Technology is disclosed herein for operating a tasking service for UAVs. In an implementation, a tasking service receives task parameters which includes a desired state of the UAVs for performing a task and service information associated with performing the task. The tasking service continuously receives state information from the UAVs which identifies a present state of the UAVs and continuously evaluates the present state of the UAVs with respect to the desired state. When the present state of an UAV matches the desired state, the tasking service assigns the task to the UAV and provides the service information to the UAV. In an implementation, the tasking service receives task parameters via an application programming interface from a client application in communication with the tasking service.
Technology is disclosed herein for operating a tasking service for UAVs. In an implementation, a tasking service receives task parameters which includes a desired state of the UAVs for performing a task and service information associated with performing the task. The tasking service continuously receives state information from the UAVs which identifies a present state of the UAVs and continuously evaluates the present state of the UAVs with respect to the desired state. When the present state of an UAV matches the desired state, the tasking service assigns the task to the UAV and provides the service information to the UAV. In an implementation, the tasking service receives task parameters via an application programming interface from a client application in communication with the tasking service.
An unmanned aerial vehicle (UAV) system includes one or more processors and one or more computer storage media storing instructions that when executed by the one or more processors, cause the one or more processors to perform operations that include obtaining flight information of the UAV; determining one or more modifications based on the flight information; and transmitting data messages over data buses based on the one or more modifications.
G01C 23/00 - Combined instruments indicating more than one navigational value, e.g. for aircraft; Combined measuring devices for measuring two or more variables of movement, e.g. distance, speed or acceleration
In some examples, a first device includes multiple fixed first cameras and a movable second camera. A processor is configured to receive, from at least one of the fixed first cameras, a plurality of first images of an airspace corresponding to an area of operation of an unmanned aerial vehicle, and detect, based at least on the first images, a candidate object approaching or within the airspace. Based on detecting the candidate object, the processor controls a movable second camera to direct a field of view of the movable second camera toward the candidate object. Based on one or more second images from the movable second camera captured at a first location and one or more third images from a third camera captured at a second location, the processor may determine that the candidate object is an object of interest and perform at least one action.
G06V 10/25 - Determination of region of interest [ROI] or a volume of interest [VOI]
G06V 10/764 - Arrangements for image or video recognition or understanding using pattern recognition or machine learning using classification, e.g. of video objects
G06V 10/80 - Fusion, i.e. combining data from various sources at the sensor level, preprocessing level, feature extraction level or classification level
G06V 10/82 - Arrangements for image or video recognition or understanding using pattern recognition or machine learning using neural networks
G06V 20/17 - Terrestrial scenes taken from planes or by drones
G06V 20/52 - Surveillance or monitoring of activities, e.g. for recognising suspicious objects
H04N 23/695 - Control of camera direction for changing a field of view, e.g. pan, tilt or based on tracking of objects
5.
Detecting Optical Discrepancies In Captured Images
Embodiments are described for detecting optical discrepancies associated with image capture analyzing pixels in multiple images corresponding to common points of reference in a physical environment. In an embodiment, photometric error values are averaged over time to compute the mean error at each pixel. Once the estimate of the mean error has a sufficient number of updates above a specified value, the estimate is thresholded to provide a mask of any optical discrepancies occurring in the stereo pair of images. Applications include detecting optical discrepancies in images captured for use by a visual navigation system in guiding an autonomous vehicle (e.g., an unmanned aerial vehicle).
H04N 13/00 - PICTORIAL COMMUNICATION, e.g. TELEVISION - Details thereof
H04N 13/239 - Image signal generators using stereoscopic image cameras using two 2D image sensors having a relative position equal to or related to the interocular distance
H04N 17/00 - Diagnosis, testing or measuring for television systems or their details
H04N 23/45 - Cameras or camera modules comprising electronic image sensors; Control thereof for generating image signals from two or more image sensors being of different type or operating in different modes, e.g. with a CMOS sensor for moving images in combination with a charge-coupled device [CCD] for still images
H04N 23/69 - Control of means for changing angle of the field of view, e.g. optical zoom objectives or electronic zooming
H04N 23/71 - Circuitry for evaluating the brightness variation
H04N 23/81 - Camera processing pipelines; Components thereof for suppressing or minimising disturbance in the image signal generation
H04N 23/90 - Arrangement of cameras or camera modules, e.g. multiple cameras in TV studios or sports stadiums
A portion of a vertical structure is determined for inspection by an unmanned aerial vehicle. A flight plan including safe locations around the vertical structure is determined. Each of the safe locations is associated with a respective column of waypoints. The unmanned aerial vehicle navigates according to the flight plan by navigating to a first safe location of the safe locations, navigating vertically along a first column associated with the first safe location, activating sensors to obtain respective sensor information at at least some of the waypoints associated with the first safe location, navigating to a second safe location of the safe locations, navigating vertically along a second column associated with the second safe location, and activating the sensors to obtain respective sensor information at at least some of the waypoints associated with the second safe location.
A method includes: establishing wireless connection between an unmanned aerial vehicle (UAV) and a user interface; generating, via the user interface, a flight path for the unmanned aerial vehicle; generating, via the user interface, a flight schedule for the unmanned aerial vehicle, the flight schedule being associated with the flight path and include one or more designated times; and initiating, via the user interface, autonomous operation of the unmanned aerial vehicle for the unmanned aerial vehicle to autonomously fly the flight path at the one or more designated times
An autonomous vehicle that is equipped with image capture devices can use information gathered from the image capture devices to plan a future three-dimensional (3D) trajectory through a physical environment. To this end, a technique is described for image-space based motion planning. In an embodiment, a planned 3D trajectory is projected into an image-space of an image captured by the autonomous vehicle. The planned 3D trajectory is then optimized according to a cost function derived from information (e.g., depth estimates) in the captured image. The cost function associates higher cost values with identified regions of the captured image that are associated with areas of the physical environment into which travel is risky or otherwise undesirable. The autonomous vehicle is thereby encouraged to avoid these areas while satisfying other motion planning objectives.
A technique is introduced for touchdown detection during autonomous landing by an aerial vehicle. In some embodiments, the introduced technique includes processing perception inputs with a dynamics model of the aerial vehicle to estimate the external forces and/or torques acting on the aerial vehicle. The estimated external forces and/or torques are continually monitored while the aerial vehicle is landing to determine when the aerial vehicle is sufficiently supported by a landing surface. In some embodiments, semantic information associated with objects in the environment is utilized to configure parameters associated with the touchdown detection process.
Methods and systems are disclosed for an unmanned aerial vehicle (UAV) configured to autonomously navigate a physical environment while capturing images of the physical environment. In some embodiments, the motion of the UAV and a subject in the physical environment may be estimated based in part on images of the physical environment captured by the UAV. In response to estimating the motions, image capture by the UAV may be dynamically adjusted to satisfy a specified criterion related to a quality of the image capture.
A technique for user interaction with an autonomous unmanned aerial vehicle (UAV) is described. In an example embodiment, perception inputs from one or more sensor devices are processed to build a shared virtual environment that is representative of a physical environment. The sensor devices used to generate perception inputs can include image capture devices onboard an autonomous aerial vehicle that is in flight through the physical environment. The shared virtual environment can provide a continually updated representation of the physical environment which is accessible to multiple network-connected devices, including multiple UAVs and multiple mobile computing devices. The shared virtual environment can be used, for example, to display visual augmentations at network-connected user devices and guide autonomous navigation by the UAV.
Sports and fitness applications for an autonomous unmanned aerial vehicle (UAV) are described. In an example embodiment, a UAV can be configured to track a human subject using perception inputs from one or more onboard sensors. The perception inputs can be utilized to generate values for various performance metrics associated with the activity of the human subject. In some embodiments, the perception inputs can be utilized to autonomously maneuver the UAV to lead the human subject to satisfy a performance goal. The UAV can also be configured to autonomously capture images of a sporting event and/or make rule determinations while officiating a sporting event.
Techniques are described for controlling an autonomous vehicle such as an unmanned aerial vehicle (UAV) using objective-based inputs. In an embodiment, the underlying functionality of an autonomous navigation system is exposed via an application programming interface (API) allowing the UAV to be controlled through specifying a behavioral objective, for example, using a call to the API to set parameters for the behavioral objective. The autonomous navigation system can then incorporate perception inputs such as sensor data from sensors mounted to the UAV and the set parameters using a multi-objective motion planning process to generate a proposed trajectory that most closely satisfies the behavioral objective in view of certain constraints. In some embodiments, developers can utilize the API to build customized applications for the UAV. Such applications, also referred to as “skills,” can be developed, shared, and executed to control behavior of an autonomous UAV and aid in overall system improvement.
Autonomous aerial navigation in low-light and no-light conditions includes using night mode obstacle avoidance intelligence, training, and mechanisms for vision-based unmanned aerial vehicle (UAV) navigation to enable autonomous flight operations of a UAV in low-light and no-light environments using infrared data.
A flight plan of an unmanned aerial vehicle (UAV) for inspecting a structure that includes an RF transmitter is received. The structure is surveyed based on the flight plan to collect RF signal data. An RF map associated with the structure is generated based on the collected RF signal data. The flight plan is adjusted based on the generated RF map to account for detected RF signal strengths. The UAV is navigated according to the adjusted flight plan.
G01S 1/02 - Beacons or beacon systems transmitting signals having a characteristic or characteristics capable of being detected by non-directional receivers and defining directions, positions, or position lines fixed relatively to the beacon transmitters; Receivers co-operating therewith using radio waves
16.
PRE-EMPTIVE GENERATION OF AUTONOMOUS UNMANNED AERIAL VEHICLE INSPECTIONS ACCORDING TO MONITORED SENSOR EVENTS
A property is identified for inspection based on a determination of a weather event impacting the property. A flight plan usable by an unmanned aerial vehicle (UAV) in identifying an extent of damage to the property caused by the weather event is determined. A user interface is presented at a user device. The user interface includes user interface controls configured for toggling layers of the user interface. The layers include a first layer that includes a geofence, a second layer that includes an inspection area of the property, a third layer that includes one of a launch location or a landing location of the UAV, and a fourth layer that includes a base map layer of an area that includes the property. A modification to the flight plan is received via the user interface.
A dock assembly includes a docking station and a stand or mount coupled to the docking station. The dock assembly may be configured for an unmanned aerial vehicle (UAV). The docking station may include a landing surface configured to interface with the UAV, an extended portion coupled to the landing surface and extending from the landing surface, and a fiducial located on the extended portion.
A battery configured to power an unmanned aerial vehicle. The battery includes an enclosure configured to house a power module of the battery. The battery also includes one or more conducting contacts located on the enclosure configured to contact one or more pogo pins of a battery charger located on a docking station of the unmanned aerial vehicle.
Technology is disclosed herein for a method of operating a UAV as an access point for communication with one or more ground controllers and/or one or more other UAVs. In an implementation, a UAV establishes a connection, including an uplink and downlink, between the UAV and a ground controller such that the UAV is an access point with respect to the ground controller. The connection is established in accordance with a wireless protocol that divides the RF spectrum into bands of resource units with respect to uplinks and downlinks between access points and non-access points. The UAV identifies a single resource unit (RU) to support uplink traffic and instructs the ground controller to transmit uplink traffic on the single resource unit. The UAV receives uplink traffic from the ground controller on the single resource unit.
Technology is disclosed herein for a method of operating a UAV as an access point for communication with one or more ground controllers and/or one or more other UAVs. In an implementation, a UAV establishes a connection, including an uplink and downlink, between the UAV and a ground controller such that the UAV is an access point with respect to the ground controller. The connection is established in accordance with a wireless protocol that divides the RF spectrum into bands of resource units with respect to uplinks and downlinks between access points and non-access points. The UAV identifies a single resource unit (RU) to support uplink traffic and instructs the ground controller to transmit uplink traffic on the single resource unit. The UAV receives uplink traffic from the ground controller on the single resource unit.
Landmarks are identified based on images of an area. A path is generated for a vehicle to traverse the area that includes the landmarks. Precise locations information indicative of locations of the vehicle and captured by a high accuracy position receiver of the vehicle while the vehicle traverses the path are received from the vehicle. At least some of the precise locations information are associated with the landmarks. Unmanned aerial vehicle (UAV) data are received from a UAV. The UAV data include aerial images of the area captured by the UAV and UAV location information corresponding to the aerial images. A three-dimensional model of the area is generated based on at least some of the precise locations information and the aerial images.
In some examples, an image of a scan target is presented in a user interface on a display associated with a computing device. The user interface receives at least one user input indicating at least one point in a perimeter or edge of a volume for encompassing the scan target presented in the image of the scan target. A graphical representation of the volume in relation to the image of the scan target is generated in the user interface. Information for defining a location of at least a portion of the volume in three-dimensional space is sent to an unmanned aerial vehicle (UAV) to cause, at least in part, the UAV to scan at least a portion of the scan target corresponding to the volume.
G06T 7/55 - Depth or shape recovery from multiple images
G06T 7/73 - Determining position or orientation of objects or cameras using feature-based methods
G05B 13/02 - Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion electric
G06T 19/20 - Editing of 3D images, e.g. changing shapes or colours, aligning objects or positioning parts
Aerial images captured by a first device are received. A landmark is identified in an aerial image of the aerial images. A determination is made, based on data in a data store, that the landmark is identified as a control point. Precise location information is associated with the control point in the data store. The precise location information indicates a location of a second device at a time that a third device that is different from the second device captured a prior image that includes the landmark. Imagery are generated using photogrammetry software based on the aerial image and the precise location information.
A base station is disclosed for an unmanned aerial vehicle (UAV) that includes: an enclosure defining a window that is configured to receive the UAV to allow for entry of the UAV into the base station and exit of the UAV from the base station; a door that is movably connected to the enclosure such that the door is repositionable between a closed position and an open position; a sealing member that extends about the window and which is configured for engagement with the door so as to form a seal therewith in the closed position; and a heating system that is supported by the enclosure and which is configured to heat the door and/or the sealing member to support operation (e.g., opening and closure) of the door in a cold environment, wherein the heating system includes at least one light source and at least one heating element.
A docking system is disclosed for an unmanned aerial vehicle (UAV). The docking system includes a base station that is configured to receive the UAV and a pedestal that is configured to support the base station in an elevated position. The pedestal defines an interior space that is configured in correspondence with an outer contour of the base station such that the base station is positionable within the pedestal to protect the base station during nonuse.
A base station is disclosed for an unmanned aerial vehicle (UAV). The base station includes: an enclosure; a slide mechanism that is connected to the enclosure and which is repositionable between a retracted position and an extended position; and a cradle that is connected to the slide mechanism and which defines a chamber that is configured to receive the UAV such that the UAV is movable into and out of the enclosure during repositioning of the slide mechanism between the retracted position and the extended position. The cradle includes: an upper shell; a lower shell that is connected to the upper shell; and at least one thermal insulator that is located between the upper shell and the lower shell.
A method of using a base station to charge an unmanned aerial vehicle (UAV) is disclosed. The method includes: docking the UAV with a cradle of the base station; retracting the cradle into an enclosure of the base station via a slide mechanism; and electrically connecting a power source of the UAV to a charging hub connected to the slide mechanism to thereby charge the power source.
B60L 53/30 - Constructional details of charging stations
B60L 53/10 - Methods of charging batteries, specially adapted for electric vehicles; Charging stations or on-board charging equipment therefor; Exchange of energy storage elements in electric vehicles characterised by the energy transfer between the charging station and the vehicle
A base station for an unmanned aerial vehicle (UAV) is disclosed. The base station includes: an enclosure; a slide mechanism that is connected to the enclosure and which is repositionable between a retracted position and an extended position; a cradle that is connected to the slide mechanism and which is configured for docking with the UAV such that the UAV is movable into and out of the enclosure during repositioning of the slide mechanism between the retracted position and the extended position; and a charging hub that is connected to the slide mechanism and which is configured for electrical connection to a power source of the UAV to charge the power source.
A base station is disclosed for an unmanned aerial vehicle (UAV). The base station includes: a metallic enclosure; a first electronics module; a second electronics module; and a third electronics module, wherein the first electronics module, the second electronics module, and the third electronics module are each configured for individual removal from the metallic enclosure. The metallic enclosure is configured to receive the UAV and includes a front end having a front door and a rear end having a rear door. The rear door is located adjacent to the first electronics module and includes a metallic panel that is positioned in correspondence with the first electronics module so as to create a Faraday cage for the first electronics module and thereby reduce electromagnetic emissions from the base station.
A base station for an unmanned aerial vehicle (UAV) is disclosed that includes: an enclosure; a slide mechanism; and a cradle. The slide mechanism is repositionable between a retracted and extended positions and is secured in relation to the enclosure via first and second mounts, which are located between the slide mechanism and the enclosure so as to separate the slide mechanism from the enclosure and thereby reduce vibration of the slide mechanism during repositioning between the retracted and extended positions. The cradle is connected to the slide mechanism and is configured for docking with the UAV such that the UAV is movable into and out of the enclosure during repositioning of the slide mechanism between the retracted and extended positions.
A base station for an unmanned aerial vehicle (UAV) is disclosed that includes: an enclosure defining an internal cavity that is configured to receive the UAV; a door that is movably connected to the enclosure; actuators that extend between the door and the enclosure to facilitate opening and closure of the door; a cradle that is configured to receive the UAV and which is movable in relation to the enclosure such that the cradle is repositionable between a retracted position and an extended position to facilitate movement of the UAV into and out of the enclosure; and engagement members that are secured to the actuators and which are configured for contact with propeller assemblies on the UAV to facilitate folding of the propeller assemblies during movement of the UAV into the enclosure.
B60L 53/30 - Constructional details of charging stations
B60L 53/10 - Methods of charging batteries, specially adapted for electric vehicles; Charging stations or on-board charging equipment therefor; Exchange of energy storage elements in electric vehicles characterised by the energy transfer between the charging station and the vehicle
A base station for an unmanned aerial vehicle (UAV) is disclosed. The base station includes: an enclosure; a slide mechanism that is connected to the enclosure and which is repositionable between a retracted position and an extended position; a cradle that is connected to the slide mechanism and which is configured for docking with the UAV such that the UAV is movable into and out of the enclosure during repositioning of the slide mechanism between the retracted position and the extended position; and a charging hub that is connected to the slide mechanism and which is configured for electrical connection to a power source of the UAV to charge the power source.
Methods, systems, and apparatus, including computer programs encoded on computer storage media, for unmanned aerial vehicle authorization and geofence envelope determination. One of the methods includes determining, by an electronic system in an Unmanned Aerial Vehicle (UAV), an estimated fuel remaining in the UAV. An estimated fuel consumption of the UAV is determined. Estimated information associated with wind affecting the UAV is determined using information obtained from sensors included in the UAV. Estimated flights times remaining for a current path, and one or more alternative flight paths, are determined using the determined estimated fuel remaining, determined estimated fuel consumption, determined information associated wind, and information describing each flight path. In response to the electronic system determining that the estimated fuel remaining, after completion of the current flight path, would be below a first threshold, an alternative flight path is selected.
G05D 1/02 - Control of position or course in two dimensions
B64C 39/02 - Aircraft not otherwise provided for characterised by special use
H04W 4/029 - Location-based management or tracking services
G05D 1/00 - Control of position, course, altitude, or attitude of land, water, air, or space vehicles, e.g. automatic pilot
H04W 48/02 - Access restriction performed under specific conditions
H04L 67/12 - Protocols specially adapted for proprietary or special-purpose networking environments, e.g. medical networks, sensor networks, networks in vehicles or remote metering networks
H04W 4/021 - Services related to particular areas, e.g. point of interest [POI] services, venue services or geofences
G07C 5/02 - Registering or indicating driving, working, idle, or waiting time only
G07C 5/08 - Registering or indicating performance data other than driving, working, idle, or waiting time, with or without registering driving, working, idle, or waiting time
34.
Performing 3D reconstruction via an unmanned aerial vehicle
In some examples, an unmanned aerial vehicle (UAV) may include one or more processors configured to capture, with one or more image sensors, and while the UAV is in flight, a plurality of images of a target. The one or more processors may compare a first image of the plurality of images with a second image of the plurality of images to determine a difference between a current frame of reference position for the UAV and an estimate of an actual frame of reference position for the UAV. In addition, the one or more processors may determine, based at least on the difference, and while the UAV is in flight, an update to a three-dimensional model of the target.
G05B 13/02 - Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion electric
G05B 17/02 - Systems involving the use of models or simulators of said systems electric
G05D 1/00 - Control of position, course, altitude, or attitude of land, water, air, or space vehicles, e.g. automatic pilot
G06T 7/55 - Depth or shape recovery from multiple images
G06T 7/73 - Determining position or orientation of objects or cameras using feature-based methods
Methods and apparatuses for enhancing vehicle range in a unmanned aircraft system is disclosed herein. An implementation of the method includes establishing a wireless communication channel between an unmanned aircraft and an end point and transmitting data from the unmanned aircraft to the end point over the wireless communication channel. This transmission is done in accordance with a transmission configuration, which defines a Forward Error Correction (FEC) value and a retry rate. The method further includes receiving transmission statistics related to transmitting the data and modifying the transmission configuration at least in part in response to the transmission statistics. The method also includes transmitting further data from the unmanned aircraft to the end point over the wireless communication channel in accordance with the modified transmission configuration.
Technology for operating an unmanned aerial vehicle (UAV) communication system is disclosed herein that allows an UAV communication system to transition between modulation modes. In various implementations, a wireless radio of the UAV communication system operates in a dynamic modulation mode such that the wireless radio dynamically adjusts the modulation rate of a signal within a range of possible modulation rates. The wireless radio transitions to a fixed modulation mode, based at least on a current modulation rate of the signal reaching a low end of the range of possible modulation rates. When in the fixed modulation mode, the wireless radio holds the modulation rate at the low end of the range of possible modulation rates. The wireless radio returns to the dynamic modulation mode based on the quality of the signal.
A calibration of an unmanned aerial vehicle is performed without the use of a magnetometer. The unmanned aerial vehicle generates a first acceleration vector in a navigation frame of reference and a second acceleration vector in a GPS frame of reference. The unmanned aerial vehicle estimates a heading of the unmanned aerial vehicle based on the first acceleration vector and the second acceleration vector. The unmanned aerial vehicle performs a calibration based on the estimated heading of the unmanned aerial vehicle.
G01C 21/16 - Navigation; Navigational instruments not provided for in groups by using measurement of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation
G01C 21/20 - Instruments for performing navigational calculations
G01C 25/00 - Manufacturing, calibrating, cleaning, or repairing instruments or devices referred to in the other groups of this subclass
B64C 39/02 - Aircraft not otherwise provided for characterised by special use
G01S 19/23 - Testing, monitoring, correcting or calibrating of a receiver element
G01S 19/49 - Determining position by combining or switching between position solutions derived from the satellite radio beacon positioning system and position solutions derived from a further system whereby the further system is an inertial position system, e.g. loosely-coupled
38.
Dynamic Channel Selection For Unmanned Aerial Vehicles
Technology is disclosed herein for dynamically selecting a communication channel for communication between an unmanned aerial vehicle and an access point. In an implementation, an unmanned aerial vehicle selects a current channel for communicating with an access point by performing a scan of the communication channels and, for each channel, generating a score based on performance metrics acquired during the scan. The communication channels are sorted into an ordered list according to the scores of the communication channels. The vehicle selects the first channel of the ordered list to be the current channel and periodically evaluates the channel performance against a performance threshold. Upon determining that the performance of the current channel is below the performance threshold, the vehicle evaluates the second channel from the ordered list.
Provided herein are various enhancements for unmanned aerial vehicles and operations. An unmanned aerial vehicle includes a wireless communication system configured to establish a wireless link for at least flight control information for the unmanned aerial vehicle. The wireless communication system is configured to monitor the flight control information using a first wireless channel having a first bandwidth and periodically tune away to a second wireless channel having a second bandwidth wider than the first bandwidth for transmission of a beacon frame that includes remote identification information corresponding to the unmanned aerial vehicle.
A calibration of an unmanned aerial vehicle is performed without the use of a magnetometer. The unmanned aerial vehicle generates a first acceleration vector in a navigation frame of reference and a second acceleration vector in a GPS frame of reference. The unmanned aerial vehicle estimates a heading of the unmanned aerial vehicle based on the first acceleration vector and the second acceleration vector. The unmanned aerial vehicle performs a calibration based on the estimated heading of the unmanned aerial vehicle.
G01S 19/47 - Determining position by combining measurements of signals from the satellite radio beacon positioning system with a supplementary measurement the supplementary measurement being an inertial measurement, e.g. tightly coupled inertial
G01C 21/16 - Navigation; Navigational instruments not provided for in groups by using measurement of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation
09 - Scientific and electric apparatus and instruments
12 - Land, air and water vehicles; parts of land vehicles
42 - Scientific, technological and industrial services, research and design
Goods & Services
Cameras; digital cameras; digital video cameras; mounting devices for cameras; cameras for aerial photography and video; cameras for navigation and obstacle avoidance; cameras for navigation and obstacle avoidance in low and no light; remotely-controlled video camera containing a camera, transmitter, and receiver for recording and transmitting audio visual data on drones; computer application software for mobile phones, tablets, handheld computers, for use in managing, controlling, and tracking drones and remotely-controlled video cameras; computer software for managing, controlling, and tracking drones and remotely-controlled video cameras for drones; autopilots in the nature of electronic control systems for Unmanned Aerial Vehicles (UAV) or Drones; autopilot software for automatically controlling Unmanned Aerial Vehicles (UAV) and Drones; navigation apparatus and system for Unmanned Aerial Vehicles (UAV) or Drones comprising of circuit boards, integrated circuits, electronic circuits, electric sensors, proximity sensors, GPS antenna, data processors, digital signal processors, and embedded software for altitude solution and flight controls; mission computer software for the command, control and operation of Unmanned Aerial Vehicles or Drones and for the autonomous waypoint navigation, take-off, landing, loiter, and other related algorithms for controlling Unmanned Aerial Vehicles or Drones; mission computer software for the command, control and operation of Unmanned Aerial Vehicles or Drones and for the autonomous waypoint navigation, take-off, landing, loiter, and other related algorithms for controlling Unmanned Aerial Vehicles or Drones in low-light or no-light conditions; computer software for the autonomous control and monitoring of Unmanned Aerial Vehicles (UAV) or Drones location, speed, altitude, and position; computer software for on-board semantic understanding of the environment around Unmanned Aerial Vehicles (UAV) or Drones; computer software for sending commands and information to and from Unmanned Aerial Vehicles (UAV) or Drones; computer software for displaying information, video, and images sent from the Unmanned Aerial Vehicles (UAV) or Drones; computer software for use in aerial photography and video, mapping, three-dimensional mapping, and aerial photography and video for use in construction projects and infrastructure maintenance and inspection; autopilot software for Unmanned Aerial Vehicles (UAV) or Drones; computer hardware for use in drones and unmanned aerial vehicles (UAVs) for the purpose of collision avoidance and object detection; computer hardware for use in drones and unmanned aerial vehicles (UAVs) for the purpose of collision avoidance and object detection in low-light or no-light conditions; computer software systems for use in drones and unmanned aerial vehicles (UAVs) that includes artificial intelligence capabilities for intelligent observation, detection, and collision avoidance; computer software systems for use in drones and unmanned aerial vehicles (UAVs) that includes artificial intelligence capabilities for intelligent observation, detection, and collision avoidance in low-light or no-light conditions; computer software for processing terrestrial and aerial imagery for creating maps and models, for converting, processing and editing images into geo-referenced maps and models and for mapping and modeling physical objects, geographic, topographic, natural and built areas, and construction, agricultural, mines and quarries, cultural heritage and archeological sites; computer software programs for processing terrestrial and aerial imagery for creating maps and models, for converting, processing and editing images into geo-referenced models and maps and for mapping and modeling physical objects, geographic, topographic areas, natural and built areas, and construction, agricultural, mines and quarries, cultural heritage and archeological sites; interactive multimedia computer programs for processing terrestrial and aerial imagery for creating maps and models, for converting, processing and editing images into geo-referenced models and maps and for mapping and modeling physical objects, geographic, topographic areas, natural and built areas and construction, agricultural, mines and quarries, cultural heritage and archeological sites; computer software for processing images, graphics and text; computer programs and software for image processing; computer software for processing digital images; computer software for two or three-dimensional simulation for use in design and development of industrial products; downloadable electronic publications, namely, manuals and guides in the field of software; downloadable video files featuring terrestrial and aerial imagery; electronic publications, namely, manuals and guides in the field of software, electronic imaging devices for use in copying, printing, scanning, video capturing and transmitting documents and images; video imaging systems comprised of scanners, cameras, video recorders, video receivers, video servers and video imaging computer software for recording, organizing, transmitting, manipulating, and reviewing image files; computer application software for mobile phones, cellular phones, handheld computers, smart telephones, PC tablets, personal digital assistants, mobile computers, and portable media players for use with flight simulation planning and supporting data capturing related thereto Drones; drones in the nature of unmanned aerial vehicles for use in aerial photography and video, mapping, and three-dimensional mapping; drones in the nature of unmanned aerial vehicles for use in aerial photography and video for use in construction projects and infrastructure maintenance inspection; camera mounts for drones; unmanned aerial vehicles for surveillance, reconnaissance, mapping, three-dimensional mapping, aerial photography, video and sound recordings, namely, drones Application service provider featuring application programming interface (API) software for use in managing, controlling, and tracking drones and remotely-controlled video cameras; providing a website for uploading, storing, and sharing data and flight information from drones and remotely-controlled video cameras; application service provider featuring application programing interface (API) software for use in aerial photography and video, mapping, three-dimensional mapping, and aerial photography and video for use in construction projects and infrastructure maintenance and inspection; providing temporary use of online non-downloadable computer software for use in connection with controlling drones and unmanned aerial vehicles (UAVs) that include artificial intelligence capabilities for intelligent observation, detection, and collision avoidance; computer software technical support services in the nature of troubleshooting computer software problems and help desk services; industrial and graphic art design; cartography services; design and development of computer hardware and software; design, development and updating of computer software; providing temporary use of on-line non-downloadable applications and software tools for image editing and processing; computer software technical support services in the nature of troubleshooting computer software problems and help desk services
42.
Computer-Implemented Symbolic Differentiation Using First-Order Retraction
A computer accesses an input element storage and an output element storage. The computer accesses a symbolic expression for output element storage as a function of the input element storage. The computer computes, using a symbolic computation engine of the computer, a symbolic expression for the tangent space Jacobian of the output element storage with respect to an input tangent space. The computer outputs the computed expression.
Methods and systems are described for new paradigms for user interaction with an unmanned aerial vehicle (referred to as a flying digital assistant or FDA) using a portable multifunction device (PMD) such as smart phone. In some embodiments, a user may control image capture from an FDA by adjusting the position and orientation of a PMD. In other embodiments, a user may input a touch gesture via a touch display of a PMD that corresponds with a flight path to be autonomously flown by the FDA.
G05D 1/00 - Control of position, course, altitude, or attitude of land, water, air, or space vehicles, e.g. automatic pilot
G06F 3/00 - Input arrangements for transferring data to be processed into a form capable of being handled by the computer; Output arrangements for transferring data from processing unit to output unit, e.g. interface arrangements
H04N 5/00 - PICTORIAL COMMUNICATION, e.g. TELEVISION - Details of television systems
G06F 3/04883 - Interaction techniques based on graphical user interfaces [GUI] using specific features provided by the input device, e.g. functions controlled by the rotation of a mouse with dual sensing arrangements, or of the nature of the input device, e.g. tap gestures based on pressure sensed by a digitiser using a touch-screen or digitiser, e.g. input of commands through traced gestures for inputting data by handwriting, e.g. gesture or text
B64C 39/02 - Aircraft not otherwise provided for characterised by special use
44.
Magic Wand Interface And Other User Interaction Paradigms For A Flying Digital Assistant
Methods and systems are described for new paradigms for user interaction with an unmanned aerial vehicle (referred to as a flying digital assistant or FDA) using a portable multifunction device (PMD) such as smart phone. In some embodiments, a magic wand user interaction paradigm is described for intuitive control of an FDA using a PMD. In other embodiments, methods for scripting a shot are described.
G05D 1/00 - Control of position, course, altitude, or attitude of land, water, air, or space vehicles, e.g. automatic pilot
B64C 39/02 - Aircraft not otherwise provided for characterised by special use
G01C 23/00 - Combined instruments indicating more than one navigational value, e.g. for aircraft; Combined measuring devices for measuring two or more variables of movement, e.g. distance, speed or acceleration
G01C 21/16 - Navigation; Navigational instruments not provided for in groups by using measurement of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation
09 - Scientific and electric apparatus and instruments
12 - Land, air and water vehicles; parts of land vehicles
42 - Scientific, technological and industrial services, research and design
Goods & Services
Cameras; digital cameras; digital video cameras; mounting devices for cameras; cameras for aerial photography and video; cameras for navigation and obstacle avoidance; cameras for navigation and obstacle avoidance in low and no light; remotely-controlled video camera containing a camera, transmitter, and receiver for recording and transmitting audio visual data on drones; computer application software for mobile phones, tablets, handheld computers, for use in managing, controlling, and tracking drones and remotely-controlled video cameras; computer software for managing, controlling, and tracking drones and remotely-controlled video cameras for drones; autopilots in the nature of electronic control systems for Unmanned Aerial Vehicles (UAV) or Drones; autopilot software for automatically controlling Unmanned Aerial Vehicles (UAV) and Drones; navigation apparatus and system for Unmanned Aerial Vehicles (UAV) or Drones comprising of circuit boards, integrated circuits, electronic circuits, electric sensors, proximity sensors, GPS antenna, data processors, digital signal processors, and embedded software for altitude solution and flight controls; mission computer software for the command, control and operation of Unmanned Aerial Vehicles or Drones and for the autonomous waypoint navigation, take-off, landing, loiter, and other related algorithms for controlling Unmanned Aerial Vehicles or Drones; mission computer software for the command, control and operation of Unmanned Aerial Vehicles or Drones and for the autonomous waypoint navigation, take-off, landing, loiter, and other related algorithms for controlling Unmanned Aerial Vehicles or Drones in low-light or no-light conditions; computer software for the autonomous control and monitoring of Unmanned Aerial Vehicles (UAV) or Drones location, speed, altitude, and position; computer software for on-board semantic understanding of the environment around Unmanned Aerial Vehicles (UAV) or Drones; computer software for sending commands and information to and from Unmanned Aerial Vehicles (UAV) or Drones; computer software for displaying information, video, and images sent from the Unmanned Aerial Vehicles (UAV) or Drones; computer software for use in aerial photography and video, mapping, three-dimensional mapping, and aerial photography and video for use in construction projects and infrastructure maintenance and inspection; autopilot software for Unmanned Aerial Vehicles (UAV) or Drones; computer hardware for use in drones and unmanned aerial vehicles (UAVs) for the purpose of collision avoidance and object detection; computer hardware for use in drones and unmanned aerial vehicles (UAVs) for the purpose of collision avoidance and object detection in low-light or no-light conditions; computer software systems for use in drones and unmanned aerial vehicles (UAVs) that includes artificial intelligence capabilities for intelligent observation, detection, and collision avoidance; computer software systems for use in drones and unmanned aerial vehicles (UAVs) that includes artificial intelligence capabilities for intelligent observation, detection, and collision avoidance in low-light or no-light conditions; computer software for processing terrestrial and aerial imagery for creating maps and models, for converting, processing and editing images into geo-referenced maps and models and for mapping and modeling physical objects, geographic, topographic, natural and built areas, and construction, agricultural, mines and quarries, cultural heritage and archeological sites; computer software programs for processing terrestrial and aerial imagery for creating maps and models, for converting, processing and editing images into geo-referenced models and maps and for mapping and modeling physical objects, geographic, topographic areas, natural and built areas, and construction, agricultural, mines and quarries, cultural heritage and archeological sites; interactive multimedia computer programs for processing terrestrial and aerial imagery for creating maps and models, for converting, processing and editing images into geo-referenced models and maps and for mapping and modeling physical objects, geographic, topographic areas, natural and built areas and construction, agricultural, mines and quarries, cultural heritage and archeological sites; computer software for processing images, graphics and text; computer programs and software for image processing; computer software for processing digital images; computer software for two or three-dimensional simulation for use in design and development of industrial products; downloadable electronic publications, namely, manuals and guides in the field of software; downloadable video files featuring terrestrial and aerial imagery; electronic publications, namely, manuals and guides in the field of software, electronic imaging devices for use in copying, printing, scanning, video capturing and transmitting documents and images; video imaging systems comprised of scanners, cameras, video recorders, video receivers, video servers and video imaging computer software for recording, organizing, transmitting, manipulating, and reviewing image files; computer application software for mobile phones, cellular phones, handheld computers, smart telephones, PC tablets, personal digital assistants, mobile computers, and portable media players for use with flight simulation planning and supporting data capturing related thereto Drones; drones in the nature of unmanned aerial vehicles for use in aerial photography and video, mapping, and three-dimensional mapping; drones in the nature of unmanned aerial vehicles for use in aerial photography and video for use in construction projects and infrastructure maintenance inspection; camera mounts for drones; unmanned aerial vehicles for surveillance, reconnaissance, mapping, three-dimensional mapping, aerial photography, video and sound recordings, namely, drones Application service provider featuring application programming interface (API) software for use in managing, controlling, and tracking drones and remotely-controlled video cameras; providing a website for uploading, storing, and sharing data and flight information from drones and remotely-controlled video cameras; application service provider featuring application programing interface (API) software for use in aerial photography and video, mapping, three-dimensional mapping, and aerial photography and video for use in construction projects and infrastructure maintenance and inspection; providing temporary use of online non-downloadable computer software for use in connection with controlling drones and unmanned aerial vehicles (UAVs) that include artificial intelligence capabilities for intelligent observation, detection, and collision avoidance; computer software technical support services in the nature of troubleshooting computer software problems and help desk services; industrial and graphic art design; cartography services; design and development of computer hardware and software; design, development and updating of computer software; providing temporary use of on-line non-downloadable applications and software tools for image editing and processing; computer software technical support services in the nature of troubleshooting computer software problems and help desk services
09 - Scientific and electric apparatus and instruments
12 - Land, air and water vehicles; parts of land vehicles
42 - Scientific, technological and industrial services, research and design
Goods & Services
Cameras; digital cameras; digital video cameras; mounting devices for cameras; cameras for aerial photography and video; cameras for navigation and obstacle avoidance; cameras for navigation and obstacle avoidance in low and no light; remotely-controlled video camera containing a camera, transmitter, and receiver for recording and transmitting audio visual data on drones; computer application software for mobile phones, tablets, handheld computers, for use in managing, controlling, and tracking drones and remotely-controlled video cameras; computer software for managing, controlling, and tracking drones and remotely-controlled video cameras for drones; autopilots in the nature of electronic control systems for Unmanned Aerial Vehicles (UAV) or Drones; autopilot software for automatically controlling Unmanned Aerial Vehicles (UAV) and Drones; navigation apparatus and system for Unmanned Aerial Vehicles (UAV) or Drones comprising of circuit boards, integrated circuits, electronic circuits, electric sensors, proximity sensors, GPS antenna, data processors, digital signal processors, and embedded software for altitude solution and flight controls; mission computer software for the command, control and operation of Unmanned Aerial Vehicles or Drones and for the autonomous waypoint navigation, take-off, landing, loiter, and other related algorithms for controlling Unmanned Aerial Vehicles or Drones; mission computer software for the command, control and operation of Unmanned Aerial Vehicles or Drones and for the autonomous waypoint navigation, take-off, landing, loiter, and other related algorithms for controlling Unmanned Aerial Vehicles or Drones in low-light or no-light conditions; computer software for the autonomous control and monitoring of Unmanned Aerial Vehicles (UAV) or Drones location, speed, altitude, and position; computer software for on-board semantic understanding of the environment around Unmanned Aerial Vehicles (UAV) or Drones; computer software for sending commands and information to and from Unmanned Aerial Vehicles (UAV) or Drones; computer software for displaying information, video, and images sent from the Unmanned Aerial Vehicles (UAV) or Drones; computer software for use in aerial photography and video, mapping, three-dimensional mapping, and aerial photography and video for use in construction projects and infrastructure maintenance and inspection; autopilot software for Unmanned Aerial Vehicles (UAV) or Drones; computer hardware for use in drones and unmanned aerial vehicles (UAVs) for the purpose of collision avoidance and object detection; computer hardware for use in drones and unmanned aerial vehicles (UAVs) for the purpose of collision avoidance and object detection in low-light or no-light conditions; computer software systems for use in drones and unmanned aerial vehicles (UAVs) that includes artificial intelligence capabilities for intelligent observation, detection, and collision avoidance; computer software systems for use in drones and unmanned aerial vehicles (UAVs) that includes artificial intelligence capabilities for intelligent observation, detection, and collision avoidance in low-light or no-light conditions; computer software for processing terrestrial and aerial imagery for creating maps and models, for converting, processing and editing images into geo-referenced maps and models and for mapping and modeling physical objects, geographic, topographic, natural and built areas, and construction, agricultural, mines and quarries, cultural heritage and archeological sites; computer software programs for processing terrestrial and aerial imagery for creating maps and models, for converting, processing and editing images into geo-referenced models and maps and for mapping and modeling physical objects, geographic, topographic areas, natural and built areas, and construction, agricultural, mines and quarries, cultural heritage and archeological sites; interactive multimedia computer programs for processing terrestrial and aerial imagery for creating maps and models, for converting, processing and editing images into geo-referenced models and maps and for mapping and modeling physical objects, geographic, topographic areas, natural and built areas and construction, agricultural, mines and quarries, cultural heritage and archeological sites; computer software for processing images, graphics and text; computer programs and software for image processing; computer software for processing digital images; computer software for two or three-dimensional simulation for use in design and development of industrial products; downloadable electronic publications, namely, manuals and guides in the field of software; downloadable video files featuring terrestrial and aerial imagery; electronic publications, namely, manuals and guides in the field of software, electronic imaging devices for use in copying, printing, scanning, video capturing and transmitting documents and images; video imaging systems comprised of scanners, cameras, video recorders, video receivers, video servers and video imaging computer software for recording, organizing, transmitting, manipulating, and reviewing image files; computer application software for mobile phones, cellular phones, handheld computers, smart telephones, PC tablets, personal digital assistants, mobile computers, and portable media players for use with flight simulation planning and supporting data capturing related thereto Drones; drones in the nature of unmanned aerial vehicles for use in aerial photography and video, mapping, and three-dimensional mapping; drones in the nature of unmanned aerial vehicles for use in aerial photography and video for use in construction projects and infrastructure maintenance inspection; camera mounts for drones; unmanned aerial vehicles for surveillance, reconnaissance, mapping, three-dimensional mapping, aerial photography, video and sound recordings, namely, drones Application service provider featuring application programming interface (API) software for use in managing, controlling, and tracking drones and remotely-controlled video cameras; providing a website for uploading, storing, and sharing data and flight information from drones and remotely-controlled video cameras; application service provider featuring application programing interface (API) software for use in aerial photography and video, mapping, three-dimensional mapping, and aerial photography and video for use in construction projects and infrastructure maintenance and inspection; providing temporary use of online non-downloadable computer software for use in connection with controlling drones and unmanned aerial vehicles (UAVs) that include artificial intelligence capabilities for intelligent observation, detection, and collision avoidance; computer software technical support services in the nature of troubleshooting computer software problems and help desk services; industrial and graphic art design; cartography services; design and development of computer hardware and software; design, development and updating of computer software; providing temporary use of on-line non-downloadable applications and software tools for image editing and processing; computer software technical support services in the nature of troubleshooting computer software problems and help desk services
09 - Scientific and electric apparatus and instruments
12 - Land, air and water vehicles; parts of land vehicles
42 - Scientific, technological and industrial services, research and design
Goods & Services
Cameras; digital cameras; digital video cameras; mounting devices for cameras; cameras for aerial photography and video; cameras for navigation and obstacle avoidance; cameras for navigation and obstacle avoidance in low and no light; remotely-controlled video camera containing a camera, transmitter, and receiver for recording and transmitting audio visual data on drones; computer application software for mobile phones, tablets, handheld computers, for use in managing, controlling, and tracking drones and remotely-controlled video cameras; computer software for managing, controlling, and tracking drones and remotely-controlled video cameras for drones; autopilots in the nature of electronic control systems for Unmanned Aerial Vehicles (UAV) or Drones; autopilot software for automatically controlling Unmanned Aerial Vehicles (UAV) and Drones; navigation apparatus and system for Unmanned Aerial Vehicles (UAV) or Drones comprising of circuit boards, integrated circuits, electronic circuits, electric sensors, proximity sensors, GPS antenna, data processors, digital signal processors, and embedded software for altitude solution and flight controls; mission computer software for the command, control and operation of Unmanned Aerial Vehicles or Drones and for the autonomous waypoint navigation, take-off, landing, loiter, and other related algorithms for controlling Unmanned Aerial Vehicles or Drones; mission computer software for the command, control and operation of Unmanned Aerial Vehicles or Drones and for the autonomous waypoint navigation, take-off, landing, loiter, and other related algorithms for controlling Unmanned Aerial Vehicles or Drones in low-light or no-light conditions; computer software for the autonomous control and monitoring of Unmanned Aerial Vehicles (UAV) or Drones location, speed, altitude, and position; computer software for on-board semantic understanding of the environment around Unmanned Aerial Vehicles (UAV) or Drones; computer software for sending commands and information to and from Unmanned Aerial Vehicles (UAV) or Drones; computer software for displaying information, video, and images sent from the Unmanned Aerial Vehicles (UAV) or Drones; computer software for use in aerial photography and video, mapping, three-dimensional mapping, and aerial photography and video for use in construction projects and infrastructure maintenance and inspection; autopilot software for Unmanned Aerial Vehicles (UAV) or Drones; computer hardware for use in drones and unmanned aerial vehicles (UAVs) for the purpose of collision avoidance and object detection; computer hardware for use in drones and unmanned aerial vehicles (UAVs) for the purpose of collision avoidance and object detection in low-light or no-light conditions; computer software systems for use in drones and unmanned aerial vehicles (UAVs) that includes artificial intelligence capabilities for intelligent observation, detection, and collision avoidance; computer software systems for use in drones and unmanned aerial vehicles (UAVs) that includes artificial intelligence capabilities for intelligent observation, detection, and collision avoidance in low-light or no-light conditions; computer software for processing terrestrial and aerial imagery for creating maps and models, for converting, processing and editing images into geo-referenced maps and models and for mapping and modeling physical objects, geographic, topographic, natural and built areas, and construction, agricultural, mines and quarries, cultural heritage and archeological sites; computer software programs for processing terrestrial and aerial imagery for creating maps and models, for converting, processing and editing images into geo-referenced models and maps and for mapping and modeling physical objects, geographic, topographic areas, natural and built areas, and construction, agricultural, mines and quarries, cultural heritage and archeological sites; interactive multimedia computer programs for processing terrestrial and aerial imagery for creating maps and models, for converting, processing and editing images into geo-referenced models and maps and for mapping and modeling physical objects, geographic, topographic areas, natural and built areas and construction, agricultural, mines and quarries, cultural heritage and archeological sites; computer software for processing images, graphics and text; computer programs and software for image processing; computer software for processing digital images; computer software for two or three-dimensional simulation for use in design and development of industrial products; downloadable electronic publications, namely, manuals and guides in the field of software; downloadable video files featuring terrestrial and aerial imagery; electronic publications, namely, manuals and guides in the field of software, electronic imaging devices for use in copying, printing, scanning, video capturing and transmitting documents and images; video imaging systems comprised of scanners, cameras, video recorders, video receivers, video servers and video imaging computer software for recording, organizing, transmitting, manipulating, and reviewing image files; computer application software for mobile phones, cellular phones, handheld computers, smart telephones, PC tablets, personal digital assistants, mobile computers, and portable media players for use with flight simulation planning and supporting data capturing related thereto Drones; drones in the nature of unmanned aerial vehicles for use in aerial photography and video, mapping, and three-dimensional mapping; drones in the nature of unmanned aerial vehicles for use in aerial photography and video for use in construction projects and infrastructure maintenance inspection; camera mounts for drones; unmanned aerial vehicles for surveillance, reconnaissance, mapping, three-dimensional mapping, aerial photography, video and sound recordings, namely, drones Application service provider featuring application programming interface (API) software for use in managing, controlling, and tracking drones and remotely-controlled video cameras; providing a website for uploading, storing, and sharing data and flight information from drones and remotely-controlled video cameras; application service provider featuring application programing interface (API) software for use in aerial photography and video, mapping, three-dimensional mapping, and aerial photography and video for use in construction projects and infrastructure maintenance and inspection; providing temporary use of online non-downloadable computer software for use in connection with controlling drones and unmanned aerial vehicles (UAVs) that include artificial intelligence capabilities for intelligent observation, detection, and collision avoidance; computer software technical support services in the nature of troubleshooting computer software problems and help desk services; industrial and graphic art design; cartography services; design and development of computer hardware and software; design, development and updating of computer software; providing temporary use of on-line non-downloadable applications and software tools for image editing and processing; computer software technical support services in the nature of troubleshooting computer software problems and help desk services
09 - Scientific and electric apparatus and instruments
12 - Land, air and water vehicles; parts of land vehicles
42 - Scientific, technological and industrial services, research and design
Goods & Services
Cameras; digital cameras; digital video cameras; mounting devices for cameras; cameras for aerial photography and video; cameras for navigation and obstacle avoidance; cameras for navigation and obstacle avoidance in low and no light; remotely-controlled video camera containing a camera, transmitter, and receiver for recording and transmitting audio visual data on drones; computer application software for mobile phones, tablets, handheld computers, for use in managing, controlling, and tracking drones and remotely-controlled video cameras; computer software for managing, controlling, and tracking drones and remotely-controlled video cameras for drones; autopilots in the nature of electronic control systems for Unmanned Aerial Vehicles (UAV) or Drones; autopilot software for automatically controlling Unmanned Aerial Vehicles (UAV) and Drones; navigation apparatus and system for Unmanned Aerial Vehicles (UAV) or Drones comprising of circuit boards, integrated circuits, electronic circuits, electric sensors, proximity sensors, GPS antenna, data processors, digital signal processors, and embedded software for altitude solution and flight controls; mission computer software for the command, control and operation of Unmanned Aerial Vehicles or Drones and for the autonomous waypoint navigation, take-off, landing, loiter, and other related algorithms for controlling Unmanned Aerial Vehicles or Drones; mission computer software for the command, control and operation of Unmanned Aerial Vehicles or Drones and for the autonomous waypoint navigation, take-off, landing, loiter, and other related algorithms for controlling Unmanned Aerial Vehicles or Drones in low-light or no-light conditions; computer software for the autonomous control and monitoring of Unmanned Aerial Vehicles (UAV) or Drones location, speed, altitude, and position; computer software for on-board semantic understanding of the environment around Unmanned Aerial Vehicles (UAV) or Drones; computer software for sending commands and information to and from Unmanned Aerial Vehicles (UAV) or Drones; computer software for displaying information, video, and images sent from the Unmanned Aerial Vehicles (UAV) or Drones; computer software for use in aerial photography and video, mapping, three-dimensional mapping, and aerial photography and video for use in construction projects and infrastructure maintenance and inspection; autopilot software for Unmanned Aerial Vehicles (UAV) or Drones; computer hardware for use in drones and unmanned aerial vehicles (UAVs) for the purpose of collision avoidance and object detection; computer hardware for use in drones and unmanned aerial vehicles (UAVs) for the purpose of collision avoidance and object detection in low-light or no-light conditions; computer software systems for use in drones and unmanned aerial vehicles (UAVs) that includes artificial intelligence capabilities for intelligent observation, detection, and collision avoidance; computer software systems for use in drones and unmanned aerial vehicles (UAVs) that includes artificial intelligence capabilities for intelligent observation, detection, and collision avoidance in low-light or no-light conditions; computer software for processing terrestrial and aerial imagery for creating maps and models, for converting, processing and editing images into geo-referenced maps and models and for mapping and modeling physical objects, geographic, topographic, natural and built areas, and construction, agricultural, mines and quarries, cultural heritage and archeological sites; computer software programs for processing terrestrial and aerial imagery for creating maps and models, for converting, processing and editing images into geo-referenced models and maps and for mapping and modeling physical objects, geographic, topographic areas, natural and built areas, and construction, agricultural, mines and quarries, cultural heritage and archeological sites; interactive multimedia computer programs for processing terrestrial and aerial imagery for creating maps and models, for converting, processing and editing images into geo-referenced models and maps and for mapping and modeling physical objects, geographic, topographic areas, natural and built areas and construction, agricultural, mines and quarries, cultural heritage and archeological sites; computer software for processing images, graphics and text; computer programs and software for image processing; computer software for processing digital images; computer software for two or three-dimensional simulation for use in design and development of industrial products; downloadable electronic publications, namely, manuals and guides in the field of software; downloadable video files featuring terrestrial and aerial imagery; electronic publications, namely, manuals and guides in the field of software, electronic imaging devices for use in copying, printing, scanning, video capturing and transmitting documents and images; video imaging systems comprised of scanners, cameras, video recorders, video receivers, video servers and video imaging computer software for recording, organizing, transmitting, manipulating, and reviewing image files; computer application software for mobile phones, cellular phones, handheld computers, smart telephones, PC tablets, personal digital assistants, mobile computers, and portable media players for use with flight simulation planning and supporting data capturing related thereto Drones; drones in the nature of unmanned aerial vehicles for use in aerial photography and video, mapping, and three-dimensional mapping; drones in the nature of unmanned aerial vehicles for use in aerial photography and video for use in construction projects and infrastructure maintenance inspection; camera mounts for drones; unmanned aerial vehicles for surveillance, reconnaissance, mapping, three-dimensional mapping, aerial photography, video and sound recordings, namely, drones Application service provider featuring application programming interface (API) software for use in managing, controlling, and tracking drones and remotely-controlled video cameras; providing a website for uploading, storing, and sharing data and flight information from drones and remotely-controlled video cameras; application service provider featuring application programing interface (API) software for use in aerial photography and video, mapping, three-dimensional mapping, and aerial photography and video for use in construction projects and infrastructure maintenance and inspection; providing temporary use of online non-downloadable computer software for use in connection with controlling drones and unmanned aerial vehicles (UAVs) that include artificial intelligence capabilities for intelligent observation, detection, and collision avoidance; computer software technical support services in the nature of troubleshooting computer software problems and help desk services; industrial and graphic art design; cartography services; design and development of computer hardware and software; design, development and updating of computer software; providing temporary use of on-line non-downloadable applications and software tools for image editing and processing; computer software technical support services in the nature of troubleshooting computer software problems and help desk services
09 - Scientific and electric apparatus and instruments
12 - Land, air and water vehicles; parts of land vehicles
42 - Scientific, technological and industrial services, research and design
Goods & Services
Cameras; digital cameras; digital video cameras; mounting devices for cameras; cameras for aerial photography and video; cameras for navigation and obstacle avoidance; cameras for navigation and obstacle avoidance in low and no light; remotely-controlled video camera containing a camera, transmitter, and receiver for recording and transmitting audio visual data on drones; computer application software for mobile phones, tablets, handheld computers, for use in managing, controlling, and tracking drones and remotely-controlled video cameras; computer software for managing, controlling, and tracking drones and remotely-controlled video cameras for drones; autopilots in the nature of electronic control systems for Unmanned Aerial Vehicles (UAV) or Drones; autopilot software for automatically controlling Unmanned Aerial Vehicles (UAV) and Drones; navigation apparatus and system for Unmanned Aerial Vehicles (UAV) or Drones comprising of circuit boards, integrated circuits, electronic circuits, electric sensors, proximity sensors, GPS antenna, data processors, digital signal processors, and embedded software for altitude solution and flight controls; mission computer software for the command, control and operation of Unmanned Aerial Vehicles or Drones and for the autonomous waypoint navigation, take-off, landing, loiter, and other related algorithms for controlling Unmanned Aerial Vehicles or Drones; mission computer software for the command, control and operation of Unmanned Aerial Vehicles or Drones and for the autonomous waypoint navigation, take-off, landing, loiter, and other related algorithms for controlling Unmanned Aerial Vehicles or Drones in low-light or no-light conditions; computer software for the autonomous control and monitoring of Unmanned Aerial Vehicles (UAV) or Drones location, speed, altitude, and position; computer software for on-board semantic understanding of the environment around Unmanned Aerial Vehicles (UAV) or Drones; computer software for sending commands and information to and from Unmanned Aerial Vehicles (UAV) or Drones; computer software for displaying information, video, and images sent from the Unmanned Aerial Vehicles (UAV) or Drones; computer software for use in aerial photography and video, mapping, three-dimensional mapping, and aerial photography and video for use in construction projects and infrastructure maintenance and inspection; autopilot software for Unmanned Aerial Vehicles (UAV) or Drones; computer hardware for use in drones and unmanned aerial vehicles (UAVs) for the purpose of collision avoidance and object detection; computer hardware for use in drones and unmanned aerial vehicles (UAVs) for the purpose of collision avoidance and object detection in low-light or no-light conditions; computer software systems for use in drones and unmanned aerial vehicles (UAVs) that includes artificial intelligence capabilities for intelligent observation, detection, and collision avoidance; computer software systems for use in drones and unmanned aerial vehicles (UAVs) that includes artificial intelligence capabilities for intelligent observation, detection, and collision avoidance in low-light or no-light conditions; computer software for processing terrestrial and aerial imagery for creating maps and models, for converting, processing and editing images into geo-referenced maps and models and for mapping and modeling physical objects, geographic, topographic, natural and built areas, and construction, agricultural, mines and quarries, cultural heritage and archeological sites; computer software programs for processing terrestrial and aerial imagery for creating maps and models, for converting, processing and editing images into geo-referenced models and maps and for mapping and modeling physical objects, geographic, topographic areas, natural and built areas, and construction, agricultural, mines and quarries, cultural heritage and archeological sites; interactive multimedia computer programs for processing terrestrial and aerial imagery for creating maps and models, for converting, processing and editing images into geo-referenced models and maps and for mapping and modeling physical objects, geographic, topographic areas, natural and built areas and construction, agricultural, mines and quarries, cultural heritage and archeological sites; computer software for processing images, graphics and text; computer programs and software for image processing; computer software for processing digital images; computer software for two or three-dimensional simulation for use in design and development of industrial products; downloadable electronic publications, namely, manuals and guides in the field of software; downloadable video files featuring terrestrial and aerial imagery; electronic publications, namely, manuals and guides in the field of software, electronic imaging devices for use in copying, printing, scanning, video capturing and transmitting documents and images; video imaging systems comprised of scanners, cameras, video recorders, video receivers, video servers and video imaging computer software for recording, organizing, transmitting, manipulating, and reviewing image files; computer application software for mobile phones, cellular phones, handheld computers, smart telephones, PC tablets, personal digital assistants, mobile computers, and portable media players for use with flight simulation planning and supporting data capturing related thereto Drones; drones in the nature of unmanned aerial vehicles for use in aerial photography and video, mapping, and three-dimensional mapping; drones in the nature of unmanned aerial vehicles for use in aerial photography and video for use in construction projects and infrastructure maintenance inspection; camera mounts for drones; unmanned aerial vehicles for surveillance, reconnaissance, mapping, three-dimensional mapping, aerial photography, video and sound recordings, namely, drones Application service provider featuring application programming interface (API) software for use in managing, controlling, and tracking drones and remotely-controlled video cameras; providing a website for uploading, storing, and sharing data and flight information from drones and remotely-controlled video cameras; application service provider featuring application programing interface (API) software for use in aerial photography and video, mapping, three-dimensional mapping, and aerial photography and video for use in construction projects and infrastructure maintenance and inspection; providing temporary use of online non-downloadable computer software for use in connection with controlling drones and unmanned aerial vehicles (UAVs) that include artificial intelligence capabilities for intelligent observation, detection, and collision avoidance; computer software technical support services in the nature of troubleshooting computer software problems and help desk services; industrial and graphic art design; cartography services; design and development of computer hardware and software; design, development and updating of computer software; providing temporary use of on-line non-downloadable applications and software tools for image editing and processing; computer software technical support services in the nature of troubleshooting computer software problems and help desk services
50.
UNMANNED AERIAL VEHICLE FLIGHT CONTROL FOR CHASING A MOVING TARGET EQUIPPED WITH A TRACKABLE BEACON
An unmanned aerial vehicle comprises a flight control system and an electromechanical system directed by the flight control system. The flight control system is configured to track a position of a beacon that is in motion and monitor a difference between an actual position of the unmanned aerial vehicle and a desired position of the unmanned aerial vehicle relative to the position of the beacon. The flight control system configures one or more flight objectives based on one or more factors comprising whether the difference between the actual position and the desired position exceeds a threshold, wherein the flight objectives comprise a velocity objective and a position objective. The flight control system also commands the electromechanical system based at least on the one or more flight objectives.
A controller for an unmanned aerial vehicle may have a top portion configured to interface with a user and a bottom portion on a side opposite the top portion. A device support may be coupled to the controller. The device support may be configured to hold a portable electronic device. The device support may be movable between a closed position in which the device support is received in the bottom portion of the controller and an open position in which the device support extends away from the controller.
An autonomous vehicle that is equipped with image capture devices can use information gathered from the image capture devices to plan a future three-dimensional (3D) trajectory through a physical environment. To this end, a technique is described for image-space based motion planning. In an embodiment, a planned 3D trajectory is projected into an image-space of an image captured by the autonomous vehicle. The planned 3D trajectory is then optimized according to a cost function derived from information (e.g., depth estimates) in the captured image. The cost function associates higher cost values with identified regions of the captured image that are associated with areas of the physical environment into which travel is risky or otherwise undesirable. The autonomous vehicle is thereby encouraged to avoid these areas while satisfying other motion planning objectives.
Disclosed here are systems for detachable airframe components including detachable nose cones, propeller assemblies and motors. In some example embodiments, the assemblies include a nose cone with a connection receiver, a motor assembly with a rotatable section, where the rotatable section includes torque arms configured to secure with the nose cone connection receiver, and a propeller assembly, configured to connect to the nose cone.
An autonomous vehicle that is equipped with image capture devices can use information gathered from the image capture devices to plan a future three-dimensional (3D) trajectory through a physical environment. To this end, a technique is described for image-space based motion planning. In an embodiment, a planned 3D trajectory is projected into an image-space of an image captured by the autonomous vehicle. The planned 3D trajectory is then optimized according to a cost function derived from information (e.g., depth estimates) in the captured image. The cost function associates higher cost values with identified regions of the captured image that are associated with areas of the physical environment into which travel is risky or otherwise undesirable. The autonomous vehicle is thereby encouraged to avoid these areas while satisfying other motion planning objectives.
An unmanned aerial vehicle (UAV) comprises a flight control system and an electromechanical system directed by the flight control system. The flight control system is configured to track a position of a beacon that is in motion and monitor a difference between an actual position of the unmanned aerial vehicle and a desired position of the unmanned aerial vehicle relative to the position of the beacon. The flight control system configures one or more flight objectives based on one or more factors comprising whether the difference between the actual position and the desired position exceeds a threshold, wherein the flight objectives comprise a velocity objective and a position objective. The flight control system also commands the electromechanical system based at least on the one or more flight objectives.
A computer stores dense maps generated by one or more aerial vehicles. The computer generates a global graph based on the dense maps and a sparse map. The computer stores a representation of one or more paths traversed by the one or more aerial vehicles within the global graph. The computer determines a path from an origin location to a destination location based on the global graph. The determined path enables an aerial vehicle to avoid objects.
In some examples, an unmanned aerial vehicle (UAV) may identify a scan target. The UAV may navigate to two or more positions in relation to the scan target. The UAV may capture, using one or more image sensors of the UAV, two or more images of the scan target from different respective positions in relation to the scan target. For instance, the two or more respective positions may be selected by controlling a spacing between the two or more respective positions to enable determination of parallax disparity between a first image captured at a first position and a second image captured at a second position of the two or more positions. The UAV may determine a three-dimensional model corresponding to the scan target based in part on the determined parallax disparity of the two or more images including the first image and the second image.
G06T 7/55 - Depth or shape recovery from multiple images
G06T 7/73 - Determining position or orientation of objects or cameras using feature-based methods
G05B 13/02 - Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion electric
G06T 19/20 - Editing of 3D images, e.g. changing shapes or colours, aligning objects or positioning parts
A computer of an unmanned aerial vehicle (UAV) accesses, from a memory unit, a problem definition comprising cost functions associated with travel of the UAV. The computer causes movement of the UAV based on the cost functions. The computer adjusts one or more of the cost functions during a flight of the UAV. The computer causes further movement of the UAV based on the adjusted one or more of the cost functions.
A computer accesses a first symbolic expression for an output value as a function of an input value. The computer computes a first symbolic Jacobian of the input value with respect to an input tangent space from a symbolic Lie group definition. The computer computes a second symbolic Jacobian of the output value with respect to the input value. The computer computes a third symbolic Jacobian of an output tangent space with respect to the input value from the symbolic Lie group definition. The computer applies symbolic matrix multiplication to the first symbolic Jacobian, the second symbolic Jacobian, and the third symbolic Jacobian to obtain a second symbolic expression for the output tangent space with respect to the input tangent space. The computer provides a representation of the second symbolic expression.
In some examples, an unmanned aerial vehicle (UAV) may access a scan plan that includes a sequence of poses for the UAV to assume to capture images of a scan target using one or more image sensors. The UAV may check a next pose of the scan plan for obstructions. Responsive to detection of an obstruction, the UAV may determine a backup pose based at least on a field of view of the next pose. The UAV may control a propulsion mechanism to cause the UAV to fly to assume the backup pose. The UAV may capture, based on the backup pose and using the one or more image sensors, one or more images of the scan target.
G06T 7/73 - Determining position or orientation of objects or cameras using feature-based methods
G05B 13/02 - Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion electric
G06T 19/20 - Editing of 3D images, e.g. changing shapes or colours, aligning objects or positioning parts
A computer accesses a first symbolic expression for an output matrix as a function of an input matrix at a computing device comprising processing circuitry and memory. The computer computes a first Jacobian of the input matrix with respect to an input tangent space. The computer computes a second Jacobian of the output matrix with respect to the input matrix. The computer computes a third Jacobian of an output tangent space with respect to the input matrix. The computer applies symbolic matrix multiplication to the first Jacobian, the second Jacobian, and the third Jacobian to obtain a second symbolic expression for the output tangent space with respect to the input tangent space. The computer provides a representation of the second symbolic expression, the second symbolic expression representing a computed tangent-space Jacobian.
In some examples, a computing device receives, from an unmanned aerial vehicle (UAV), a first image from a first camera on the UAV and a plurality of second images from a plurality of second cameras on the UAV. The plurality of second cameras may be positioned on the UAV for providing a plurality of different fields of view in a plurality of different directions around the UAV. Further, the first camera has a longer focal length than the second cameras. The computing device presents, on a display, a composite image including at least a portion of the first image within a merged image generated from the plurality of second images. The presented composite image enables a user to at least one of: zoom out from the at least one first image to the merged image, or zoom in from the merged image to the at least one first image.
An unmanned aerial vehicle (UAV) logs first UAV information at a first frequency. The UAV triggers a camera associated with the UAV to capture an image. In response to triggering the camera to capture the image, the UAV logs second UAV information at a second frequency that is higher than the first frequency. A device that is separate from the UAV identifies a location of the UAV corresponding to the image based on a capture timestamp of the image received from the camera, the first UAV information, and the second UAV information. The device generates a geo-rectified imagery based on the image and the location of the UAV.
G01C 21/16 - Navigation; Navigational instruments not provided for in groups by using measurement of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation
Methods, systems, and apparatus, including computer programs encoded on computer storage media, for an unmanned aerial system inspection system. One of the methods is performed by a UAV and includes obtaining, from a user device, flight operation information describing an inspection of a vertical structure to be performed, the flight operation information including locations of one or more safe locations for vertical inspection. A location of the UAV is determined to correspond to a first safe location for vertical inspection. A first inspection of the structure is performed is performed at the first safe location, the first inspection including activating cameras. A second safe location is traveled to, and a second inspection of the structure is performed. Information associated with the inspection is provided to the user device.
In some examples, an unmanned aerial vehicle (UAV) may determine a first acceleration of the UAV based at least on information from an onboard accelerometer received at least one of prior to or during takeoff. The UAV may determine a second acceleration of the UAV based at least on location information received via a satellite positioning system receiver at least one of prior to or during takeoff. The UAV may further determine a relative heading of the UAV based at least in part on the first acceleration and the second acceleration, and may be directed to navigate an environment based at least on the determined relative heading.
G01S 19/47 - Determining position by combining measurements of signals from the satellite radio beacon positioning system with a supplementary measurement the supplementary measurement being an inertial measurement, e.g. tightly coupled inertial
B64C 39/02 - Aircraft not otherwise provided for characterised by special use
G01P 15/18 - Measuring acceleration; Measuring deceleration; Measuring shock, i.e. sudden change of acceleration in two or more dimensions
G01C 19/00 - Gyroscopes; Turn-sensitive devices using vibrating masses; Turn-sensitive devices without moving masses; Measuring angular rate using gyroscopic effects
G01P 15/08 - Measuring acceleration; Measuring deceleration; Measuring shock, i.e. sudden change of acceleration by making use of inertia forces with conversion into electric or magnetic values
Methods, systems and apparatus, including computer programs encoded on computer storage media for determining a center location of a ground control point used in aerial surveys. Machine learning models are used to identify in digital images pixel coordinates of the ground control point identified in the digital images. These image pixel coordinates are used in photogrammetric processing and software.
Methods and systems are disclosed for an unmanned aerial vehicle (UAV) configured to autonomously navigate a physical environment while capturing images of the physical environment. In some embodiments, the motion of the UAV and a subject in the physical environment may be estimated based in part on images of the physical environment captured by the UAV. In response to estimating the motions, image capture by the UAV may be dynamically adjusted to satisfy a specified criterion related to a quality of the image capture.
Technology for operating an unmanned aerial vehicle, UAV, (101) is disclosed herein that allows the UAV to be flown along a computed spline, while also accommodating in-flight modifications. In various implementations, a UAV includes a flight control subsystem (124) and an electromechanical subsystem (126). The flight control subsystem (124) records keyframes during flight and computes a spline based on the keyframes. The flight control subsystem (124) then saves the computed spline for playback, at which time the UAV automatically flies in accordance with the computed spline.
An introduced autonomous aerial vehicle can include multiple cameras for capturing images of a surrounding physical environment that are utilized for motion planning by an autonomous navigation system. In some embodiments, the cameras can be integrated into one or more rotor assemblies that house powered rotors to free up space within the body of the aerial vehicle. In an example embodiment, an aerial vehicle includes multiple upward-facing cameras and multiple downward-facing cameras with overlapping fields of view to enable stereoscopic computer vision in a plurality of directions around the aerial vehicle. Similar camera arrangements can also be implemented in fixed-wing aerial vehicles.
Technology for generating and displaying a graphical user interface for operating an unmanned aerial vehicle (UAV) is disclosed herein that generates and updates a representation of a spline flight path. In various implementations, a graphical user interface detects user interactions with a remote control device directing the flight control subsystem of the UAV to record keyframes and to compute a spline based on the keyframes during flight. The graphical user interface displays a real-time perspective of the UAV with a representation of the spline and the keyframes overlaying the view. The graphical user interface continually updates the representation as the UAV flies and when the spline is updated as the keyframes are updated.
Technology for operating an unmanned aerial vehicle (UAV) is disclosed herein that allows a drone to be flown along a computed spline, while also accommodating in-flight modifications. In various implementations, a UAV includes a flight control subsystem and an electromechanical subsystem. The flight control subsystem records keyframes during flight and computes a spline based on the keyframes. The flight control subsystem then saves the computed spline for playback, at which time the UAV automatically flies in accordance with the computed spline.
In some examples, a system may receive, from a first user, a request to create a team folder from a folder associated with the first user. The request may indicate a requested storage quota from a team folder storage pool to associate with the team folder. The system may determine whether the requested storage quota is below a threshold amount corresponding to a profile for team folder creation associated with the first user. If the requested storage quota is below the threshold amount, the system may automatically create a shared file system for the team folder and allocate a quantity of storage from the team folder storage pool to the shared file system based on the requested storage quota. Alternatively, if the requested storage quota exceeds the threshold amount, the system may generate a communication to an administrator to request approval for creation of the team folder.
In some examples, an unmanned aerial vehicle (UAV) may determine a plurality of contour paths spaced apart from each other along at least one axis associated with a scan target. For instance, each contour path may be spaced away from a surface of the scan target based on a selected distance. The UAV may determine a plurality of image capture locations for each contour path. The image capture locations may indicate locations at which an image of a surface of the scan target is to be captured. The UAV may navigate along the plurality of contour paths based on a determined speed while capturing images of the surface of the scan target based on the image capture locations.
An introduced autonomous aerial vehicle can include multiple cameras for capturing images of a surrounding physical environment that are utilized for motion planning by an autonomous navigation system. In some embodiments, the cameras can be integrated into one or more rotor assemblies that house powered rotors to free up space within the body of the aerial vehicle. In an example embodiment, an aerial vehicle includes multiple upward-facing cameras and multiple downward-facing cameras with overlapping fields of view to enable stereoscopic computer vision in a plurality of directions around the aerial vehicle. Similar camera arrangements can also be implemented in fixed-wing aerial vehicles.
Methods, systems, and program products of inspecting solar panels using unmanned aerial vehicles (UAVs) are disclosed. A UAV can obtain a position of the Sun in a reference frame, a location of a solar panel in the reference frame, and an orientation of the solar panel in the reference frame. The UAV can determine a viewing position of the UAV in the reference frame based on at least one of the position of the Sun, the location of the solar panel, and the orientation of the solar panel. The UAV can maneuver to the viewing position and point a thermal sensor onboard the UAV at the solar panel. The UAV can capture, by the thermal sensor, a thermal image of at least a portion of the solar panel. A server onboard the UAV or connected to the UAV can detect panel failures based on the thermal image.
Described herein are systems and methods for structure scan using an unmanned aerial vehicle. For example, some methods include accessing a three-dimensional map of a structure; generating facets based on the three-dimensional map, wherein the facets are respectively a polygon on a plane in three-dimensional space that is fit to a subset of the points in the three-dimensional map; generating a scan plan based on the facets, wherein the scan plan includes a sequence of poses for an unmanned aerial vehicle to assume to enable capture, using image sensors of the unmanned aerial vehicle, of images of the structure; causing the unmanned aerial vehicle to fly to assume a pose corresponding to one of the sequence of poses of the scan plan; and capturing one or more images of the structure from the pose.
G06F 3/04845 - Interaction techniques based on graphical user interfaces [GUI] for the control of specific functions or operations, e.g. selecting or manipulating an object, an image or a displayed text element, setting a parameter value or selecting a range for image manipulation, e.g. dragging, rotation, expansion or change of colour
G06F 3/04817 - Interaction techniques based on graphical user interfaces [GUI] based on specific properties of the displayed interaction object or a metaphor-based environment, e.g. interaction with desktop elements like windows or icons, or assisted by a cursor's changing behaviour or appearance using icons
A base station is disclosed for use with an unmanned aerial vehicle (UAV). The base station includes: an enclosure; a cradle that is configured to charge a power source of the UAV during docking with the base station; and a temperature control system that is connected to the cradle and which is configured to vary temperature of the power source of the UAV. The temperature control system includes: a thermoelectric conditioner (TEC); a first air circuit that is thermally connected to the TEC and which is configured to regulate temperature of the TEC; and a second air circuit that is thermally connected to the TEC such that the TEC is located between the first air circuit and the second air circuit. The second air circuit is configured to direct air across the cradle to thereby heat or cool the power source of the UAV when docked with the base station.
B60L 53/00 - Methods of charging batteries, specially adapted for electric vehicles; Charging stations or on-board charging equipment therefor; Exchange of energy storage elements in electric vehicles
B60H 1/00 - Heating, cooling or ventilating devices
An unmanned aerial vehicle (UAV) is disclosed that includes a power source. The power source includes: one or more power cells; one or more thermal transfer members that are thermally connected to the one or more power cells; and a heat exchanger that is thermally connected to the one or more thermal transfer members such that the one or more thermal transfer members and the heat exchanger facilitate a transfer of thermal energy between the power source and ambient air to decrease or increase temperature of the power source.
H01M 10/617 - Types of temperature control for achieving uniformity or desired distribution of temperature
H01M 10/653 - Means for temperature control structurally associated with the cells characterised by electrically insulating or thermally conductive materials
H01M 10/6556 - Solid parts with flow channel passages or pipes for heat exchange
B64C 39/02 - Aircraft not otherwise provided for characterised by special use
79.
Base Stations Including Integrated Systems For Servicing UAVs
A base station is disclosed that is configured for use with a UAV. The base station includes: an enclosure with an outer housing that defines a roof section and an inner housing that is connected to the outer housing; one or more heating elements that are supported by the enclosure and which are configured to heat the roof section; one or more fiducials that are supported by the enclosure; an illumination system that is supported by the enclosure and which is configured to illuminate the one or more fiducials; and a visualization system that is supported by the enclosure.
A base station is disclosed for use with an unmanned aerial vehicle (UAV). The base station includes: an enclosure; a cradle that is configured to charge a power source of the UAV during docking with the base station; and a temperature control system that is connected to the cradle and which is configured to vary temperature of the power source of the UAV. The temperature control system includes: a thermoelectric conditioner (TEC); a first air circuit that is thermally connected to the TEC and which is configured to regulate temperature of the TEC; and a second air circuit that is thermally connected to the TEC such that the TEC is located between the first air circuit and the second air circuit. The second air circuit is configured to direct air across the cradle to thereby heat or cool the power source of the UAV when docked with the base station.
An introduced autonomous aerial vehicle can include multiple cameras for capturing images of a surrounding physical environment that are utilized for motion planning by an autonomous navigation system. In some embodiments, the cameras can be integrated into one or more rotor assemblies that house powered rotors to free up space within the body of the aerial vehicle. In an example embodiment, an aerial vehicle includes multiple upward-facing cameras and multiple downward-facing cameras with overlapping fields of view to enable stereoscopic computer vision in a plurality of directions around the aerial vehicle. Similar camera arrangements can also be implemented in fixed-wing aerial vehicles.
An introduced autonomous aerial vehicle can include multiple cameras for capturing images of a surrounding physical environment that are utilized for motion planning by an autonomous navigation system. In some embodiments, the cameras can be integrated into one or more rotor assemblies that house powered rotors to free up space within the body of the aerial vehicle. In an example embodiment, an aerial vehicle includes multiple upward-facing cameras and multiple downward-facing cameras with overlapping fields of view to enable stereoscopic computer vision in a plurality of directions around the aerial vehicle. Similar camera arrangements can also be implemented in fixed-wing aerial vehicles.
Described herein are unmanned aerial vehicles (UAVs) and systems and methods for dynamically selecting directional antennas onboard the UAV for wireless transmissions. For example, an embodiment pertains to a UAV that comprises a flight control system in remote communication with a remote receiver via directional antennas onboard the UAV. The flight control system is operatively coupled with a propulsion system to control the flight of the UAV. While in-flight, the flight control system is configured to determine an orientation and position of the UAV. It is further configured to select a subset of directional antennas to transmit from based on the determined orientation and position, among other factors. The flight control system then directs a transmitter to send wireless communications using the selected directional antennas.
H04B 7/06 - Diversity systems; Multi-antenna systems, i.e. transmission or reception using multiple antennas using two or more spaced independent antennas at the transmitting station
H04B 7/0404 - Diversity systems; Multi-antenna systems, i.e. transmission or reception using multiple antennas using two or more spaced independent antennas the mobile station comprising multiple antennas, e.g. to provide uplink diversity
B64C 39/02 - Aircraft not otherwise provided for characterised by special use
G05D 1/00 - Control of position, course, altitude, or attitude of land, water, air, or space vehicles, e.g. automatic pilot
Described herein are systems and methods for structure scan using an unmanned aerial vehicle. For example, some methods include accessing a three-dimensional map of a structure; generating facets based on the three-dimensional map, wherein the facets are respectively a polygon on a plane in three-dimensional space that is fit to a subset of the points in the three-dimensional map; generating a scan plan based on the facets, wherein the scan plan includes a sequence of poses for an unmanned aerial vehicle to assume to enable capture, using image sensors of the unmanned aerial vehicle, of images of the structure; causing the unmanned aerial vehicle to fly to assume a pose corresponding to one of the sequence of poses of the scan plan; and capturing one or more images of the structure from the pose.
G06F 3/04845 - Interaction techniques based on graphical user interfaces [GUI] for the control of specific functions or operations, e.g. selecting or manipulating an object, an image or a displayed text element, setting a parameter value or selecting a range for image manipulation, e.g. dragging, rotation, expansion or change of colour
G06F 3/04817 - Interaction techniques based on graphical user interfaces [GUI] based on specific properties of the displayed interaction object or a metaphor-based environment, e.g. interaction with desktop elements like windows or icons, or assisted by a cursor's changing behaviour or appearance using icons
An introduced autonomous aerial vehicle can include multiple cameras for capturing images of a surrounding physical environment that are utilized for motion planning by an autonomous navigation system. In some embodiments, the cameras can be integrated into one or more rotor assemblies that house powered rotors to free up space within the body of the aerial vehicle. In an example embodiment, an aerial vehicle includes multiple upward-facing cameras and multiple downward-facing cameras with overlapping fields of view to enable stereoscopic computer vision in a plurality of directions around the aerial vehicle. Similar camera arrangements can also be implemented in fixed-wing aerial vehicles.
A technique is described for developing and using applications and skills with an autonomous vehicle. In an example embodiment, a development platform is provided that enables access to a developer console for developing software modules for use with an autonomous vehicle. Using the developer console, a developer user can specify instructions for causing an autonomous vehicle to perform one or more operations. For example, to control the behavior of an autonomous vehicle, the instructions can cause an executing computer system at the autonomous vehicle to generate calls to an application programming interface (API) associated with an autonomous navigation system of autonomous vehicle. Such calls to the API can be configured to adjust a parameter of a behavioral objective associated with a trajectory generation process performed by the autonomous navigation system that controls the behavior of the autonomous vehicle. The instructions specified by the developer can be packaged as a software module that can be deployed for use at autonomous vehicle.
Described herein are systems for roof scan using an unmanned aerial vehicle. For example, some methods include capturing, using an unmanned aerial vehicle, an overview image of a roof of a building from above the roof; presenting a suggested bounding polygon overlaid on the overview image to a user; determining a bounding polygon based on the suggested bounding polygon and user edits; based on the bounding polygon, determining a flight path including a sequence of poses of the unmanned aerial vehicle with respective fields of view at a fixed height that collectively cover the bounding polygon; fly the unmanned aerial vehicle to a sequence of scan poses with horizontal positions matching respective poses of the flight path and vertical positions determined to maintain a consistent distance above the roof; and scanning the roof from the sequence of scan poses to generate a three-dimensional map of the roof.
G01S 13/89 - Radar or analogous systems, specially adapted for specific applications for mapping or imaging
G01S 17/89 - Lidar systems, specially adapted for specific applications for mapping or imaging
G05D 1/00 - Control of position, course, altitude, or attitude of land, water, air, or space vehicles, e.g. automatic pilot
G06F 3/04817 - Interaction techniques based on graphical user interfaces [GUI] based on specific properties of the displayed interaction object or a metaphor-based environment, e.g. interaction with desktop elements like windows or icons, or assisted by a cursor's changing behaviour or appearance using icons
G06F 3/04845 - Interaction techniques based on graphical user interfaces [GUI] for the control of specific functions or operations, e.g. selecting or manipulating an object, an image or a displayed text element, setting a parameter value or selecting a range for image manipulation, e.g. dragging, rotation, expansion or change of colour
G06F 3/04847 - Interaction techniques to control parameter settings, e.g. interaction with sliders or dials
A modular vehicle management system is described, comprising a controller module configured to control different types of carrier modules. The controller module includes a computer system and optionally one or more sensors. The computer system is configured to perform operations comprising detecting whether a carrier module is connected to the controller module. If the carrier module is connected to the controller module, the carrier module is authenticated. If the authentication fails, operation of the vehicle is inhibited. The control module is configured to determine carrier module capabilities including information regarding a navigation processing device, and/or a radio modem. The controller adapts to the capabilities of the controller module. Using information from the sensors and the navigation processing device, the vehicle management system navigates the vehicle.
G05D 1/00 - Control of position, course, altitude, or attitude of land, water, air, or space vehicles, e.g. automatic pilot
G05D 1/08 - Control of attitude, i.e. control of roll, pitch, or yaw
H05K 3/32 - Assembling printed circuits with electric components, e.g. with resistor electrically connecting electric components or wires to printed circuits
B64C 39/02 - Aircraft not otherwise provided for characterised by special use
An actuator is introduced that utilizes the forces that result from placing a current carrying coil in a magnetic field to rotate a connected object about at least one axis. In some embodiments, the introduced coil actuator includes a coil of conductor coupled to an arm or other type of structural element that extends radially from an axis of rotation. The introduced coil actuator can be utilized to provide motion control in a variety of different applications such as gimbal mechanisms. In some embodiments, the introduced coil actuator can be implemented in a gimbal mechanism for adjusting an orientation of a device such as a camera relative to a connected platform such as the body of an aerial vehicle.
Methods, systems and apparatus, including computer programs encoded on computer storage media for an unmanned aerial vehicle aerial survey. One of the methods includes receiving information specifying a location to be inspected by an unmanned aerial vehicle (UAV), the inspection including the UAV capturing images of the location. Information describing a boundary of the location to be inspected is obtained. Inspections to be assigned to the location are determined, with the inspection legs being parallel and separated by a particular width. A flight pattern is determined based on a minimum turning radius of the UAV, with the flight pattern specifying an order each inspection leg is to be navigated along, and a direction of the navigation.
Disclosed in this specification are methods, systems and apparatus, including computer programs encoded on non-transitory computer storage media for unmanned aerial vehicle (UAV) flight operation and privacy controls. Based on geofence types, and UAV distance from a geofence, sensors and other devices connected to a UAV are conditionally operational. Image data collected during a UAV flight may be obfuscated by the UAV while in flight, or via a post-flight process using log data generated by the UAV.
In some examples, a computing apparatus may include one or more non-transitory computer-readable storage media and program instructions stored on the one or more computer-readable storage media that, when executed by one or more processors, direct the computing apparatus to perform various steps. For example, the program instructions may continually present a graphical user interface (GUI) at the computing apparatus including a display of a current view of the physical environment from a perspective of an aerial vehicle. The program instructions may detect user interactions with the GUI while the aerial vehicle is in flight. The user interactions may include instructions directing the aerial vehicle to maneuver within the physical environment and configure parameters for scanning a three-dimensional (3D) scan volume. The program instruction may then transmit, to the aerial vehicle, data encoding the instructions for performing a 3D scan of the 3D scan volume.
Methods, systems, and apparatus, including computer programs encoded on computer storage media, for ground control point assignment and determination. One of the methods includes receiving information describing a flight plan for the UAV to implement, the flight plan identifying one or more waypoints associated with geographic locations assigned as ground control points. A first waypoint identified in the flight plan is traveled to, and an action to designate a surface at the associated geographic location is designated as a ground control point. Location information associated with the designated surface is stored. The stored location information is provided to an outside system for storage.
Methods and systems are described for new paradigms for user interaction with an unmanned aerial vehicle (referred to as a flying digital assistant or FDA) using a portable multifunction device (PMD) such as smart phone. In some embodiments, a user may control image capture from an FDA by adjusting the position and orientation of a PMD. In other embodiments, a user may input a touch gesture via a touch display of a PMD that corresponds with a flight path to be autonomously flown by the FDA.
G05D 1/00 - Control of position, course, altitude, or attitude of land, water, air, or space vehicles, e.g. automatic pilot
G06F 3/00 - Input arrangements for transferring data to be processed into a form capable of being handled by the computer; Output arrangements for transferring data from processing unit to output unit, e.g. interface arrangements
G06F 3/04883 - Interaction techniques based on graphical user interfaces [GUI] using specific features provided by the input device, e.g. functions controlled by the rotation of a mouse with dual sensing arrangements, or of the nature of the input device, e.g. tap gestures based on pressure sensed by a digitiser using a touch-screen or digitiser, e.g. input of commands through traced gestures for inputting data by handwriting, e.g. gesture or text
B64C 39/02 - Aircraft not otherwise provided for characterised by special use
H04N 5/00 - PICTORIAL COMMUNICATION, e.g. TELEVISION - Details of television systems
H04N 21/43 - Processing of content or additional data, e.g. demultiplexing additional data from a digital video stream; Elementary client operations, e.g. monitoring of home network or synchronizing decoder's clock; Client middleware
95.
Fitness And Sports Applications For An Autonomous Unmanned Aerial Vehicle
Sports and fitness applications for an autonomous unmanned aerial vehicle (UAV) are described. In an example embodiment, a UAV can be configured to track a human subject using perception inputs from one or more onboard sensors. The perception inputs can be utilized to generate values for various performance metrics associated with the activity of the human subject. In some embodiments, the perception inputs can be utilized to autonomously maneuver the UAV to lead the human subject to satisfy a performance goal. The UAV can also be configured to autonomously capture images of a sporting event and/or make rule determinations while officiating a sporting event.
Methods, systems and apparatus, including computer programs encoded on computer storage media for determining asset efficiency. Unmanned Aerial Vehicles (UAVs) may be used to obtain aerial images of locations, property or structures. The aerial images may be geo-rectified, and a ortho-mosaic, digital surface model, or a point cloud may be created. In the context of an operation where mobile assets are used, such as construction or earth moving equipment, location-based event information may be obtained. The system determines efficiency clusters for particular assets, and provides an exploration interface to present and navigate via the efficiency cluster.
G06F 3/04817 - Interaction techniques based on graphical user interfaces [GUI] based on specific properties of the displayed interaction object or a metaphor-based environment, e.g. interaction with desktop elements like windows or icons, or assisted by a cursor's changing behaviour or appearance using icons
G06F 3/04845 - Interaction techniques based on graphical user interfaces [GUI] for the control of specific functions or operations, e.g. selecting or manipulating an object, an image or a displayed text element, setting a parameter value or selecting a range for image manipulation, e.g. dragging, rotation, expansion or change of colour
G06F 3/04842 - Selection of displayed objects or displayed text elements
G06V 20/54 - Surveillance or monitoring of activities, e.g. for recognising suspicious objects of traffic, e.g. cars on the road, trains or boats
97.
Fitness And Sports Applications For An Autonomous Unmanned Aerial Vehicle
Sports and fitness applications for an autonomous unmanned aerial vehicle (UAV) are described. In an example embodiment, a UAV can be configured to track a human subject using perception inputs from one or more onboard sensors. The perception inputs can be utilized to generate values for various performance metrics associated with the activity of the human subject. In some embodiments, the perception inputs can be utilized to autonomously maneuver the UAV to lead the human subject to satisfy a performance goal. The UAV can also be configured to autonomously capture images of a sporting event and/or make rule determinations while officiating a sporting event.
An introduced autonomous aerial vehicle can include multiple cameras for capturing images of a surrounding physical environment that are utilized for motion planning by an autonomous navigation system. In some embodiments, the cameras can be integrated into one or more rotor assemblies that house powered rotors to free up space within the body of the aerial vehicle. In an example embodiment, an aerial vehicle includes multiple upward-facing cameras and multiple downward-facing cameras with overlapping fields of view to enable stereoscopic computer vision in a plurality of directions around the aerial vehicle. Similar camera arrangements can also be implemented in fixed-wing aerial vehicles.
Embodiments are described for detecting optical discrepancies associated with image capture analyzing pixels in multiple images corresponding to common points of reference in a physical environment. In an embodiment, photometric error values are averaged over time to compute the mean error at each pixel. Once the estimate of the mean error has a sufficient number of updates above a specified value, the estimate is thresholded to provide a mask of any optical discrepancies occurring in the stereo pair of images. Applications include detecting optical discrepancies in images captured for use by a visual navigation system in guiding an autonomous vehicle (e.g., an unmanned aerial vehicle).
H04N 13/00 - PICTORIAL COMMUNICATION, e.g. TELEVISION - Details thereof
H04N 13/239 - Image signal generators using stereoscopic image cameras using two 2D image sensors having a relative position equal to or related to the interocular distance
H04N 23/45 - Cameras or camera modules comprising electronic image sensors; Control thereof for generating image signals from two or more image sensors being of different type or operating in different modes, e.g. with a CMOS sensor for moving images in combination with a charge-coupled device [CCD] for still images
H04N 23/69 - Control of means for changing angle of the field of view, e.g. optical zoom objectives or electronic zooming
H04N 23/71 - Circuitry for evaluating the brightness variation
H04N 23/90 - Arrangement of cameras or camera modules, e.g. multiple cameras in TV studios or sports stadiums
H04N 23/81 - Camera processing pipelines; Components thereof for suppressing or minimising disturbance in the image signal generation
Described herein are systems and methods using a security key for an unmanned aerial vehicle. For example, some methods include during flight of an unmanned aerial vehicle, encrypting, using a public key stored by the unmanned aerial vehicle, a symmetric key that is used to encrypt media data captured using one or more sensors of the unmanned aerial vehicle to obtain encrypted media data; landing the unmanned aerial vehicle; connecting a key device to the unmanned aerial vehicle via a serial port connector of the key device and a serial port connector of the unmanned aerial vehicle; while the key device is connected to the unmanned aerial vehicle, decrypting, using a private key stored on the key device, the encrypted symmetric key, which in turn is used to decrypt a portion of the encrypted media data to obtain decrypted media data; and transmitting a portion of the decrypted media data.
