公开(公告)号：US11016510B2

公开(公告)日：2021-05-25

申请号：US16513537

申请日：2019-07-16

Applicant: Zipline International Inc.

Inventor： Andrew Chambers ,  Keenan Wyrobek ,  Keller Rinaudo ,  Ryan Oksenhorn ,  William Hetzler

IPC: G05D1/10 ,  B64C39/02 ,  G05D1/00

Abstract: An autonomous vehicle system is configured to receive vehicle commands from one or more parties and to execute those vehicle commands in a way that prevents the execution of stale commands. The autonomous vehicle system includes a finite state machine and a command counter or stored vehicle timestamp, which are used to help reject invalid or stale vehicle commands.

公开(公告)号：US10793269B2

公开(公告)日：2020-10-06

申请号：US16017831

申请日：2018-06-25

Applicant: Zipline International Inc.

Inventor： Peter Abeles ,  Keenan Wyrobek

IPC: B64C39/02 ,  G06T7/73 ,  B64F5/60

Abstract: An unmanned aircraft system includes a testing and calibration system that enables automated testing of movable parts of an unmanned aircraft. The testing and calibration system uses a camera-based technique to determine the position and angle of movable parts, in order to establish whether or not those parts are moving in a manner consistent with correct function.

公开(公告)号：US09910432B1

公开(公告)日：2018-03-06

申请号：US15288733

申请日：2016-10-07

Applicant: Zipline International Inc.

Inventor： Andrew Chambers ,  Keenan Wyrobek ,  Keller Rinaudo ,  Ryan Oksenhorn ,  William Hetzler

IPC: G05D1/00 ,  G05D1/10 ,  B64C39/02

CPC classification number: G05D1/0022 ,  B64C39/024 ,  B64C2201/127 ,  B64C2201/128 ,  B64C2201/141 ,  B64C2201/146 ,  G05D1/0088 ,  G05D1/101

Abstract: An autonomous vehicle system is configured to receive vehicle commands from one or more parties and to execute those vehicle commands in a way that prevents the execution of stale commands. The autonomous vehicle system includes a finite state machine and a command counter or stored vehicle timestamp, which are used to help reject invalid or stale vehicle commands.

公开(公告)号：US20180002017A1

公开(公告)日：2018-01-04

申请号：US15229099

申请日：2016-08-04

Applicant: Zipline International Inc.

Inventor： Peter Abeles ,  Keenan Wyrobek

IPC: B64C39/02 ,  B64F5/60

CPC classification number: B64C39/024 ,  B64C2201/146 ,  B64C2201/18 ,  B64C2201/20 ,  B64F5/60 ,  G06T7/73 ,  G06T2207/30204 ,  G06T2207/30252

Abstract: An unmanned aircraft system includes a testing and calibration system that enables automated testing of movable parts of an unmanned aircraft. The testing and calibration system uses a camera-based technique to determine the position and angle of movable parts, in order to establish whether or not those parts are moving in a manner consistent with correct function.

公开(公告)号：US20240010336A1

公开(公告)日：2024-01-11

申请号：US18039612

申请日：2021-12-01

Applicant: ZIPLINE INTERNATIONAL INC.

Inventor： Keenan A. Wyrobek ,  Brendan D. Wade ,  Tristan Semmelhack ,  Devin Williams ,  Gregoire Vandenbussche ,  Rajan Gill ,  Brian Boomgaard

IPC: B64D1/08 ,  B64U10/60 ,  B64D1/22 ,  G05D1/10

CPC classification number: B64D1/08 ,  B64U10/60 ,  B64D1/22 ,  G05D1/104 ,  B64U2101/64

Abstract: A delivery device to deliver a product from an aerial location includes a body defining a payload holding region. The delivery device may further include a coupling mechanism configured to couple the body to a primary vehicle. The delivery device may further include a control feature configured to change a flight characteristic of the body. A method for delivering a product may include positioning a first unmanned aerial vehicle within a threshold distance of a delivery location. The method may further include releasing a second unmanned vehicle from the first unmanned aerial vehicle once the first unmanned aerial vehicle is within the threshold distance. The method may further include causing the second unmanned vehicle to reach the delivery location. The method may further include activating a delivery mechanism to release the product from the second unmanned vehicle to deliver the product to the delivery location.

公开(公告)号：US11807361B2

公开(公告)日：2023-11-07

申请号：US17062887

申请日：2020-10-05

Applicant: ZIPLINE INTERNATIONAL INC.

Inventor： Peter Abeles ,  Keenan Wyrobek

IPC: B64C39/02 ,  G06T7/73 ,  B64F5/60 ,  B64U70/00 ,  B64U80/00

CPC classification number: B64C39/024 ,  B64F5/60 ,  G06T7/73 ,  B64U70/00 ,  B64U80/00 ,  B64U2201/20 ,  G06T2207/30204 ,  G06T2207/30252

Abstract: A system includes a camera configured such that a field of view of the camera is positioned to capture a base portion and a movable portion of an aircraft. A computer communicatively connected to the camera is configured to determine a relative orientation between a base identification feature of the base portion and a movable identification feature of the movable portion of the aircraft based on image data received from the camera. The computer is also configured to determine a position of the movable portion of the aircraft based on the relative orientation between the base identification feature and the movable identification feature and a position of the base portion and to compare the position of the movable portion to a reported position for the movable portion to determine a variance. An aircraft control system is configured to monitor a state of the aircraft based on the variance.

公开(公告)号：US11295624B2

公开(公告)日：2022-04-05

申请号：US16005378

申请日：2018-06-11

Applicant: Zipline International Inc.

Inventor： Andrew Chambers ,  Ryan Oksenhorn ,  Jeremy Schwartz ,  Keenan Wyrobek

IPC: G01C23/00 ,  G05D1/00 ,  G05D3/00 ,  G06F7/00 ,  G06F17/00 ,  G08G5/04 ,  B64C39/02 ,  G08G5/00

Abstract: An unmanned aircraft system includes an aircraft control system that enables the safe operation of multiple unmanned aerial vehicles in the same airspace, through the use of a decentralized air traffic management system. The decentralized air traffic management system is robust against loss of communication between the unmanned aerial vehicle and does not require a centralized ground control system to coordinate the vehicles.

公开(公告)号：US20220089293A1

公开(公告)日：2022-03-24

申请号：US17485050

申请日：2021-09-24

Applicant: ZIPLINE INTERNATIONAL INC.

Inventor： Keenan A. Wyrobek ,  Gavin K. Ananda Krishnan ,  Brendan J.D. Wade ,  Philip M. Green ,  Randall R. Patterson

IPC: B64D45/04

Abstract: Described herein is an aircraft. The aircraft includes a peripheral assembly, such as a sensor probe. The aircraft further includes a release assembly connecting the peripheral assembly to a portion of the aircraft. The release assembly is configured to separate the peripheral assembly and the portion upon receipt of a threshold force. The release assembly may be configured to allow for the quick release, such as via a snap-fit connection, between the peripheral assembly and the portion of the aircraft.

公开(公告)号：US11066184B2

公开(公告)日：2021-07-20

申请号：US15712107

申请日：2017-09-21

Applicant: Zipline International Inc.

Inventor： Keenan Wyrobek

IPC: B64F1/02 ,  B64C39/02 ,  B64F1/04

Abstract: An unmanned aircraft system includes an automated recovery system that can recover aircraft in a reliable, economical manner, using a dual-pole and line mechanism.

公开(公告)号：US10395543B2

公开(公告)日：2019-08-27

申请号：US15659735

申请日：2017-07-26

Applicant: Zipline International Inc.

Inventor： Andrew Chambers ,  Bryan Wade ,  Catalin Drula ,  David Halley ,  Igor Napolskikh ,  Keenan Wyrobek ,  Keller Rinaudo ,  Nicholas Brake ,  Ryan Oksenhorn ,  Ryan Patterson ,  William Hetzler

IPC: B64C39/02 ,  G06Q10/08 ,  G08G5/00 ,  G05D1/10 ,  G01C21/20

Abstract: An Unmanned Aerial System configured to receive a request from a user and fulfill that request using an Unmanned Aerial Vehicle. The Unmanned Aerial System selects a distribution center that is within range of the user, and deploys a suitable Unmanned Aerial Vehicle to fulfill the request from that distribution center. The Unmanned Aerial System is configured to provide real-time information about the flight route to the Unmanned Aerial Vehicle during its flight, and the Unmanned Aerial Vehicle is configured to dynamically update its mission based on information received from the Unmanned Aerial System.