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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：US20240062663A1
公开(公告)日：2024-02-22
申请号：US18351599
申请日：2023-07-13
Applicant: Skydio, Inc.
Inventor： Abraham Galton Bachrach , Adam Parker Bry , Matthew Joseph Donahoe , Hayk Martirosyan
CPC classification number: G08G5/0069 , G06T19/006 , G06T7/70 , G06T19/003 , G08G5/0039 , G05D1/106 , B64C39/024 , G05D1/0088 , H04L67/131 , G06T2207/10032 , G06T2219/024 , B64U2101/30
Abstract: A technique for user interaction with an autonomous unmanned aerial vehicle (UAV) is described. In an example embodiment, perception inputs from one or more sensor devices are processed to build a shared virtual environment that is representative of a physical environment. The sensor devices used to generate perception inputs can include image capture devices onboard an autonomous aerial vehicle that is in flight through the physical environment. The shared virtual environment can provide a continually updated representation of the physical environment which is accessible to multiple network-connected devices, including multiple UAVs and multiple mobile computing devices. The shared virtual environment can be used, for example, to display visual augmentations at network-connected user devices and guide autonomous navigation by the UAV.
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公开(公告)号：US11858628B2
公开(公告)日：2024-01-02
申请号：US18162193
申请日：2023-01-31
Applicant: Skydio, Inc.
Inventor： Ryan David Kennedy , Peter Benjamin Henry , Hayk Martirosyan , Jack Louis Zhu , Abraham Galton Bachrach , Adam Parker Bry
IPC: G01C21/34 , B64C39/02 , G08G5/00 , G06T7/593 , G06T17/05 , G06T7/246 , G08G5/04 , G06T7/277 , G05D1/10 , G06V20/13 , G06V20/17
CPC classification number: B64C39/024 , G01C21/3453 , G05D1/106 , G06T7/246 , G06T7/277 , G06T7/593 , G06T17/05 , G06V20/13 , G06V20/17 , G08G5/0069 , G08G5/045 , B64U2201/10 , G06T2207/10021 , G06T2207/10032 , G06T2207/20081 , G06T2207/20084 , G06T2207/30188 , G06T2207/30241 , G06T2207/30252
Abstract: An autonomous vehicle that is equipped with image capture devices can use information gathered from the image capture devices to plan a future three-dimensional (3D) trajectory through a physical environment. To this end, a technique is described for image-space based motion planning. In an embodiment, a planned 3D trajectory is projected into an image-space of an image captured by the autonomous vehicle. The planned 3D trajectory is then optimized according to a cost function derived from information (e.g., depth estimates) in the captured image. The cost function associates higher cost values with identified regions of the captured image that are associated with areas of the physical environment into which travel is risky or otherwise undesirable. The autonomous vehicle is thereby encouraged to avoid these areas while satisfying other motion planning objectives.
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公开(公告)号：US11740630B2
公开(公告)日：2023-08-29
申请号：US16439504
申请日：2019-06-12
Applicant: Skydio, Inc.
Inventor： Abraham Galton Bachrach , Adam Parker Bry , Matthew Joseph Donahoe , Hayk Martirosyan , Tom Moss
CPC classification number: G05D1/0094 , B64C39/024 , G05D1/0088 , G06T7/20 , G06V20/13 , G06V20/17 , G06V40/23 , B64U2101/30 , B64U2201/10 , G06T2207/30224 , G06T2207/30228
Abstract: Sports and fitness applications for an autonomous unmanned aerial vehicle (UAV) are described. In an example embodiment, a UAV can be configured to track a human subject using perception inputs from one or more onboard sensors. The perception inputs can be utilized to generate values for various performance metrics associated with the activity of the human subject. In some embodiments, the perception inputs can be utilized to autonomously maneuver the UAV to lead the human subject to satisfy a performance goal. The UAV can also be configured to autonomously capture images of a sporting event and/or make rule determinations while officiating a sporting event.
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Patent Agency Ranking
公开(公告)号：US20230257116A1
公开(公告)日：2023-08-17
申请号：US18162227
申请日：2023-01-31
Applicant: Skydio, Inc.
Inventor： Ryan David Kennedy , Peter Benjamin Henry , Hayk Martirosyan , Jack Louis Zhu , Abraham Galton Bachrach , Adam Parker Bry
IPC: B64C39/02 , G08G5/00 , G06T7/593 , G06T17/05 , G06T7/246 , G08G5/04 , G06T7/277 , G05D1/10 , G06V20/13 , G01C21/34 , G06V20/17
CPC classification number: B64C39/024 , G08G5/0069 , G06T7/593 , G06T17/05 , G06T7/246 , G08G5/045 , G06T7/277 , G05D1/106 , G06V20/13 , G01C21/3453 , G06V20/17 , G06T2207/30241 , G06T2207/30188 , G06T2207/10032 , G06T2207/10021 , G06T2207/20081 , G06T2207/30252 , G06T2207/20084 , B64U2201/10
Abstract: An autonomous vehicle that is equipped with image capture devices can use information gathered from the image capture devices to plan a future three-dimensional (3D) trajectory through a physical environment. To this end, a technique is described for image-space based motion planning. In an embodiment, a planned 3D trajectory is projected into an image-space of an image captured by the autonomous vehicle. The planned 3D trajectory is then optimized according to a cost function derived from information (e.g., depth estimates) in the captured image. The cost function associates higher cost values with identified regions of the captured image that are associated with areas of the physical environment into which travel is risky or otherwise undesirable. The autonomous vehicle is thereby encouraged to avoid these areas while satisfying other motion planning objectives.
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公开(公告)号：US20230257115A1
公开(公告)日：2023-08-17
申请号：US18162193
申请日：2023-01-31
Applicant: Skydio, Inc.
Inventor： Ryan David Kennedy , Peter Benjamin Henry , Hayk Martirosyan , Jack Louis Zhu , Abraham Galton Bachrach , Adam Parker Bry
IPC: B64C39/02 , G08G5/00 , G06T7/593 , G06T17/05 , G06T7/246 , G08G5/04 , G06T7/277 , G05D1/10 , G06V20/13 , G01C21/34 , G06V20/17
CPC classification number: B64C39/024 , G01C21/3453 , G05D1/106 , G06T7/246 , G06T7/277 , G06T7/593 , G06T17/05 , G06V20/13 , G06V20/17 , G08G5/045 , G08G5/0069 , B64U2201/10 , G06T2207/10021 , G06T2207/10032 , G06T2207/20081 , G06T2207/20084 , G06T2207/30188 , G06T2207/30241 , G06T2207/30252
Abstract: An autonomous vehicle that is equipped with image capture devices can use information gathered from the image capture devices to plan a future three-dimensional (3D) trajectory through a physical environment. To this end, a technique is described for image-space based motion planning. In an embodiment, a planned 3D trajectory is projected into an image-space of an image captured by the autonomous vehicle. The planned 3D trajectory is then optimized according to a cost function derived from information (e.g., depth estimates) in the captured image. The cost function associates higher cost values with identified regions of the captured image that are associated with areas of the physical environment into which travel is risky or otherwise undesirable. The autonomous vehicle is thereby encouraged to avoid these areas while satisfying other motion planning objectives.
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公开(公告)号：US11611700B2
公开(公告)日：2023-03-21
申请号：US17373097
申请日：2021-07-12
Applicant: SKYDIO, INC.
Inventor： Peter Benjamin Henry , Hayk Martirosyan , Abraham Galton Bachrach , Clement Godard , Adam Parker Bry , Ryan David Kennedy
Abstract: In some examples, an unmanned aerial vehicle (UAV) may control a position of a first camera to cause the first camera to capture a first image of a target. The UAV may receive a plurality of second images from a plurality of second cameras, the plurality of second cameras positioned on the UAV for providing a plurality of different fields of view in a plurality of different directions around the UAV, the first camera having a longer focal length than the second cameras. The UAV may combine at least some of the plurality of second images to generate a composite image corresponding to the first image and having a wider-angle field of view than the first image. The UAV may send the first image and the composite image to a computing device.
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公开(公告)号：US20220355952A1
公开(公告)日：2022-11-10
申请号：US17873549
申请日：2022-07-26
Applicant: Skydio, Inc.
Inventor： Benjamin Scott Thompson , Adam Parker Bry , Asher Mendel Robbins-Rothman , Abraham Galton Bachrach , Yevgeniy Kozlenko , Kevin Patrick Smith O'Leary , Patrick Allen Lowe , Daniel Thomas Adams , Justin Michael Sadowski , Zachary Albert West , Josiah Timothy VanderMey
Abstract: An introduced autonomous aerial vehicle can include multiple cameras for capturing images of a surrounding physical environment that are utilized for motion planning by an autonomous navigation system. In some embodiments, the cameras can be integrated into one or more rotor assemblies that house powered rotors to free up space within the body of the aerial vehicle. In an example embodiment, an aerial vehicle includes multiple upward-facing cameras and multiple downward-facing cameras with overlapping fields of view to enable stereoscopic computer vision in a plurality of directions around the aerial vehicle. Similar camera arrangements can also be implemented in fixed-wing aerial vehicles.
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公开(公告)号：US20220315220A1
公开(公告)日：2022-10-06
申请号：US17505257
申请日：2021-10-19
Applicant: Skydio, Inc.
Inventor： Abraham Galton Bachrach , Adam Parker Bry , Gareth Benoit Cross , Peter Benjamin Henry , Kristen Marie Holtz , Ryan David Kennedy , Hayk Martirosyan , Vladimir Nekrasov , Samuel Shenghung Wang
Abstract: Autonomous aerial navigation in low-light and no-light conditions includes using night mode obstacle avoidance intelligence and mechanisms for vision-based unmanned aerial vehicle (UAV) navigation to enable autonomous flight operations of a UAV in low-light and no-light environments using infrared data.
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