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公开(公告)号：US11967091B2
公开(公告)日：2024-04-23
申请号：US18098588
申请日：2023-01-18
申请人： WING Aviation LLC
发明人： Ali Shoeb , Dinuka Abeywardena
IPC分类号： G06T7/246 , B64C39/02 , G06T7/174 , B64U101/30 , B64U101/60
CPC分类号： G06T7/248 , B64C39/024 , G06T7/174 , B64U2101/30 , B64U2101/60 , G06T2207/10028 , G06T2207/10032 , G06T2207/20081
摘要： A technique for detecting an environmental change to a delivery zone via an unmanned aerial vehicle includes obtaining an anchor image and an evaluation image, each representative of the delivery zone, providing the anchor image and the evaluation image to a machine learning model to determine an embedding score associated with a distance between representations of the anchor image and the evaluation image within an embedding space, and determining an occurrence of the environmental change to the delivery zone when the embedding score is greater than a threshold value.
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公开(公告)号：US20230360234A1
公开(公告)日：2023-11-09
申请号：US18098588
申请日：2023-01-18
申请人： WING Aviation LLC
发明人： Ali Shoeb , Dinuka Abeywardena
CPC分类号： G06T7/248 , G06T7/174 , B64C39/024 , G06T2207/10028 , G06T2207/10032 , G06T2207/20081 , B64U2101/30
摘要： A technique for detecting an environmental change to a delivery zone via an unmanned aerial vehicle includes obtaining an anchor image and an evaluation image, each representative of the delivery zone, providing the anchor image and the evaluation image to a machine learning model to determine an embedding score associated with a distance between representations of the anchor image and the evaluation image within an embedding space, and determining an occurrence of the environmental change to the delivery zone when the embedding score is greater than a threshold value.
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公开(公告)号：US11587241B2
公开(公告)日：2023-02-21
申请号：US16887404
申请日：2020-05-29
申请人： WING Aviation LLC
发明人： Ali Shoeb , Dinuka Abeywardena
摘要： A technique for detecting an environmental change to a delivery zone via an unmanned aerial vehicle includes obtaining an anchor image and an evaluation image, each representative of the delivery zone, providing the anchor image and the evaluation image to a machine learning model to determine an embedding score associated with a distance between representations of the anchor image and the evaluation image within an embedding space, and determining an occurrence of the environmental change to the delivery zone when the embedding score is greater than a threshold value.
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公开(公告)号：US20210374975A1
公开(公告)日：2021-12-02
申请号：US16887404
申请日：2020-05-29
申请人： WING Aviation LLC
发明人： Ali Shoeb , Dinuka Abeywardena
摘要： A technique for detecting an environmental change to a delivery zone via an unmanned aerial vehicle includes obtaining an anchor image and an evaluation image, each representative of the delivery zone, providing the anchor image and the evaluation image to a machine learning model to determine an embedding score associated with a distance between representations of the anchor image and the evaluation image within an embedding space, and determining an occurrence of the environmental change to the delivery zone when the embedding score is greater than a threshold value.
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公开(公告)号：US12050475B2
公开(公告)日：2024-07-30
申请号：US17657544
申请日：2022-03-31
申请人： Wing Aviation LLC
发明人： Ali Shoeb , Marcus Hammond , Christopher Cobar , Kyle Krafka , Kyle Julian , Kevin Jenkins
IPC分类号： G05D1/00 , B64C39/02 , B64D1/08 , B64D47/08 , B64U101/30 , B64U101/60 , G06Q10/0832 , G08G5/00
CPC分类号： G05D1/0808 , B64C39/022 , B64C39/024 , B64D1/08 , B64D47/08 , G05D1/101 , G06Q10/0832 , G08G5/0069 , B64U2101/30 , B64U2101/60 , B64U2201/10
摘要： A method includes navigating, by an unmanned aerial vehicle (UAV), to a first altitude above a first delivery point at a delivery location. The method further includes determining, by the UAV, a second delivery point at the delivery location. The method includes navigating, by the UAV, through a descending trajectory to move the UAV from the first altitude above the first delivery point to a second altitude above the second delivery point at the delivery location. The second altitude is lower than the first altitude. The method additionally includes delivering, by the UAV, a payload to the second delivery point at the delivery location. The method includes after delivering the payload, navigating, by the UAV, through an ascending trajectory to move the UAV from a third altitude above the second delivery point to a fourth altitude above the first delivery point. The fourth altitude is higher than the third altitude.
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公开(公告)号：US20240169573A1
公开(公告)日：2024-05-23
申请号：US17990193
申请日：2022-11-18
申请人： WING Aviation LLC
发明人： Ali Shoeb , Domitille Commun
CPC分类号： G06T7/593 , B64C39/024 , B64U20/87 , G06T7/11 , G06T7/136 , G06T7/155 , G06T7/248 , B64U2101/31 , G06T2207/10021 , G06T2207/10032 , G06T2207/30181
摘要： Techniques for identifying a close encounter between an aircraft and an obstacle are disclosed. The technique includes acquiring a video stream of a ground area below the aircraft with a stereovision camera system disposed onboard the aircraft. A depth perception map is generated with a stereovision processing pipeline indicating stereovision depth estimates of first image pixels from the video stream. An optical flow map is generated with an optical flow processing pipeline indicating optical flow depth estimates of second image pixels from the video stream. The depth perception and optical flow maps are compared. An encounter flag indicating that the close encounter between the aircraft and the obstacle occurred is asserted based at least on the comparing.
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公开(公告)号：US20240124137A1
公开(公告)日：2024-04-18
申请号：US17965622
申请日：2022-10-13
申请人： WING Aviation LLC
发明人： Ali Shoeb
IPC分类号： B64C39/02 , B64D47/08 , G06T7/70 , G06V10/24 , G06V10/25 , G06V10/50 , G06V10/60 , G06V10/764
CPC分类号： B64C39/024 , B64D47/08 , G06T7/70 , G06V10/242 , G06V10/25 , G06V10/50 , G06V10/60 , G06V10/764 , B64C2201/141 , G06T2207/10032 , G06T2207/30252
摘要： A technique for avoiding obstacles by an unmanned aerial vehicle (UAV) includes: acquiring an aerial image of a ground area below the UAV; analyzing the aerial image to identify a shadow in the aerial image cast by an object rising from the ground area; determining a pixel length of the shadow in the aerial image; calculating an estimated height of the object based at least on the pixel length of the shadow and an angle of the sun when the aerial image is acquired; and generating a clearance zone around the object having at least one dimension determined based on the estimated height, wherein the clearance zone represents a region in space to avoid when navigating the UAV.
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公开(公告)号：US20230316739A1
公开(公告)日：2023-10-05
申请号：US17657558
申请日：2022-03-31
申请人： Wing Aviation LLC
发明人： Ali Shoeb , Marcus Hammond , Christopher Cobar , Kyle Krafka , Kyle Julian , Kevin Jenkins
CPC分类号： G06V20/17 , G06V10/774 , G06T7/11 , G06T7/70 , G06Q10/0832 , G05D1/0094 , G05D1/0607 , B64C39/024 , G06T2207/10028 , G06T2207/10032 , G06T2207/20081 , G06T2207/20084 , G06T2207/30261 , B64C2201/127 , B64C2201/128 , B64C2201/141
摘要： A method includes capturing, by a sensor on an unmanned aerial vehicle (UAV), an image of a delivery location. The method also includes determining, based on the image of the delivery location, a segmentation image. The segmentation image segments the delivery location into a plurality of pixel areas with corresponding semantic classifications. The method additionally includes determining, based on the segmentation image, a percentage of obstacle pixels within a surrounding area of a delivery point at the delivery location, wherein each obstacle pixel has a semantic classification indicative of an obstacle in the delivery location. The method further includes based on the percentage of obstacle pixels being above a threshold percentage, aborting a delivery process of the UAV.
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公开(公告)号：US20230312091A1
公开(公告)日：2023-10-05
申请号：US17657538
申请日：2022-03-31
申请人： Wing Aviation LLC
发明人： Ali Shoeb , Marcus Hammond , Christopher Cobar , Kyle Krafka , Kyle Julian , Kevin Jenkins
CPC分类号： B64C39/024 , G05D1/042 , G05D1/0094 , G06V20/17 , G06V20/58 , G06Q50/28
摘要： A method includes capturing, by a sensor on an unmanned aerial vehicle (UAV), an image of a delivery location. The method further includes determining, based on the image of the delivery location, a segmentation image. The segmentation image segments the delivery location into a plurality of pixel areas with corresponding semantic classifications. The method also includes determining, based on the segmentation image, a distance-to-obstacle image of a delivery zone at the delivery location. The distance-to-obstacle image comprises a plurality of pixels, each pixel representing a distance in the segmentation image from a nearest pixel area with a semantic classification indicative of an obstacle in the delivery location. Additionally, the method includes selecting, based on the distance-to-obstacle image, a delivery point in the delivery zone. The method also includes positioning the UAV above the delivery point in the delivery zone for delivery of a payload.
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公开(公告)号：US20240201696A1
公开(公告)日：2024-06-20
申请号：US18066220
申请日：2022-12-14
申请人： WING AVIATION LLC
发明人： John Mooney , Ali Shoeb
CPC分类号： G05D1/1064 , B64C39/024 , G05D1/104 , G10L15/26 , B64U2101/64
摘要： A technique for detecting and avoiding obstacles by an unmanned aerial vehicle (UAV) includes: querying a knowledge graph having information related to a dynamic obstacle that may be in proximity to the UAV when traveling along a planned route; comparing the location of the dynamic obstacle to the UAV to detect conflicts; and in response to detecting a conflict, performing an action to avoid conflict with the dynamic obstacle. The knowledge graph can be updated by receiving a VHF radio signal containing the information related to the dynamic obstacle in the audible speech format; translating the audible speech format to a text format using speech recognition; analyzing the text format for relevant information related to the dynamic obstacle; comparing the relevant information related to the dynamic obstacle of the text format to the knowledge graph to detect changes; and updating the knowledge graph.
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