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    Semantic adjustment of unmanned aerial vehicle delivery points
    1.
    发明授权
    Semantic adjustment of unmanned aerial vehicle delivery points 有权

    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

    IPC: B64C39/02 ,  G05D1/00 ,  G05D1/04 ,  G06V20/17 ,  G06V20/58 ,  B64U101/60 ,  G06Q10/08

    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.

    UAV Autoloader Systems and Methods
    2.
    发明公开
    UAV Autoloader Systems and Methods 审中-公开

    公开(公告)号：US20230399101A1

    公开(公告)日：2023-12-14

    申请号：US18208168

    申请日：2023-06-09

    Applicant: Wing Aviation LLC

    Inventor： André Prager ,  Marcus Hammond ,  Kevin Jenkins ,  Ivan Qiu ,  Jasper Lewin

    IPC: B64D1/22 ,  B64U10/60

    CPC classification number: B64D1/22 ,  B64U10/60 ,  B64U2101/66

    Abstract: A method includes determining, by an unmanned aerial vehicle (UAV), a position of an autoloader device for the UAV; based on the determined position of the autoloader device, causing the UAV to follow a descent trajectory in which the UAV moves from a starting position to a first nudged position in order to deploy a tethered pickup component of the UAV to a payout position on an approach side of the autoloader device; deploying the tethered pickup component of the UAV to the payout position; causing the UAV to follow a side-step trajectory in which the UAV moves laterally to a second nudged position in order to cause the tethered pickup component of the UAV to engage the autoloader device; and retracting the tethered pickup component of the UAV to pick up a payload from the autoloader device.

    Automated Discovery and Monitoring of Uncrewed Aerial Vehicle Ground-Support Infrastructure
    3.
    发明申请
    Automated Discovery and Monitoring of Uncrewed Aerial Vehicle Ground-Support Infrastructure 有权

    公开(公告)号：US20240418530A1

    公开(公告)日：2024-12-19

    申请号：US18210331

    申请日：2023-06-15

    Applicant: Wing Aviation LLC

    Inventor： Marcus Hammond ,  Kyle Kakligian

    IPC: G01C21/00 ,  G05D1/10

    Abstract: A computing system in an infrastructure support network for uncrewed aerial vehicles (UAVs) may receive, from a UAV, aerial observation data of a ground-based cluster of charging pads for UAVs, the cluster comprising assets including the charging pads arranged in a layout and fiducial markers distributed across the layout. The aerial observation data may comprise position measurements of the UAV at aerial geolocations above the cluster, and vector positions of one or more assets with respect to the aerial geolocations. The computing system may generate a map graph from the aerial observation data, the map graph comprising (i) nodes corresponding to both the aerial geolocations and vector positions, and (ii) edges between pairs of selected nodes, the edges corresponding to distances between selected nodes and including measurement uncertainties. The computing system may generate a spatial map of cluster assets of the cluster by computationally optimizing the map graph.

    Semantic Adjustment of Unmanned Aerial Vehicle Delivery Points
    6.
    发明公开
    Semantic Adjustment of Unmanned Aerial Vehicle Delivery Points 审中-公开

    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

    IPC: B64C39/02 ,  G05D1/04 ,  G05D1/00 ,  G06V20/17 ,  G06V20/58

    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.

    VISUAL DETECTION AND LOCALIZATION OF PACKAGE AUTOLOADERS BY UAV
    8.
    发明申请
    VISUAL DETECTION AND LOCALIZATION OF PACKAGE AUTOLOADERS BY UAV 有权

    公开(公告)号：US20240428440A1

    公开(公告)日：2024-12-26

    申请号：US18211919

    申请日：2023-06-20

    Applicant: WING AVIATION LLC

    Inventor： David Stonestrom ,  Ali Shoeb ,  Marcus Hammond

    IPC: G06T7/73 ,  B64D45/00 ,  B64U10/20 ,  G06V20/17

    Abstract: A technique for a UAV includes: acquiring an aerial image of an area below a UAV that includes one or more instances of an object; analyzing the aerial image with an image classifier to classify select pixels of the aerial image as being keypoint pixels associated with keypoints of the object; grouping the keypoint pixels into one or more groups each associated with one of the instances of the object, wherein first keypoint pixels of the keypoint pixels are grouped into a first group of the one or more groups associated with a first instance of the one or more instances of the object; generating an estimate of a relative position of the UAV to the first instance of the object based at least upon a machine vision analysis of the first keypoint pixels; and navigating the UAV into alignment with the first instance based upon the estimate.

    Context-Based Navigation of Uncrewed Vehicles Using Relative Position Markers
    10.
    发明公开
    Context-Based Navigation of Uncrewed Vehicles Using Relative Position Markers 审中-公开

    公开(公告)号：US20240194081A1

    公开(公告)日：2024-06-13

    申请号：US18077371

    申请日：2022-12-08

    Applicant: Wing Aviation LLC

    Inventor： Marcus Hammond

    IPC: G08G5/00 ,  B64C39/02 ,  G06V20/17

    CPC classification number: G08G5/0069 ,  B64C39/024 ,  G06V20/17 ,  B64C2201/066 ,  B64C2201/18

    Abstract: In an example embodiment, a method carried out by an uncrewed aerial vehicle (UAV) may involve receiving a reference map of a cluster of charging pads from a server. The cluster may include a layout of charging pads and fiducial markers distributed across the layout, the reference map representing the layout and fiducial markers. The UAV may fly to the cluster and acquire an image of charging pads and observed fiducial markers near the charging pads. The image may capture an observed constellation of fiducial markers at apparent positions and orientations relative to the charging pads. A reference constellation of fiducial markers at reference positions and orientations relative to reference charging pads may be identified in the reference map. Identities of the reference charging pads and a match of the reference constellation to the observed constellation may be used to disambiguate a particular charging pad from among the charging pads.

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