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公开(公告)号：US20240409237A1
公开(公告)日：2024-12-12
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
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：US20240278912A1
公开(公告)日：2024-08-22
申请号：US18435299
申请日：2024-02-07
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 , B64U10/13 , B64U101/30 , G01S13/89 , G01S17/89 , 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 , H04N13/204
CPC classification number: B64C39/024 , B64D47/08 , G01S13/89 , G01S17/89 , 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 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：US12025983B2
公开(公告)日：2024-07-02
申请号：US18222786
申请日：2023-07-17
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: G06T17/00 , B64C39/02 , B64D31/06 , B64D47/08 , G05B13/02 , G05B17/02 , G05D1/00 , G06T7/55 , G06T7/73 , 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 image of a scan target is presented in a user interface on a display associated with a computing device. The user interface receives at least one user input indicating at least one point in a perimeter or edge of a volume for encompassing the scan target presented in the image of the scan target. A graphical representation of the volume in relation to the image of the scan target is generated in the user interface. Information for defining a location of at least a portion of the volume in three-dimensional space is sent to an unmanned aerial vehicle (UAV) to cause, at least in part, the UAV to scan at least a portion of the scan target corresponding to the volume.
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公开(公告)号：US11455894B2
公开(公告)日：2022-09-27
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
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 , 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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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
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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Patent Agency Ranking
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.
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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
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.
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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.
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公开(公告)号：US20210276734A1
公开(公告)日：2021-09-09
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
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：US11829141B2
公开(公告)日：2023-11-28
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: G06V20/13 , 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 , G06V20/64 , 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 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.
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