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公开(公告)号：US20230399101A1
公开(公告)日：2023-12-14
申请号：US18208168
申请日：2023-06-09
申请人： Wing Aviation LLC
发明人： André Prager , Marcus Hammond , Kevin Jenkins , Ivan Qiu , Jasper Lewin
CPC分类号： B64D1/22 , B64U10/60 , B64U2101/66
摘要： A method includes determining, by an unmanned aerial vehicle (UAV), a position of an autoloader device for the UAV; based on the determined position of the autoloader device, causing the UAV to follow a descent trajectory in which the UAV moves from a starting position to a first nudged position in order to deploy a tethered pickup component of the UAV to a payout position on an approach side of the autoloader device; deploying the tethered pickup component of the UAV to the payout position; causing the UAV to follow a side-step trajectory in which the UAV moves laterally to a second nudged position in order to cause the tethered pickup component of the UAV to engage the autoloader device; and retracting the tethered pickup component of the UAV to pick up a payload from the autoloader device.
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公开(公告)号：US20240338026A1
公开(公告)日：2024-10-10
申请号：US18132288
申请日：2023-04-07
申请人： WING Aviation LLC
发明人： Ali Shoeb , Marcus Hammond
CPC分类号： G05D1/106 , B64C39/024 , G06T7/20 , G06T7/70 , B64U2101/30 , B64U2101/64 , B64U2201/10 , G06T2207/10032 , G06T2207/20081 , G06T2207/20084
摘要： A technique for detection of an obstacle by a UAV includes arriving above a location at a first altitude by the UAV; navigating a descent flight pattern from the first altitude towards the location; acquiring aerial images of the location below the UAV with a camera system disposed onboard the UAV; and analyzing the aerial images with a machine vision system disposed onboard the UAV that is adapted to detect a presence of the obstacle in the aerial images. The descent flight pattern is selected to increase perception by the machine vision system of the obstacle.
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公开(公告)号：US20240194081A1
公开(公告)日：2024-06-13
申请号：US18077371
申请日：2022-12-08
申请人： Wing Aviation LLC
发明人： Marcus Hammond
CPC分类号： G08G5/0069 , B64C39/024 , G06V20/17 , B64C2201/066 , B64C2201/18
摘要： In an example embodiment, a method carried out by an uncrewed aerial vehicle (UAV) may involve receiving a reference map of a cluster of charging pads from a server. The cluster may include a layout of charging pads and fiducial markers distributed across the layout, the reference map representing the layout and fiducial markers. The UAV may fly to the cluster and acquire an image of charging pads and observed fiducial markers near the charging pads. The image may capture an observed constellation of fiducial markers at apparent positions and orientations relative to the charging pads. A reference constellation of fiducial markers at reference positions and orientations relative to reference charging pads may be identified in the reference map. Identities of the reference charging pads and a match of the reference constellation to the observed constellation may be used to disambiguate a particular charging pad from among the charging pads.
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公开(公告)号：US20230315123A1
公开(公告)日：2023-10-05
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
CPC分类号： G05D1/0808 , B64C39/024 , B64C39/022 , B64D47/08 , B64D1/08 , G08G5/0069 , G05D1/101 , G06Q10/0832 , B64C2201/127 , B64C2201/128 , B64C2201/141
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：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：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：US20230406499A1
公开(公告)日：2023-12-21
申请号：US18210634
申请日：2023-06-15
申请人： Wing Aviation LLC
发明人： Adam Woodworth , André Prager , Marcus Hammond , Kevin Jenkins , Ivan Qiu , Jasper Lewin , Jonathan Lesser , Elizabeth Marshman
CPC分类号： B64D1/10 , B64D1/22 , B64U2101/64
摘要： A delivery method using curbside payload pickup by a UAV is provided. The method includes providing instructions to cause physical loading of a payload onto an autoloader device for subsequent UAV transport of the payload. A communication signal is received indicating that the autoloader device has been physically loaded with the payload. A UAV from a group of one or more UAVs is selected to pick up the payload from the autoloader device. Instructions are provided to cause the selected UAV to navigate to the autoloader device to pick up the payload and transport the payload to a delivery location.
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公开(公告)号：US20230400864A1
公开(公告)日：2023-12-14
申请号：US18208167
申请日：2023-06-09
申请人： Wing Aviation LLC
发明人： André Prager , Marcus Hammond , Kevin Jenkins , Ivan Qiu , Jasper Lewin
CPC分类号： G05D1/046 , G05D1/101 , B64D1/22 , B64U10/60 , B64U2101/30
摘要： A method includes determining, by an unmanned aerial vehicle (UAV), a position of an autoloader device for the UAV; based on the determined position of the autoloader device, causing the UAV to follow a descent trajectory in which the UAV moves from a starting position to a first nudged position in order to deploy a tethered pickup component of the UAV to a payout position on an approach side of the autoloader device; deploying the tethered pickup component of the UAV to the payout position; causing the UAV to follow a side-step trajectory in which the UAV moves laterally to a second nudged position in order to cause the tethered pickup component of the UAV to engage the autoloader device; and retracting the tethered pickup component of the UAV to pick up a payload from the autoloader device.
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