公开(公告)号：WO2021258399A1

公开(公告)日：2021-12-30

申请号：PCT/CN2020/098339

申请日：2020-06-27

Applicant: SZ DJI TECHNOLOGY CO., LTD.

Inventor： MENON, Arjun Sukumar ,  DU, Jiexi ,  LIU, Yucheng ,  LIU, Weifeng

IPC: G09B29/00 ,  B64C2201/027 ,  B64C2201/123 ,  B64C2201/127 ,  B64C2201/128 ,  B64C2201/146 ,  B64C39/024 ,  G01C21/3837 ,  G01C21/3852 ,  G01C21/3893 ,  H04N5/04 ,  H04N5/247 ,  H04N7/18

Abstract: There is a method for mapping in a movable object environment. The method of mapping may include obtaining mapping data from a scanning sensor (202) of a compact payload (124) coupled to an unmanned aerial vehicle (UAV) (104), the compact payload (124) comprising the scanning sensor (202), one or more cameras (204, 206), and an inertial navigation system (INS) (208) configured to be synchronized using a reference clock signal (1302), obtaining feature data from a first camera of the one or more cameras (204, 206) (1304), obtaining positioning data from the INS (208) (1306), associating the mapping data with the positioning data based at least on the reference clock signal to generate geo-referenced data (1308), and storing the geo-referenced data and the feature data to a removable storage medium (216) (1310).

公开(公告)号：WO2021239924A2

公开(公告)日：2021-12-02

申请号：PCT/EP2021/064300

申请日：2021-05-27

Applicant: AIRFORESTRY AB

Inventor： ROMAR, Markus ,  GELIN, Olle ,  ANDERSSON, Mauritz

IPC: A01G23/02 ,  A01G23/08 ,  B64C39/00 ,  B64C39/02 ,  B64C2201/027 ,  B64C2201/108 ,  B64C2201/127 ,  B64C2201/128 ,  B64C2201/141 ,  B64C2201/146 ,  B64C39/024 ,  B64D1/22

Abstract: The present invention relates to a system for remote and/or autonomous cutting at least a portion of a harvested tree trunk, at least a portion of a tree trunk to be harvested, at least a portion of a tree trunk during harvesting or at least a portion of a tree trunk during transporting, said system comprising: a remotely and/or autonomously controlled Unmanned Aerial Vehicle (100), UAV, means (116) for cutting at least a portion of a tree trunk attachable to said UAV (100), means for detecting at least a portion of a tree (135), means for detecting at least one tree parameter of at least a portion of a tree (135) and/or at least one growing condition of at least a portion of a tree (tree), a base station (120) for communication with said UAV (100), and means configured for selecting at least one cutting position on at least a portion of a tree trunk depending on the at least one detected tree parameter and/or the at least one detected growing condition of at least a portion of a tree (135).

公开(公告)号：WO2021190216A1

公开(公告)日：2021-09-30

申请号：PCT/CN2021/077219

申请日：2021-02-22

Applicant: 深圳市格上格创新科技有限公司

Inventor： 杨超峰

IPC: B64C39/02 ,  B64D47/08 ,  B64C2201/027 ,  B64C2201/042 ,  B64C2201/127

Abstract: 一种全景摄像无人机，包括中空结构的机身（100）、多个摄像头（200）、稳定器（310、320、330）和主动力装置（400）。主动力装置可以配置为第一旋翼系统（410）和第一旋转机构（430）的方式，第一旋转机构控制第一旋翼系统旋转以产生使无人机飞行的推力。主动力装置还可以配置为第二旋翼系统（510）的方式，第二旋翼系统包含旋翼（511）和桨盘倾斜机构（512A），桨盘倾斜机构可以控制旋翼的桨盘相对于机身转动以产生使无人机飞行的推力。第一旋翼系统或第二旋翼系统设于机身内部。稳定器能够输出使机身旋转的力矩和/或使无人机平移的推力。该全景摄像无人机可拍摄720°全景影像，在飞行过程中机身姿态可以保持在预设的范围内，保证所拍摄的全景影像的稳定性。

公开(公告)号：WO2021140184A1

公开(公告)日：2021-07-15

申请号：PCT/EP2021/050246

申请日：2021-01-08

Applicant: WÜNSCHE, Thomas

Inventor： WÜNSCHE, Thomas

IPC: A01M7/00 ,  B64D1/18 ,  A01M7/0042 ,  B64C2201/027 ,  B64C2201/042 ,  B64C2201/108 ,  B64C2201/127 ,  B64C2201/128 ,  B64C2201/165 ,  B64C39/024

Abstract: Die Erfindung betrifft ein Verfahren zum Antrieb von schwebenden Geräten und schwebenden Teilsystemen von Geräten in der Land- und Forstwirtschaft mit der konstruktionsbedingten Fähigkeit zum Schweben auf der Stelle, insbesondere auch zur Ausbringung von Stoffen und Stoffgemischen, mit einem oder mehreren Strömungserzeugern zur Erzeugung von Luftströmungen oder Strömungen anderer Gase oder Gasgemische, die das Gerät oder Teilsystem des Gerätes vorrangig durch den erzeugten Vertikalschub im Schweben halten und Kräfte zum Vortrieb und/ oder zur Änderung der Bewegung erzeugen. Erfindungsgemäß werden Strömungen oder Teilströmungen mit einer Neigung der Mittelachse der jeweiligen Strömung oder Teilströmung von mindestens 10° und maximal 90° gegenüber der Normalen auf die horizontale Ebene des Gerätes oder Teilsystems erzeugt, wobei wechselnde Strömungsgeschwindigkeit und/oder Strömungsrichtung der Strömungen und/oder Teilströmungen Schub erzeugt wird, der zumindest eine Komponente in der horizontalen Ebene des Gerätes oder Teilsystems hat und zum Vortrieb und/oder der Änderung der Geschwindigkeit des Geräts oder Teilsystems und/oder Kompensation von Störungen in dieser Ebene, bei Beibehaltung oder der Möglichkeit zur Beibehaltung einer horizontalen oder konstant geneigten Lage des schwebenden Gerätes oder Teilsystems, genutzt wird.

公开(公告)号：WO2021091608A2

公开(公告)日：2021-05-14

申请号：PCT/US2020/045319

申请日：2020-08-07

Applicant: MASSACHUSETTS INSTITUTE OF TECHNOLOGY ,  FANG, Cindy Y. ,  ROSS, William D. ,  WHITE, Lauren L. ,  BARI, Joseph ,  CASON, William ,  JOHNSON, Donald ,  BOWEN, Christopher ,  BOJANOWSKI, Kyle ,  DYE, Victoria

Inventor： FANG, Cindy Y. ,  ROSS, William D. ,  WHITE, Lauren L. ,  BARI, Joseph ,  CASON, William ,  JOHNSON, Donald ,  BOWEN, Christopher ,  BOJANOWSKI, Kyle ,  DYE, Victoria

IPC: H04N7/18 ,  B64C2201/127 ,  B64C2201/145 ,  B64C2201/148 ,  B64C39/022 ,  B64C39/024 ,  G05D1/0094 ,  G05D1/101 ,  G06K9/0063 ,  G06K9/00771 ,  G06T3/4015 ,  G06T7/207

Abstract: A wide-area motion imaging system provides 360° persistent surveillance with a camera array that is small, light-weight, and operates at low power. The camera array is mounted on a tethered drone, which can hover at heights of up to 400', and includes small imagers fitted with lenses of different fixed focal lengths. The tether provides power, communication, and a data link from the camera array to a ground processing server that receives, processes and stores the imagery. The server also collects absolute and relative position data from a global positioning system (GPS) receiver and an inertial measurement unit (IMU) carried by the drone. The server uses this position data to correct the rolling shutter effect and to stabilize and georectify the final images, which can be stitched together and shown to a user live or in playback via a separate user interface.

公开(公告)号：WO2022103776A2

公开(公告)日：2022-05-19

申请号：PCT/US2021/058685

申请日：2021-11-09

Applicant: PERIMETER AERO, INC.

Inventor： HAMM, Mark

IPC: B60Q7/00 ,  B64C39/02 ,  B60P3/11 ,  B60Q1/48 ,  B60Q1/52 ,  B64C2201/027 ,  B64C2201/042 ,  B64C2201/123 ,  B64C2201/127 ,  B64C2201/128 ,  B64C2201/141 ,  B64C2201/146 ,  B64C2201/208 ,  B64C39/024 ,  B64D1/12 ,  B64D1/22

Abstract: The technical description relates to perimeters for vehicles. Specific examples relate to vehicle perimeters established by unmanned aerial vehicles (UAVs), such as autonomous drones, for a variety of vehicle types, including manually-driven, partially autonomous, and fully autonomous vehicles. Perimeter devices, vehicles, including autonomous vehicles and human-controlled vehicles, UAVs, and related systems and methods are described. Perimeter devices respond to triggering events, such as vehicle-immobilizing events, GPS-based events, and environment-based events, to establish a perimeter adjacent a vehicle such that observers can visually detect the presence of a signal member, such as a warning triangle having a reflective surface. An example vehicle includes a tractor unit, a trailer connected to the tractor unit, a storage enclosure associated with the tractor unit, and a plurality of perimeter devices disposed in the chamber. Each perimeter device of the plurality of perimeter devices includes a triangular signal member, a base member, and a UAV. Each perimeter device is adapted to deploy from the chamber and establish a perimeter by the vehicle in response to a triggering event, such as parking of the vehicle in a location for which a perimeter must be established, impact of the vehicle with another object, such as during a traffic accident, rollover of the vehicle, or mechanical and/or electrical failure of the vehicle.

公开(公告)号：WO2022040653A8

公开(公告)日：2022-02-24

申请号：PCT/US2021/070966

申请日：2021-07-27

Applicant: DROBOTICS, LLC

Inventor： STEIN, Eyal

IPC: B64C39/02 ,  B64D47/00 ,  B64G1/10 ,  B64C2201/027 ,  B64C2201/127 ,  B64C2201/141 ,  B64C2201/146 ,  B64C39/024 ,  B64D47/08 ,  G05B13/027 ,  G05D1/0094 ,  G05D1/101 ,  G08G5/0004 ,  G08G5/0008 ,  G08G5/0013 ,  G08G5/0021 ,  G08G5/0039 ,  G08G5/0052 ,  G08G5/0069 ,  G08G5/0086 ,  G08G5/0091 ,  G08G5/04 ,  G08G5/045

Abstract: An unmanned aerial vehicle (UAV) or “drone” executes a neural network to assist with inspection, surveillance, reporting, and other missions. The drone inspection neural network may monitor, in real time, the data stream from a plurality of onboard sensors during navigation to an asset along a preprogrammed flight path and/or during its mission (e.g., as it scans and. inspects an asset). A HAPS platform may execute a neural network (a “HAPSNN”) as it monitors air traffic; the neural network enables it to classify, predict, and. resolve events in its airspace of coverage in real time as well as learn from new events that have never before been seen or detected. The HAPSNN-equipped HAPS platform may provide surveillance of nearly 100% of air traffic in its airspace of coverage, and the HAPSNN may process data received from a drone to facilitate safe and efficient drone operation within an airspace.

公开(公告)号：WO2022010681A1

公开(公告)日：2022-01-13

申请号：PCT/US2021/039357

申请日：2021-06-28

Applicant: BROOKHURST GARAGE, INC.

Inventor： KIM, Young, Joon ,  LEE, Kyuman ,  HWANG, Sunyou

IPC: G05D1/02 ,  G05D1/00 ,  G06T7/11 ,  G06T7/246 ,  G06T7/50 ,  G06T7/70 ,  B25J19/02 ,  B25J13/08 ,  B64C2201/063 ,  B64C2201/066 ,  B64C2201/127 ,  B64C2201/141 ,  B64C2211/00 ,  B64C39/024 ,  G05D1/0253 ,  G06N3/08 ,  G06T2207/10028 ,  G06T2207/30242 ,  G06T7/12 ,  G06T7/74

Abstract: A robot includes an image sensor that captures the environment of a storage site. The robot visually recognizes regularly shaped structures to navigate through the storage site using various object detection and image segmentation techniques. In response to receiving a target location in the storage site, the robot moves to the target location along a path. The robot receives the images as the robot moves along the path. The robot analyzes the images captured by the image sensor to determine the current location of the robot in the path by tracking a number of regularly shaped structures in the storage site passed by the robot. The regularly shaped structures may be racks, horizontal bars of the racks, and vertical bars of the racks. The robot can identify the target location by counting the number of rows and columns that the robot has passed.

公开(公告)号：WO2022005901A1

公开(公告)日：2022-01-06

申请号：PCT/US2021/039151

申请日：2021-06-25

Applicant: SONY GROUP CORPORATION ,  LIU, Cheng-Yi ,  BERESTOV, Alexander

Inventor： LIU, Cheng-Yi ,  BERESTOV, Alexander

IPC: G06T7/70 ,  G05D1/00 ,  B64C39/02 ,  B64D47/08 ,  B64C2201/127 ,  B64C39/024 ,  G05D1/0044 ,  G05D1/104 ,  G06T2207/30244 ,  G06T7/579 ,  G08G5/0039 ,  G08G5/0069

Abstract: A system of imaging a scene includes a plurality of drones, each drone moving along a corresponding flight path over the scene and having a drone camera capturing, at a corresponding first pose and first time, a corresponding first image of the scene; a fly controller that controls the flight path of each drone, in part by using estimates of the first pose of each drone camera provided by a camera controller, to create and maintain a desired pattern of drones with desired camera poses; and the camera controller, which receives, from the drones, a corresponding plurality of captured images, processing the received images to generate a 3D representation of the scene as a system output, and to provide the estimates of the first pose of each drone camera to the fly controller. The system is fully operational with as few as one human operator.

公开(公告)号：WO2022003309A1

公开(公告)日：2022-01-06

申请号：PCT/GB2021/000065

申请日：2021-06-08

Applicant: THE SECRETARY OF STATE FOR DEFENCE DSTL

Inventor： KIMBER, Paul

IPC: B64C39/02 ,  G05D1/00 ,  B64C2201/025 ,  B64C2201/027 ,  B64C2201/127 ,  B64C2201/14 ,  B64C2201/146 ,  B64C39/024 ,  G05D1/0038

Abstract: An aerial reconnaissance drone having a dragonfly format (elongate fuselage and flapping wings) with two cameras 4', 4" having respective diagonal fields of view 5', 5", arranged at respective ends of the fuselage, both pointing forwards, wherein the second camera has a diagonal field 5" of view that is at most half that 5' of the first camera 4'. This has the advantage of providing a drone that can capture enhanced imagery when required, by performing a half turn and switching which camera is being used. Since this avoids placing two cameras in the same location both can have a clear view of surroundings yet it helps avoid off balance caused by placing too much mass in any particular off-centre location.