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公开(公告)号：US12221211B2
公开(公告)日：2025-02-11
申请号：US17657538
申请日：2022-03-31
Applicant: Wing Aviation LLC
Inventor： Ali Shoeb , Marcus Hammond , Christopher Cobar , Kyle Krafka , Kyle Julian , Kevin Jenkins
Abstract: 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：US12050475B2
公开(公告)日：2024-07-30
申请号：US17657544
申请日：2022-03-31
Applicant: Wing Aviation LLC
Inventor： Ali Shoeb , Marcus Hammond , Christopher Cobar , Kyle Krafka , Kyle Julian , Kevin Jenkins
IPC: G05D1/00 , B64C39/02 , B64D1/08 , B64D47/08 , B64U101/30 , B64U101/60 , G06Q10/0832 , G08G5/00
CPC classification number: G05D1/0808 , B64C39/022 , B64C39/024 , B64D1/08 , B64D47/08 , G05D1/101 , G06Q10/0832 , G08G5/0069 , B64U2101/30 , B64U2101/60 , B64U2201/10
Abstract: 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
Applicant: Wing Aviation LLC
Inventor： Ali Shoeb , Marcus Hammond , Christopher Cobar , Kyle Krafka , Kyle Julian , Kevin Jenkins
CPC classification number: 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
Abstract: 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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Patent Agency Ranking
公开(公告)号：US20230312091A1
公开(公告)日：2023-10-05
申请号：US17657538
申请日：2022-03-31
Applicant: Wing Aviation LLC
Inventor： Ali Shoeb , Marcus Hammond , Christopher Cobar , Kyle Krafka , Kyle Julian , Kevin Jenkins
CPC classification number: B64C39/024 , G05D1/042 , G05D1/0094 , G06V20/17 , G06V20/58 , G06Q50/28
Abstract: 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：US12283099B2
公开(公告)日：2025-04-22
申请号：US17657558
申请日：2022-03-31
Applicant: Wing Aviation LLC
Inventor： Ali Shoeb , Marcus Hammond , Christopher Cobar , Kyle Krafka , Kyle Julian , Kevin Jenkins
IPC: G06V20/17 , B64C39/02 , G05D1/00 , G06Q10/0832 , G06T7/11 , G06T7/70 , G06V10/774 , B64U101/30 , B64U101/60
Abstract: 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：US12242282B2
公开(公告)日：2025-03-04
申请号：US17946972
申请日：2022-09-16
Applicant: WING AVIATION LLC
Inventor： Christopher Cobar , Jeremie Gabor , Ali Shoeb
IPC: G05D1/00 , B64C39/02 , B64U101/30 , G06V10/75 , G06V20/17
Abstract: In some embodiments, an unmanned aerial vehicle (UAV) is provided. The UAV comprises one or more processors; a camera; one or more propulsion devices; and a computer-readable medium having instructions stored thereon that, in response to execution by the one or more processors, cause the UAV to perform actions comprising: receiving at least one image captured by the camera; generating labels for pixels of the at least one image by providing the at least one image as input to a machine learning model; identifying one or more landing spaces in the at least one image based on the labels; determining a relative position of the UAV with respect to the one or more landing spaces; and transmitting signals to the one or more propulsion devices based on the relative position of the UAV with respect to the one or more landing spaces.
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公开(公告)号：US20240094743A1
公开(公告)日：2024-03-21
申请号：US17946972
申请日：2022-09-16
Applicant: WING AVIATION LLC
Inventor： Christopher Cobar , Jeremie Gabor , Ali Shoeb
CPC classification number: G05D1/0676 , B64C39/024 , G05D1/0808 , G05D1/101 , G06V10/751 , G06V20/17 , B64C2201/127 , B64C2201/141
Abstract: In some embodiments, an unmanned aerial vehicle (UAV) is provided. The UAV comprises one or more processors; a camera; one or more propulsion devices; and a computer-readable medium having instructions stored thereon that, in response to execution by the one or more processors, cause the UAV to perform actions comprising: receiving at least one image captured by the camera; generating labels for pixels of the at least one image by providing the at least one image as input to a machine learning model; identifying one or more landing spaces in the at least one image based on the labels; determining a relative position of the UAV with respect to the one or more landing spaces; and transmitting signals to the one or more propulsion devices based on the relative position of the UAV with respect to the one or more landing spaces.
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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
Applicant: Wing Aviation LLC
Inventor： Ali Shoeb , Marcus Hammond , Christopher Cobar , Kyle Krafka , Kyle Julian , Kevin Jenkins
CPC classification number: G05D1/0808 , B64C39/024 , B64C39/022 , B64D47/08 , B64D1/08 , G08G5/0069 , G05D1/101 , G06Q10/0832 , B64C2201/127 , B64C2201/128 , B64C2201/141
Abstract: 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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