公开(公告)号：US20250044453A1

公开(公告)日：2025-02-06

申请号：US18923186

申请日：2024-10-22

Applicant: TWINNY CO., LTD.

Inventor： Jun Hyung KIM

IPC: G01S17/89 ,  G01S17/933 ,  G06T7/33 ,  G06T7/73

Abstract: Embodiments relate to a method and a robot for estimating a pose, and the robot estimating the pose using a 3-dimensional (3D) sub-grid map includes a main body part, a transfer part configured to move the main body under the control of the main body part, and a light detection and ranging (LiDAR) part configured to emit light and detect reflected light from objects in a global space to generate and transmit LiDAR scan data to the main body part, wherein the main body part includes a personal computer (PC) estimating the position and orientation of the mobile robot, the PC including a LiDAR scan data acquisition module configured to acquire LiDAR scan data for each sub-grid of a 3D grid map based on the robot, a particle generation module configured to generate robot candidate particles on the global map, a LiDAR scan data transformation module configured to transform the LiDAR scan data acquired by the LiDAR scan data acquisition module based on the pose of the robot to the pose of particles generated by the particle generation module, and a sub-grid projection module configured to display the transformed LiDAR scan data from the LiDAR scan data transformation module onto the 3D sub-grid based on the robot.

公开(公告)号：US20250019077A1

公开(公告)日：2025-01-16

申请号：US18349214

申请日：2023-07-10

Applicant: The Boeing Company

Inventor： Nathan D. Hiller ,  Claudia E. Fritz-Thompson

IPC: B64D15/20 ,  G01S17/86 ,  G01S17/933

Abstract: A method for deicing in a laser sensor window in an aerospace vehicle. A deicing laser beam is transmitted from a laser beam generator in the aerospace vehicle into the laser sensor window in the aerospace vehicle. The deicing laser beam has properties that remove ice from the laser sensor window. A sensor laser beam is transmitted from the laser beam generator through the laser sensor window.

公开(公告)号：US12165523B2

公开(公告)日：2024-12-10

申请号：US17565532

申请日：2021-12-30

Applicant: Aurora Flight Sciences Corporation

Inventor： Christopher Ocheltree

IPC: G08G5/00 ,  G01S17/933 ,  G06F11/07 ,  G06F11/30 ,  G06V20/17

Abstract: A system includes a first sensor configured to detect an object within an air space, and output an observation signal indicative of the object within the air space. A second sensor is configured to track the object within the air space, and output a tracking signal of the object within the air space. A tracking control unit is in communication with the first sensor and the second sensor. The tracking control unit is configured to receive the observation signal from the first sensor. In response to receiving the observation signal from the first sensor, the tracking control unit is configured to operate the second sensor to track the object within the air space relative to an aircraft within the air space. The tracking control unit is also configured to determine a priority of actions to take in relation to the object based, at least in part, on the tracking signal received from the second sensor.

公开(公告)号：US20240264314A1

公开(公告)日：2024-08-08

申请号：US18166292

申请日：2023-02-08

Applicant: The Boeing Company

Inventor： Nathan D. Hiller ,  Claudia E. Fritz-Thompson

IPC: G01S17/933 ,  G01S7/481 ,  G01S17/04 ,  G01S17/10 ,  G01S17/58

CPC classification number: G01S17/933 ,  G01S7/4816 ,  G01S17/04 ,  G01S17/10 ,  G01S17/58

Abstract: A method, apparatus, system, and computer program product for detecting an object relative to a vehicle. A projected component of a laser radiation is emitted as a set of laser beams into an atmosphere from a vehicle. A backscatter light generated in response to said emitting the laser beam into the atmosphere is received to form a received backscatter light. The received backscatter light is filtered using a tunable optical filter system to form a filtered backscatter light. A control component derived from the laser radiation is filtered using the tunable optical filter system to form a filtered reference light. A set of parameters relating a presence of the object relative to the vehicle is determined using the filtered backscatter light and the filtered reference light.

公开(公告)号：US20240253818A1

公开(公告)日：2024-08-01

申请号：US18428495

申请日：2024-01-31

Applicant: AIRBUS OPERATIONS LIMITED

Inventor： Ting Yu AU

IPC: B64D45/00 ,  G01S7/48 ,  G01S17/08 ,  G01S17/89 ,  G01S17/933

CPC classification number: B64D45/0005 ,  G01S7/4808 ,  G01S17/08 ,  G01S17/89 ,  G01S17/933

Abstract: A computer-implemented method of determining a steering angle of an aircraft landing gear is disclosed including obtaining a set of position data points, wherein the set of position data points comprises position data points of a component of the aircraft landing gear and calculating a centroid of the set of position data points. The method also includes determining an angle of an intersection between a straight line that passes through both the centroid and an axis of rotation of the aircraft landing gear and an axis that is orthogonal to a strut of the aircraft landing gear when the aircraft landing gear is at a previously known steering angle, and determining the steering angle of the aircraft landing gear based on the determined angle of intersection.

公开(公告)号：US20240201390A1

公开(公告)日：2024-06-20

申请号：US18509607

申请日：2023-11-15

Applicant: AIRBUS HELICOPTERS

Inventor： Dorothee NICOLAS ,  Frederick GIANNI ,  Nicolas DAMIANI

IPC: G01S17/933 ,  B64D45/08 ,  G01S7/481 ,  G01S17/89 ,  G06T7/70 ,  G06T15/00 ,  G06T17/05 ,  G08G5/00 ,  G08G5/04

CPC classification number: G01S17/933 ,  B64D45/08 ,  G01S7/4815 ,  G01S17/89 ,  G06T7/70 ,  G06T15/00 ,  G06T17/05 ,  G08G5/0021 ,  G08G5/0086 ,  G08G5/045 ,  G06T2207/30261

Abstract: A method for signaling obstacles present in a space surrounding an aircraft. This method comprises: acquiring, with at least one LiDAR obstacle sensor, positioning data in a reference frame of the obstacle sensor, constructing, during said flight, a three-dimensional map of the surrounding space in a mapping reference frame and positioning the aircraft in the map by applying a simultaneous localization and mapping process based at least on the positioning data, and displaying, during the flight, on a display, an aircraft symbol and a two-dimensional representation of at least a part of the map, each point displayed in the representation being displayed according to a graphic charter taking the associated level of risk into consideration.

公开(公告)号：US20240183991A1

公开(公告)日：2024-06-06

申请号：US18111609

申请日：2023-02-20

Applicant: GWANG JAE WE ,  HYUNSOO HER

Inventor： GWANG JAE WE ,  HYUNSOO HER

IPC: G01S17/933 ,  G01S7/481 ,  G01S17/42 ,  H01L31/107

CPC classification number: G01S17/933 ,  G01S7/4817 ,  G01S17/42 ,  H01L31/107

Abstract: The aviation bathymetry LiDAR apparatus comprises: a first and a second laser generator; an optical manifold configured to couple a first and a second laser beam to generate a combine laser beam; a transfer mirror configured to reflect the combine laser beam in a direction parallel to a first axis; a prism configured to refract the combine laser beam at a first angle based on the first axis and to rotate based on the first axis; a holographic optical element configured to refract a return laser beam reflected from the target to emit the same to be parallel to the first axis, and to rotate with the prism; a telescope configured to condense the return laser beam received from the holographic optical element to generate a return combine laser beam, and to emit the return combine laser beam in a direction parallel to the first axis.

公开(公告)号：US11987382B2

公开(公告)日：2024-05-21

申请号：US17674518

申请日：2022-02-17

Applicant: Merlin Labs, Inc.

Inventor： Matthew George ,  Alexander Naiman ,  Joseph Bondaryk

IPC: B64D45/08 ,  G01S13/933 ,  G01S17/933 ,  G05D1/00

CPC classification number: B64D45/08 ,  G01S13/933 ,  G01S17/933 ,  G05D1/101

Abstract: The method can include: sampling sensor measurements, extracting features from the sensor measurements, identifying a landing site based on the extracted features, determining a confidence score based on the extracted features and landing site features, and controlling the aircraft. The method functions to provide terrain relative navigation during approach to be used for aircraft control; the method can additionally function to establish an aircraft position estimate to be used for controlling the aircraft.

公开(公告)号：US20230359227A1

公开(公告)日：2023-11-09

申请号：US17981980

申请日：2022-11-07

Applicant: Thinkware Corporation

Inventor： Young-Kuk HAM ,  Tae Kyu HAN

IPC: G05D1/10 ,  G01S17/933 ,  G08G5/00 ,  G08G5/02 ,  G01S17/86 ,  B64C39/02 ,  G01C5/00 ,  G05D1/00

CPC classification number: G05D1/1064 ,  G01S17/933 ,  G08G5/0013 ,  G08G5/0021 ,  G08G5/0034 ,  G08G5/0039 ,  G08G5/0052 ,  G08G5/0056 ,  G08G5/006 ,  G08G5/0065 ,  G08G5/0069 ,  G08G5/0082 ,  G08G5/025 ,  G05D1/106 ,  G01S17/86 ,  B64C39/024 ,  G01C5/005 ,  G05D1/0088 ,  G08G5/0086 ,  B64U2101/30

Abstract: A method and a system for establishing a route of an unmanned aerial vehicle are provided. The method includes identifying an object from surface scanning data and shaping a space, which facilitates autonomous flight, as a layer, collecting surface image data for a flight path from the shaped layer, and analyzing a change in image resolution according to a distance from the object through the collected surface image data and extracting an altitude value on a flight route.

公开(公告)号：US20230296781A1

公开(公告)日：2023-09-21

申请号：US18004451

申请日：2021-07-07

Applicant: Singapore University Of Technology And Design

Inventor： Shaohui FOONG ,  Chee How TAN ,  Danial Sufiyan Bin Shaiful - ,  Zheng Wei Emmanuel TANG

IPC: G01S17/933 ,  G01S7/481 ,  G01S17/42 ,  B64C39/02

CPC classification number: G01S17/933 ,  G01S7/4817 ,  G01S17/42 ,  B64C39/024

Abstract: There is provided a method of controlling laser scanning by a rotorcraft. The rotorcraft includes: a rotatable body frame configured to rotate during flight; a laser rangefinder mounted on the rotatable body frame and configured to perform laser scanning; and a magnetometer configured to measure magnetic field. The method includes: obtaining magnetic field measurement data from the magnetometer while the rotatable body frame is rotating during flight, the magnetic field measurement data including a sinusoidal signal; estimating a frequency of the sinusoidal signal; and controlling the laser rangefinder to perform laser scanning based on the estimated frequency of the sinusoidal signal. There is also provided a corresponding controller for controlling laser scanning by a rotorcraft, and a corresponding rotorcraft configured to perform laser scanning including the controller.