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公开(公告)号：US20220415185A1
公开(公告)日：2022-12-29
申请号：US17890887
申请日：2022-08-18
Applicant: Skydio, Inc.
Inventor： Peter Henry , Jack Zhu , Brian Richman , Harrison Zheng , Hayk Martirosyan , Matthew Donahoe , Abraham Galton Bachrach , Adam Bry
IPC: G08G5/00 , G06F3/04845 , G06F3/04817 , G06T17/05 , G06T19/00 , G06F3/04847 , B64C39/02 , B64D47/08 , G05D1/10 , G05D1/00 , G08G5/04 , G01S13/89 , G01S17/89 , H04N5/272 , G06T17/10 , G06V20/13 , G06V20/10
Abstract: Described herein are systems and methods for structure scan using an unmanned aerial vehicle. For example, some methods include accessing a three-dimensional map of a structure; generating facets based on the three-dimensional map, wherein the facets are respectively a polygon on a plane in three-dimensional space that is fit to a subset of the points in the three-dimensional map; generating a scan plan based on the facets, wherein the scan plan includes a sequence of poses for an unmanned aerial vehicle to assume to enable capture, using image sensors of the unmanned aerial vehicle, of images of the structure; causing the unmanned aerial vehicle to fly to assume a pose corresponding to one of the sequence of poses of the scan plan; and capturing one or more images of the structure from the pose.
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公开(公告)号：US20220406193A1
公开(公告)日：2022-12-22
申请号：US17890889
申请日：2022-08-18
Applicant: Skydio, Inc.
Inventor： Peter Henry , Jack Zhu , Brian Richman , Harrison Zheng , Hayk Martirosyan , Matthew Donahoe , Abraham Galton Bachrach , Adam Bry
IPC: G08G5/00 , G06F3/04845 , G06F3/04817 , G06T17/05 , G06T19/00 , G06F3/04847 , B64C39/02 , B64D47/08 , G05D1/10 , G05D1/00 , G08G5/04 , G01S13/89 , G01S17/89 , H04N5/272 , G06T17/10 , G06V20/13 , G06V20/10
Abstract: Described herein are systems for roof scan using an unmanned aerial vehicle. For example, some methods include capturing, using an unmanned aerial vehicle, an overview image of a roof of a building from above the roof; presenting a suggested bounding polygon overlaid on the overview image to a user; determining a bounding polygon based on the suggested bounding polygon and user edits; based on the bounding polygon, determining a flight path including a sequence of poses of the unmanned aerial vehicle with respective fields of view at a fixed height that collectively cover the bounding polygon; fly the unmanned aerial vehicle to a sequence of scan poses with horizontal positions matching respective poses of the flight path and vertical positions determined to maintain a consistent distance above the roof; and scanning the roof from the sequence of scan poses to generate a three-dimensional map of the roof
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公开(公告)号：US20210125406A1
公开(公告)日：2021-04-29
申请号：US16896066
申请日：2020-06-08
Applicant: Skydio, Inc.
Inventor： Peter Henry , Jack Zhu , Brian Richman , Harrison Zheng , Hayk Martirosyan , Matthew Donahoe , Abraham Galton Bachrach , Adam Bry
Abstract: Described herein are systems and methods for structure scan using an unmanned aerial vehicle. For example, some methods include accessing a three-dimensional map of a structure; generating facets based on the three-dimensional map, wherein the facets are respectively a polygon on a plane in three-dimensional space that is fit to a subset of the points in the three-dimensional map; generating a scan plan based on the facets, wherein the scan plan includes a sequence of poses for an unmanned aerial vehicle to assume to enable capture, using image sensors of the unmanned aerial vehicle, of images of the structure; causing the unmanned aerial vehicle to fly to assume a pose corresponding to one of the sequence of poses of the scan plan; and capturing one or more images of the structure from the pose.
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公开(公告)号：US12189389B2
公开(公告)日：2025-01-07
申请号：US18520072
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 unmanned aerial vehicle (UAV), control a propulsion mechanism of the UAV to cause the UAV to navigate to a plurality of positions in relation to a scan target. Using one or more image sensors of the UAV, a first image of the scan target is captured from a first position of the plurality of positions, and a second image of the scan target is captured from a second position of the plurality of positions. A disparity is determined between the first image captured at the first position and the second image captured at the second position. A three-dimensional model corresponding to the scan target is determined based in part on the disparity determined between the first image and the second image.
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公开(公告)号：US12097957B2
公开(公告)日：2024-09-24
申请号：US17890884
申请日：2022-08-18
Applicant: Skydio, Inc.
Inventor： Peter Henry , Jack Zhu , Brian Richman , Harrison Zheng , Hayk Martirosyan , Matthew Donahoe , Abraham Galton Bachrach , Adam Bry
IPC: B64C39/00 , B64C39/02 , B64D47/08 , G01S13/89 , G01S17/89 , G05D1/00 , G05D1/223 , G05D1/224 , G05D1/606 , G06F3/04817 , G06F3/04845 , G06F3/04847 , G06T17/05 , G06T17/10 , G06T19/00 , G06V20/10 , G06V20/13 , G06V20/17 , G06V20/64 , G08G5/00 , G08G5/04 , H04N5/272 , B64U10/13 , B64U101/30 , H04N13/204
CPC classification number: B64C39/024 , B64D47/08 , G01S13/89 , G01S17/89 , G05D1/0016 , G05D1/0038 , G05D1/106 , G05D1/223 , G05D1/224 , G05D1/606 , G06F3/04817 , G06F3/04845 , G06F3/04847 , G06T17/05 , G06T17/10 , G06T19/006 , G06V20/13 , G06V20/17 , G06V20/176 , G06V20/647 , G08G5/003 , G08G5/04 , H04N5/272 , B64U10/13 , B64U2101/30 , B64U2201/00 , B64U2201/20 , H04N13/204
Abstract: Described herein are systems and methods for structure scan using an unmanned aerial vehicle. For example, some methods include accessing a three-dimensional map of a structure; generating facets based on the three-dimensional map, wherein the facets are respectively a polygon on a plane in three-dimensional space that is fit to a subset of the points in the three-dimensional map; generating a scan plan based on the facets, wherein the scan plan includes a sequence of poses for an unmanned aerial vehicle to assume to enable capture, using image sensors of the unmanned aerial vehicle, of images of the structure; causing the unmanned aerial vehicle to fly to assume a pose corresponding to one of the sequence of poses of the scan plan; and capturing one or more images of the structure from the pose.
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Patent Agency Ranking
公开(公告)号：US20240150036A1
公开(公告)日：2024-05-09
申请号：US18408154
申请日：2024-01-09
Applicant: Skydio, Inc.
Inventor： Yevgeniy Kozlenko , Jack Zhu , Gareth Cross , Teodor Tomic , Adam Bry , Abraham Galton Bachrach
CPC classification number: B64F1/222 , B64D45/08 , B64F1/18 , B64C39/024
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.
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公开(公告)号：US11952116B2
公开(公告)日：2024-04-09
申请号：US17890889
申请日：2022-08-18
Applicant: Skydio, Inc.
Inventor： Peter Henry , Jack Zhu , Brian Richman , Harrison Zheng , Hayk Martirosyan , Matthew Donahoe , Abraham Galton Bachrach , Adam Bry
IPC: B64C39/02 , B64D47/08 , G01S13/89 , G01S17/89 , G05D1/00 , G06F3/04817 , G06F3/04845 , G06F3/04847 , G06T17/05 , G06T17/10 , G06T19/00 , G06V20/10 , G06V20/13 , G06V20/17 , G06V20/64 , G08G5/00 , G08G5/04 , H04N5/272 , B64U10/13 , B64U101/30 , H04N13/204
CPC classification number: B64C39/024 , B64D47/08 , G01S13/89 , G01S17/89 , G05D1/0016 , G05D1/0038 , G05D1/106 , G06F3/04817 , G06F3/04845 , G06F3/04847 , G06T17/05 , G06T17/10 , G06T19/006 , G06V20/13 , G06V20/17 , G06V20/176 , G06V20/647 , G08G5/003 , G08G5/04 , H04N5/272 , B64U10/13 , B64U2101/30 , B64U2201/00 , B64U2201/20 , G05D2201/0207 , H04N13/204
Abstract: Described herein are systems for roof scan using an unmanned aerial vehicle. For example, some methods include capturing, using an unmanned aerial vehicle, an overview image of a roof of a building from above the roof; presenting a suggested bounding polygon overlaid on the overview image to a user; determining a bounding polygon based on the suggested bounding polygon and user edits; based on the bounding polygon, determining a flight path including a sequence of poses of the unmanned aerial vehicle with respective fields of view at a fixed height that collectively cover the bounding polygon; fly the unmanned aerial vehicle to a sequence of scan poses with horizontal positions matching respective poses of the flight path and vertical positions determined to maintain a consistent distance above the roof; and scanning the roof from the sequence of scan poses to generate a three-dimensional map of the roof.
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公开(公告)号：US11940795B2
公开(公告)日：2024-03-26
申请号：US18099571
申请日：2023-01-20
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: G01C1/00 , B64C39/02 , B64D31/06 , B64D47/08 , G05B13/02 , G05B17/02 , G05D1/00 , G06T7/55 , G06T7/73 , G06T17/00 , G06T19/20 , G06V20/13 , G06V20/64 , H04N23/60 , H04N23/695 , H04N23/90 , B64U10/13 , B64U101/30
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 , H04N23/695 , H04N23/90 , B64U10/13 , B64U2101/30 , G06T2207/10032 , G06T2207/20221 , G06T2219/2004
Abstract: In some examples, an unmanned aerial vehicle (UAV) may include one or more processors configured to capture, with one or more image sensors, and while the UAV is in flight, a plurality of images of a target. The one or more processors may compare a first image of the plurality of images with a second image of the plurality of images to determine a difference between a current frame of reference position for the UAV and an estimate of an actual frame of reference position for the UAV. In addition, the one or more processors may determine, based at least on the difference, and while the UAV is in flight, an update to a three-dimensional model of the target.
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公开(公告)号：US11897631B2
公开(公告)日：2024-02-13
申请号：US17218483
申请日：2021-03-31
Applicant: Skydio, Inc.
Inventor： Yevgeniy Kozlenko , Jack Zhu , Gareth Cross , Teodor Tomic , Adam Bry , Abraham Galton Bachrach
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 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.
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公开(公告)号：US20230324911A1
公开(公告)日：2023-10-12
申请号：US18099571
申请日：2023-01-20
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 , G05B17/02 , B64C39/024 , B64D47/08 , B64D31/06 , G05D1/101 , G06T17/00 , G06T7/55 , G06T7/74 , G05B13/0265 , G05D1/0088 , G06T19/20 , H04N23/64 , H04N23/90 , H04N23/695 , G06V20/13 , G06V20/64 , G06T2207/20221 , G06T2207/10032 , G06T2219/2004 , B64U10/13
Abstract: In some examples, an unmanned aerial vehicle (UAV) may include one or more processors configured to capture, with one or more image sensors, and while the UAV is in flight, a plurality of images of a target. The one or more processors may compare a first image of the plurality of images with a second image of the plurality of images to determine a difference between a current frame of reference position for the UAV and an estimate of an actual frame of reference position for the UAV. In addition, the one or more processors may determine, based at least on the difference, and while the UAV is in flight, an update to a three-dimensional model of the target.
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