公开(公告)号：US20190127064A1

公开(公告)日：2019-05-02

申请号：US15798601

申请日：2017-10-31

Applicant: DISNEY ENTERPRISES, INC. ,  ETH Zürich

Inventor： PAUL A. BEARDSLEY ,  MINA SAMIR FEKRY KAMEL ,  NIKOLA STILINOVIC ,  ANURAG SAI VEMPATI

IPC: B64C39/02 ,  B05B13/02 ,  B05B13/04 ,  B05B9/04 ,  G05D1/08

Abstract: A painting system that makes use of drones such as modified quadrotors. The drone includes a support arm that carries a paint nozzle configured for pan and tilt motion. A power supply line is connected from an external power supply to the drone to allow extended flight time. A paint supply line is also connected from an external paint supply to the drone to allow extended painting time and/or surface coverage with each flight. The drone has an onboard controller so painting is autonomous with no human input being required. The drone stores a 3D model of the target structure annotated with the drone trajectory plus commands to control the pan-tilt paint nozzle to perform the painting. At runtime, the controller uses a sensor to view the target structure and localizes itself. The drone then traverses the stored trajectory and implements the painting commands to paint the 3D structure's surfaces.

公开(公告)号：US20160039541A1

公开(公告)日：2016-02-11

申请号：US14452819

申请日：2014-08-06

Applicant: DISNEY ENTERPRISES, INC.

Inventor： PAUL A. BEARDSLEY ,  MICHAEL ERIKSSON ,  JAVIER ALONSO-MORA ,  JOERN REHDER

IPC: B64F1/36 ,  B64C39/02 ,  G05D1/04 ,  B60L11/18 ,  G05D1/00

CPC classification number: B64F1/362 ,  B60L11/1816 ,  B60L11/1818 ,  B60L11/1824 ,  B60L11/1833 ,  B60L11/1835 ,  B60L11/1846 ,  B60L2200/10 ,  B60L2230/10 ,  B64C39/024 ,  B64C2201/024 ,  B64C2201/042 ,  B64C2201/066 ,  B64C2201/141 ,  B64C2201/146 ,  B64C2201/182 ,  G05D1/0011 ,  G05D1/0088 ,  G05D1/042 ,  Y02T10/7005 ,  Y02T10/7088 ,  Y02T90/121 ,  Y02T90/125 ,  Y02T90/14

Abstract: A method of docking and recharging using a base station and a station-mating frame on the multicopter. The base station includes an upward-facing camera that is used by a docking controller to detect the presence, position, and orientation of a frame, with infrared light-emitting diodes arranged in a predefined pattern. The controller of the base station acts to emit wireless signals to the multicopter to guide the multicopter with its station-mating frame to a predefined position above the base station. The controller transmits a wireless signal to the multicopter to reduce thrust, and the multicopter lowers itself onto a sloped receiving surface that may be arranged in a crown pattern to provide passive gravity-driven centering, which causes the station-mating frame to slide to a lowest vertical point of the receiving assembly. A locking mechanism engages to lock the frame in place and provide electrical contact for recharging.

Abstract translation: 一种使用多台飞机上的基站和站对接框架进行对接和再充电的方法。 基站包括向上的摄像机，其由对接控制器用于利用以预定模式布置的红外发光二极管来检测框架的存在，位置和取向。 基站的控制器用于向多机器发射无线信号，以引导具有其站配对帧的多机器到基站上方的预定位置。 控制器将无线信号发射到多重飞行器以减小推力，并且多机器将自身降低到倾斜的接收表面上，该倾斜的接收表面可以布置成冠状图案以提供被动重力驱动的定心，这使得站配合框架滑动到 接收组件的最低垂直点。 锁定机构接合以将框架锁定在适当位置并提供用于再充电的电气接触。

公开(公告)号：US20200222929A1

公开(公告)日：2020-07-16

申请号：US16246737

申请日：2019-01-14

Applicant: DISNEY ENTERPRISES, INC.

Inventor： PAUL A. BEARDSLEY ,  JAN WEZEL ,  DOROTHEA REUSSER

IPC: B05B12/08

Abstract: A smart nozzle assembly includes a nozzle, a nozzle control mechanism, and camera rigidly attached to the nozzle for use with a mobile robot in an autonomous spray painting system. The nozzle control mechanism is configured to control flowrate, control the shape of the spray pattern, mix two or more colors, and clean dried paint at the nozzle tip. The nozzle assembly further includes a process for running software to manage or initiate the nozzle control mechanism's functionality and to provide the nozzle calibration. The calibration method for the nozzle uses a novel algorithm that measures the spray pattern, the distribution of paint within the spray pattern, and the relative position of the nozzle and camera. The distribution of paint within the spray pattern is measured in terms of physical quantity of delivered paint per unit area.

公开(公告)号：US20150284010A1

公开(公告)日：2015-10-08

申请号：US14457291

申请日：2014-08-12

Applicant: DISNEY ENTERPRISES, INC.

Inventor： PAUL A. BEARDSLEY ,  SCOTT FRAZIER WATSON ,  JAVIER ALONSO-MORA

IPC: B60W50/10 ,  G05D1/00 ,  B60W30/08

CPC classification number: B60W50/10 ,  B60W30/08 ,  B60W2720/00 ,  G05D1/0011 ,  G05D1/0027 ,  G05D1/0274 ,  G05D1/0289 ,  G08G1/096816 ,  G08G1/096838 ,  G08G1/22 ,  G08G5/0013 ,  G08G5/0026 ,  G08G5/0043 ,  G08G5/0069 ,  G08G5/0082 ,  G08G5/045

Abstract: A method for providing shared control over movement of a vehicle within a space. The method includes receiving user input related to a velocity and a direction for the vehicle within the space. The method includes processing the user input to selectively adjust the velocity and the direction desired by the user based on a set of predefined constraints to generate a trajectory for the vehicle for an upcoming time period. The method includes operating drive mechanisms in the vehicle based on the trajectory to move the vehicle from a first position to a second position within the space during the upcoming time period. A grid map defining locations of obstacles in the space may be used to define the trajectory to avoid collisions, and a guidance trajectory may be used to further control movement to achieve a desired throughput and control vehicle movement within particular portions of the space.

Abstract translation: 一种用于提供对空间内的车辆的运动的共享控制的方法。 该方法包括接收与空间内的车辆的速度和方向相关的用户输入。 该方法包括处理用户输入，以基于一组预定义的约束来选择性地调整用户期望的速度和方向，以生成用于即将到来的时间段的车辆的轨迹。 该方法包括基于轨迹操作车辆中的驱动机构，以在未来的时间段内将车辆从第一位置移动到空间内的第二位置。 可以使用定义空间中的障碍物的位置的网格图来定义轨迹以避免碰撞，并且可以使用引导轨迹来进一步控制运动以实现期望的吞吐量并且控制在空间的特定部分内的车辆运动。