal is replaced, the image processing module is configured to read parameter data of a gimbal after the replacement and configure corresponding parameter data for an image capture module of the gimbal after the replacement;
wherein the gimbal camera is provided with a mobile industry processor interface (MIPI), an inter-integrated circuit (I2C) bus interface, a first serial port, a second serial port, a scalable low voltage signaling embedded clock (SLVS-EC) serial interface, and a universal serial bus (USB) interface, and each gimbal comprises an MIPI, an I2C bus interface, a first serial port, a second serial port, an SLVS-EC serial interface and a USB interface.

### Claim 11 (depends on 10)

The aircraft according to claim 10, wherein the image capture module comprises:
a lens, disposed on the gimbal and configured to obtain an original image; and
an image sensor, disposed on the gimbal, connected to the lens, and configured to convert the original image captured by the lens into a digital image signal.

### Claim 12 (depends on 10)

The aircraft according to claim 10, wherein the parameter data is compressed into a gimbal parameter file, the gimbal parameter file is stored in the static storage module, and the image processing module is configured to read the parameter data in the gimbal parameter file by decompressing the gimbal parameter file.

### Claim 13 (depends on 10)

The aircraft according to claim 10, wherein the static storage module is disposed on the gimbal, and each replaceable gimbal is provided with a static storage module configured to store parameter data, so that the gimbal camera reads the parameter data from the static storage module of the gimbal.

### Claim 14 (depends on 10)

The aircraft according to claim 10, wherein the gimbal camera further comprising:
an encoding module, disposed on the fuselage, connected to the image processing module, and configured to encode the image captured by the image capture module to generate an encoded image;
a photographing and recording module, disposed on the fuselage and configured to take a picture and/or a video; and
an image transmission module, disposed on the fuselage and configured to transmit the encoded image to an image receiving terminal.

### Claim 15 (depends on 10)

An aircraft system, comprising:
the aircraft according to claim 10, wherein the aircraft comprises an image transmission module;
a server, configured to store parameter data of the plurality of replaceable gimbals; and
an image receiving terminal, configured to receive an image sent by the image transmission module.

### Claim 16 (depends on 15)

A gimbal replacement method for an aircraft, applicable to the aircraft system according to claim 15, the method comprising:
pre-storing parameter data of a gimbal camera through each replaceable gimbal;
obtaining, after the gimbal is replaced, parameter data of a gimbal currently installed on the aircraft; and
configuring the parameter data for a lens and an image sensor of the aircraft.

### Claim 17 (depends on 16)

The method according to claim 16, further comprising:
compressing the parameter data of the gimbal camera into a gimbal parameter file; and
sending the gimbal parameter file to the replaceable gimbal, so that the gimbal parameter file is stored in a static storage module of the replaceable gimbal.

### Claim 18 (depends on 16)

The method according to claim 16, further comprising:
sending the parameter data of the gimbal camera to the server, so that the server stores the parameter data of the gimbal camera.