公开(公告)号：US20210107682A1

公开(公告)日：2021-04-15

申请号：US16991122

申请日：2020-08-12

Applicant: Skydio, Inc.

Inventor： Yevgeniy Kozlenko ,  Jack Zhu ,  Gareth Benoit Cross ,  Teodor Tomic ,  Adam Bry ,  Abraham Galton Bachrach

IPC: B64F1/00 ,  B64F1/12

Abstract: Described herein are systems for automated docking of an unmanned aerial vehicle. For example, some systems include an unmanned aerial vehicle including a propulsion mechanism, an image sensor, and processing apparatus; and a dock including a landing surface configured to hold the unmanned aerial vehicle and a fiducial on the landing surface, wherein the processing apparatus is configured to: control the propulsion mechanism to cause the unmanned aerial vehicle to fly to a first location in a vicinity of the dock; access one or more images captured using the image sensor; detect the fiducial in at least one of the one or more images; determine a pose of the fiducial based on the one or more images; and control, based on the pose of the fiducial, the propulsion mechanism to cause the unmanned aerial vehicle to land on the landing surface.

公开(公告)号：US10466695B2

公开(公告)日：2019-11-05

申请号：US15791230

申请日：2017-10-23

Applicant: Skydio, Inc.

Inventor： Abraham Bachrach ,  Adam Bry ,  Matthew Donahoe

IPC: H04N5/00 ,  G05D1/00 ,  B64C39/00 ,  G06F3/00 ,  G06F3/0488 ,  B64C39/02

Abstract: Methods and systems are described for new paradigms for user interaction with an unmanned aerial vehicle (referred to as a flying digital assistant or FDA) using a portable multifunction device (PMD) such as smart phone. In some embodiments, a user may control image capture from an FDA by adjusting the position and orientation of a PMD. In other embodiments, a user may input a touch gesture via a touch display of a PMD that corresponds with a flight path to be autonomously flown by the FDA.

公开(公告)号：US20170341776A1

公开(公告)日：2017-11-30

申请号：US15164679

申请日：2016-05-25

Applicant: Skydio, Inc.

Inventor： Stephen R. McClure ,  Benjamin S. Thompson ,  Adam Bry ,  Abraham Bachrach ,  Matthew Donahoe

IPC: B64D47/08 ,  B64C27/20 ,  G01C21/16 ,  B64C39/02 ,  G05D1/10

CPC classification number: B64D47/08 ,  B64C27/20 ,  B64C39/024 ,  B64C2201/027 ,  B64C2201/108 ,  B64C2201/127 ,  B64C2201/141 ,  G01C21/165 ,  G01C21/20 ,  G05D1/102

Abstract: Embodiments are described for an unmanned aerial vehicle (UAV) configured for autonomous flight using visual navigation that includes a perimeter structure surrounding one or more powered rotors, the perimeter structure including image capture devices arranged so as to provide an unobstructed view around the UAV.

公开(公告)号：US12296981B2

公开(公告)日：2025-05-13

申请号：US18390949

申请日：2023-12-20

Applicant: Skydio, Inc.

Inventor： Yevgeniy Kozlenko ,  Jack Zhu ,  Gareth Cross ,  Teodor Tomic ,  Adam Bry ,  Abraham Galton Bachrach

IPC: B64F1/222 ,  B64C39/02 ,  B64D45/08 ,  B64F1/18 ,  B64U10/13 ,  B64U50/19 ,  B64U80/25 ,  B64U80/70

Abstract: Described herein are systems for automated docking of an unmanned aerial vehicle. For example, some systems include a landing surface configured to hold an unmanned aerial vehicle; a box configured to enclose the landing surface in a first arrangement of the dock and expose the landing surface in a second arrangement of the dock; and a retractable arm, wherein the landing surface is positioned at an end of the retractable arm and the retractable arm is configured to extend to move the landing surface outside of the box and contract to pull the landing surface inside of the box.

公开(公告)号：US12169406B2

公开(公告)日：2024-12-17

申请号：US18520089

申请日：2023-11-27

Applicant: SKYDIO, INC.

Inventor： Peter Henry ,  Jack Zhu ,  Brian Richman ,  Harrison Zheng ,  Hayk Martirosyan ,  Matthew Donahoe ,  Abraham Bachrach ,  Adam Bry ,  Ryan David Kennedy ,  Himel Mondal ,  Quentin Allen Wah Yen Delepine

IPC: G05D1/69 ,  B64C39/02 ,  B64D31/06 ,  B64D47/08 ,  G05B13/02 ,  G05B17/02 ,  G05D1/00 ,  G05D1/227 ,  G05D1/689 ,  G06T7/55 ,  G06T7/73 ,  G06T17/00 ,  G06T19/20 ,  G06V20/13 ,  G06V20/64 ,  H04N23/60 ,  H04N23/695 ,  H04N23/90 ,  B64U10/13 ,  B64U101/30

Abstract: In some examples, one or more processors of an aerial vehicle access a scan plan including a sequence of poses for the aerial vehicle to assume to capture, using the one or more image sensors, images of a scan target. A next pose of the scan plan is checked for obstructions, and based at least on detection of an obstruction, the one or more processors determine whether a backup pose is available for capturing an image of the targeted point orthogonally along a normal of the targeted point. Responsive to determining that the backup pose is unavailable for capturing an image of the targeted point orthogonally along the normal of the targeted point, image capture of the targeted point is performed at an oblique angle to the normal of the targeted point.

公开(公告)号：US20240053771A1

公开(公告)日：2024-02-15

申请号：US18356332

申请日：2023-07-21

Applicant: Skydio, Inc.

Inventor： Jack Louis Zhu ,  Hayk Martirosyan ,  Abraham Bachrach ,  Matthew Donahoe ,  Patrick Lowe ,  Kristen Marie Holtz ,  Adam Bry

IPC: G05D1/12 ,  G05D1/10 ,  G05D1/00 ,  B64C39/02 ,  G06T7/20 ,  H04N5/272 ,  H04N23/695

CPC classification number: G05D1/12 ,  G05D1/101 ,  G05D1/0094 ,  B64C39/024 ,  G06T7/20 ,  H04N5/272 ,  H04N23/695 ,  G06T2207/30261 ,  G06T2207/30241 ,  B64U2101/30

Abstract: Techniques are described for controlling an autonomous vehicle such as an unmanned aerial vehicle (UAV) using objective-based inputs. In an embodiment, the underlying functionality of an autonomous navigation system is exposed via an application programming interface (API) allowing the UAV to be controlled through specifying a behavioral objective, for example, using a call to the API to set parameters for the behavioral objective. The autonomous navigation system can then incorporate perception inputs such as sensor data from sensors mounted to the UAV and the set parameters using a multi-objective motion planning process to generate a proposed trajectory that most closely satisfies the behavioral objective in view of certain constraints. In some embodiments, developers can utilize the API to build customized applications for the UAV. Such applications, also referred to as “skills,” can be developed, shared, and executed to control behavior of an autonomous UAV and aid in overall system improvement.

公开(公告)号：US11897632B2

公开(公告)日：2024-02-13

申请号：US17218807

申请日：2021-03-31

Applicant: Skydio, Inc.

Inventor： Yevgeniy Kozlenko ,  Jack Zhu ,  Gareth Cross ,  Teodor Tomic ,  Adam Bry ,  Abraham Galton Bachrach

IPC: B64F1/22 ,  B64D45/08 ,  B64F1/18 ,  B64C39/02 ,  B64U50/19 ,  B64U80/70

CPC classification number: B64F1/222 ,  B64D45/08 ,  B64F1/18 ,  B64C39/024 ,  B64U50/19 ,  B64U80/70 ,  B64U2201/10

Abstract: Described herein are systems for automated docking of an unmanned aerial vehicle. For example, some systems include an unmanned aerial vehicle including a propulsion mechanism, a battery, and a processing apparatus; and a dock including a landing surface with a funnel geometry shaped to fit a bottom surface of the unmanned aerial vehicle at a base of the funnel, wherein tapered sides of the funnel form corners at the base of the funnel, and a battery charger configured to charge the battery of the unmanned aerial vehicle while the unmanned aerial vehicle is on the landing surface, wherein conducting contacts of the battery charger are on the landing surface, positioned at the bottom of the funnel.

公开(公告)号：US20230244233A1

公开(公告)日：2023-08-03

申请号：US18120643

申请日：2023-03-13

Applicant: SKYDIO, INC.

Inventor： Peter Henry ,  Jack Zhu ,  Brian Richman ,  Harrison Zheng ,  Hayk Martirosyan ,  Matthew Donahoe ,  Abraham Bachrach ,  Adam Bry ,  Ryan David Kennedy ,  Himel Mondal ,  Quentin Allen Wah Yen Delepine

IPC: G05D1/00 ,  G05B17/02 ,  B64C39/02 ,  B64D47/08 ,  B64D31/06 ,  G05D1/10 ,  G06T17/00 ,  G06T7/55 ,  G06T7/73 ,  G05B13/02 ,  G06T19/20 ,  H04N23/60 ,  H04N23/90 ,  H04N23/695 ,  G06V20/13 ,  G06V20/64

CPC classification number: G05D1/0094 ,  B64C39/024 ,  B64D31/06 ,  B64D47/08 ,  G05B13/0265 ,  G05B17/02 ,  G05D1/0088 ,  G05D1/101 ,  G06T7/55 ,  G06T7/74 ,  G06T17/00 ,  G06T19/20 ,  G06V20/13 ,  G06V20/64 ,  H04N23/64 ,  H04N23/90 ,  H04N23/695 ,  B64U10/13 ,  G06T2207/10032 ,  G06T2207/20221 ,  G06T2219/2004

Abstract: In some examples, an unmanned aerial vehicle (UAV) may identify a scan target. The UAV may navigate to two or more positions in relation to the scan target. The UAV may capture, using one or more image sensors of the UAV, two or more images of the scan target from different respective positions in relation to the scan target. For instance, the two or more respective positions may be selected by controlling a spacing between the two or more respective positions to enable determination of parallax disparity between a first image captured at a first position and a second image captured at a second position of the two or more positions. The UAV may determine a three-dimensional model corresponding to the scan target based in part on the determined parallax disparity of the two or more images including the first image and the second image.

公开(公告)号：US11573562B2

公开(公告)日：2023-02-07

申请号：US17077565

申请日：2020-10-22

Applicant: Skydio, Inc.

Inventor： Abraham Bachrach ,  Adam Bry ,  Matthew Donahoe

IPC: G05D1/00 ,  B64C39/02 ,  G01C21/16 ,  G01C23/00 ,  B64D47/08

Abstract: Methods and systems are described for new paradigms for user interaction with an unmanned aerial vehicle (referred to as a flying digital assistant or FDA) using a portable multifunction device (PMD) such as smart phone. In some embodiments, a magic wand user interaction paradigm is described for intuitive control of an FDA using a PMD. In other embodiments, methods for scripting a shot are described.

公开(公告)号：US11460844B2

公开(公告)日：2022-10-04

申请号：US17388828

申请日：2021-07-29

Applicant: Skydio, Inc.

Inventor： Hayk Martirosyan ,  Adam Bry ,  Matthew Donahoe ,  Abraham Bachrach ,  Justin Michael Sadowski

IPC: G05D1/00 ,  B64C39/02 ,  B64D47/08 ,  G06T7/292 ,  G05D1/10

Abstract: Methods and systems are disclosed for an unmanned aerial vehicle (UAV) configured to autonomously navigate a physical environment while capturing images of the physical environment. In some embodiments, the motion of the UAV and a subject in the physical environment may be estimated based in part on images of the physical environment captured by the UAV. In response to estimating the motions, image capture by the UAV may be dynamically adjusted to satisfy a specified criterion related to a quality of the image capture.