公开(公告)号：US20250138531A1

公开(公告)日：2025-05-01

申请号：US19010520

申请日：2025-01-06

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 ,  B64C39/02 ,  B64D31/06 ,  B64D47/08 ,  B64U10/13 ,  B64U10/14 ,  B64U30/20 ,  B64U50/37 ,  B64U80/25 ,  B64U101/30 ,  G05B13/02 ,  G05B17/02 ,  G05D1/227 ,  G05D1/46 ,  G05D1/689 ,  G05D1/69 ,  G06T7/55 ,  G06T7/73 ,  G06T17/00 ,  G06T19/20 ,  G06V20/13 ,  G06V20/64 ,  H04N23/60 ,  H04N23/695 ,  H04N23/90

Abstract: In some examples, one or more processors of an aerial vehicle determine an update to a three-dimensional (3D) model corresponding to a scan target to scan according to a scan plan. Based at least on the update to the 3D model, the one or more processors determine a set of one or more uncovered points of the 3D model that are not covered by the scan plan. Additionally, the one or more processors determine an updated scan plan based at least on determining one or more poses to include in the scan plan for scanning the one or more uncovered points of the 3D model. The one or more processors, control the aerial vehicle to scan the scan target with the one or more image sensors according to the updated scan plan.

公开(公告)号：US20230359205A1

公开(公告)日：2023-11-09

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: 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 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.

公开(公告)号：US20240310834A1

公开(公告)日：2024-09-19

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

CPC classification number: G05D1/0094 ,  B64C39/024 ,  B64D31/06 ,  B64D47/08 ,  G05B13/0265 ,  G05B17/02 ,  G05D1/227 ,  G05D1/689 ,  G05D1/69 ,  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, 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：US20240295876A1

公开(公告)日：2024-09-05

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 ,  Himei MONDAL ,  Quentin Allen Wah Yen DELEPINE

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

CPC classification number: G05D1/0094 ,  B64C39/024 ,  B64D31/06 ,  B64D47/08 ,  G05B13/0265 ,  G05B17/02 ,  G05D1/227 ,  G05D1/689 ,  G05D1/69 ,  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, 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.

公开(公告)号：US20230244234A1

公开(公告)日：2023-08-03

申请号：US18120669

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 ,  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 access a scan plan that includes a sequence of poses for the UAV to assume to capture images of a scan target using one or more image sensors. The UAV may check a next pose of the scan plan for obstructions. Responsive to detection of an obstruction, the UAV may determine a backup pose based at least on a field of view of the next pose. The UAV may control a propulsion mechanism to cause the UAV to fly to assume the backup pose. The UAV may capture, based on the backup pose and using the one or more image sensors, one or more images of the scan target.

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.

公开(公告)号：US20210263515A1

公开(公告)日：2021-08-26

申请号：US17174585

申请日：2021-02-12

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 ,  B64C39/02 ,  B64D47/08 ,  B64D31/06 ,  G05B13/02 ,  G06T17/00 ,  G06T7/55 ,  G06T19/20 ,  G06T7/73 ,  H04N5/232 ,  G05D1/10

Abstract: In some examples, an unmanned aerial vehicle (UAV) employs one or more image sensors to capture images of a scan target and may use distance information from the images for determining respective locations in three-dimensional (3D) space of a plurality of points of a 3D model representative of a surface of the scan target. The UAV may compare a first image with a second image 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. Further, based at least on the difference, the UAV may determine, while the UAV is in flight, an update to the 3D model including at least one of an updated location of at least one point in the 3D model, or a location of a new point in the 3D model.

公开(公告)号：US20210263488A1

公开(公告)日：2021-08-26

申请号：US17174583

申请日：2021-02-12

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: G05B17/02 ,  B64C39/02 ,  B64D47/08 ,  B64D31/06 ,  G05D1/10 ,  G06T17/00 ,  H04N5/232 ,  H04N5/247 ,  G06T7/55

Abstract: In some examples, an unmanned aerial vehicle (UAV) may determine, based on a three-dimensional (3D) model including a plurality of points corresponding to a scan target, a scan plan for scanning at least a portion of the scan target. For instance, the scan plan may include a plurality of poses for the UAV to assume to capture images of the scan target. The UAV may capture with one or more image sensors, one or more images of the scan target from one or more poses of the plurality of poses. Further, the UAV may determine an update to the 3D model based at least in part on the one or more images. Additionally, the UAV may update the scan plan based at least in part on the update to the 3D model.