A technique for avoiding obstacles by an unmanned aerial vehicle (UAV) includes: acquiring an aerial image of a ground area below the UAV; analyzing the aerial image to identify a shadow in the aerial image cast by an object rising from the ground area; determining a pixel length of the shadow in the aerial image; calculating an estimated height of the object based at least on the pixel length of the shadow and an angle of the sun when the aerial image is acquired; and generating a clearance zone around the object having at least one dimension determined based on the estimated height, wherein the clearance zone represents a region in space to avoid when navigating the UAV.
G06T 7/70 - Détermination de la position ou de l'orientation des objets ou des caméras
G06V 10/24 - Alignement, centrage, détection de l’orientation ou correction de l’image
G06V 10/25 - Détermination d’une région d’intérêt [ROI] ou d’un volume d’intérêt [VOI]
G06V 10/50 - Extraction de caractéristiques d’images ou de vidéos en utilisant l’addition des valeurs d’intensité d’image; Analyse de projection
G06V 10/60 - Extraction de caractéristiques d’images ou de vidéos relative aux propriétés luminescentes, p.ex. utilisant un modèle de réflectance ou d’éclairage
G06V 10/764 - Dispositions pour la reconnaissance ou la compréhension d’images ou de vidéos utilisant la reconnaissance de formes ou l’apprentissage automatique utilisant la classification, p.ex. des objets vidéo
2.
UAV WITH DISTRIBUTED PROPULSION AND BLOWN CONTROL SURFACES
An unmanned aerial vehicle (UAV) includes a fuselage, a pair of fixed wings attached to the fuselage, a tail assembly attached to an aft portion of the fuselage and including a pair of stabilizers, a plurality of distributed propulsion units having first propellers that rotate about first rotational axes positioned below the fixed wings, and a plurality of tail propulsion units having second propellers that rotate about second rotational axes each positioned inline with one of the stabilizers. The first propellers are mounted fore of the fixed wings and the second propellers are mounted fore of a corresponding one of the stabilizers. Three or more of the distributed propulsion units are mounted to each of the fixed wings.
In some embodiments, an unmanned aerial vehicle (UAV) is provided. The UAV comprises one or more processors; a camera; one or more propulsion devices; and a computer-readable medium having instructions stored thereon that, in response to execution by the one or more processors, cause the UAV to perform actions comprising: receiving at least one image captured by the camera; generating labels for pixels of the at least one image by providing the at least one image as input to a machine learning model; identifying one or more landing spaces in the at least one image based on the labels; determining a relative position of the UAV with respect to the one or more landing spaces; and transmitting signals to the one or more propulsion devices based on the relative position of the UAV with respect to the one or more landing spaces.
G05D 1/06 - Régime de modification de l'altitude ou de la profondeur
B64C 39/02 - Aéronefs non prévus ailleurs caractérisés par un emploi spécial
G05D 1/08 - Commande de l'attitude, c. à d. élimination ou réduction des effets du roulis, du tangage ou des embardées
G05D 1/10 - Commande de la position ou du cap dans les trois dimensions simultanément
G06V 10/75 - Appariement de motifs d’image ou de vidéo; Mesures de proximité dans les espaces de caractéristiques utilisant l’analyse de contexte; Sélection des dictionnaires
G06V 20/17 - Scènes terrestres transmises par des avions ou des drones
4.
Backend Automation System for Simulation of Drone Deliveries through Virtual Fleets
A method includes receiving configuration data for an unmanned aerial vehicle (UAV) simulation system, the configuration data indicating at least one base location specification, at least one aircraft specification, and at least one virtual vehicle specification and determining an aircraft record comprising, for each of the at least one aircraft to be simulated, aircraft mission data associated with an aircraft identifier of the at least one aircraft to be simulated. The method further includes configuring the UAV simulation system so that each of the at least one aircraft has a corresponding base location as specified by the at least one base location specification and a corresponding vehicle software version as specified by the at least one virtual vehicle specification and executing a simulation of the at least one aircraft carrying out flying missions by using the configured UAV simulation system and updating the aircraft mission data in the aircraft record.
G05D 1/00 - Commande de la position, du cap, de l'altitude ou de l'attitude des véhicules terrestres, aquatiques, aériens ou spatiaux, p.ex. pilote automatique
B64C 39/02 - Aéronefs non prévus ailleurs caractérisés par un emploi spécial
G05B 17/02 - Systèmes impliquant l'usage de modèles ou de simulateurs desdits systèmes électriques
G05D 1/10 - Commande de la position ou du cap dans les trois dimensions simultanément
A drop test system includes support members offset from each other and having corresponding tracks, a lifting rod bridging the support members and having rod ends adapted to engage with the tracks to move along the tracks, and a pair of spiral cams adapted to rotate in unison and positioned to engage with and reciprocally lift and drop the lifting rod as the spiral cams rotate. The spiral cams each have a perimeter shape that includes an abrupt section and a curved section that connects to opposing ends of the abrupt section with a smooth curvature. The lifting rod is adapted to ride on the perimeter shape of the spiral cams and gradually lift and drop a unit under test (UUT) as the spiral cams rotate.
In some embodiments, techniques are provided for analyzing time series data to detect anomalies. In some embodiments, the time series data is processed using a machine learning model. In some embodiments, the machine learning model is trained in an unsupervised manner on large amounts of previous time series data, thus allowing highly accurate models to be created from novel data. In some embodiments, training of the machine learning model alternates between a fitting optimization and a trimming optimization to allow large amounts of training data that includes untagged anomalous records to be processed. Because a machine learning model is used, anomalies can be detected within complex systems, including but not limited to autonomous vehicles such as unmanned aerial vehicles. When anomalies are detected, commands can be transmitted to the monitored system (such as an autonomous vehicle) to respond to the anomaly.
B64C 39/02 - Aéronefs non prévus ailleurs caractérisés par un emploi spécial
B64F 5/60 - Test ou inspection des composants ou des systèmes d'aéronefs
G05D 1/00 - Commande de la position, du cap, de l'altitude ou de l'attitude des véhicules terrestres, aquatiques, aériens ou spatiaux, p.ex. pilote automatique
G05D 1/10 - Commande de la position ou du cap dans les trois dimensions simultanément
7.
VISUAL AND TACTILE CONFIRMATION OF PACKAGE PRESENCE FOR UAV AERIAL DELIVERIES
A technique for validating a presence of a package carried by an unmanned aerial vehicle (UAV) includes: capturing an image of a scene below the UAV with a camera mounted to the UAV and oriented to face down from the UAV; analyzing the image to identify whether the package is present in the image; and determining whether the package is attached to the UAV, via a tether extending from an underside of the UAV, based at least on the analyzing of the image.
B66D 3/26 - Autres parties constitutives, p.ex. carters
G05D 1/00 - Commande de la position, du cap, de l'altitude ou de l'attitude des véhicules terrestres, aquatiques, aériens ou spatiaux, p.ex. pilote automatique
G05D 1/10 - Commande de la position ou du cap dans les trois dimensions simultanément
A technique of operating an unmanned aerial vehicle (UAV) adapted for a package delivery mission includes: powering distributed propulsion units during takeoff and landing segments of the package delivery mission and idling at least a portion of the distributed propulsion units while powering a pair of outboard propulsion units during a cruise segment of the package delivery mission. The distributed propulsion units are mounted below fixed wings of the UAV and have first propellers mounted fore of the fixed wings. The outboard propulsion units are each mounted to a corresponding one of the fixed wings outboard of the distributed propulsion units. The outboard propulsion units include outboard propellers having a larger diameter than the first propellers.
B64U 101/60 - Véhicules aériens sans pilote spécialement adaptés à des utilisations ou à des applications spécifiques au transport de marchandises autres que des armes
A method includes causing an aerial vehicle to deploy a tethered component to a particular distance beneath the aerial vehicle by releasing a tether connecting the tethered component to the aerial vehicle. The method also includes obtaining, from a camera connected to the aerial vehicle, image data that represents the tethered component while the tethered component is deployed to the particular distance beneath the aerial vehicle. The method additionally includes determining, based on the image data, a position of the tethered component within the image data. The method further includes determining, based on the position of the tethered component within the image data, a wind vector that represents a wind condition present in an environment of the aerial vehicle. The method yet further includes causing the aerial vehicle to perform an operation based on the wind vector.
G05D 1/10 - Commande de la position ou du cap dans les trois dimensions simultanément
G05D 1/04 - Commande de l'altitude ou de la profondeur
G06T 7/70 - Détermination de la position ou de l'orientation des objets ou des caméras
G01W 1/02 - Instruments pour indiquer des conditions atmosphériques par mesure de plusieurs variables, p.ex. humidité, pression, température, nébulosité ou vitesse du vent
G06K 9/62 - Méthodes ou dispositions pour la reconnaissance utilisant des moyens électroniques
B64D 47/02 - Aménagements ou adaptations des dispositifs de signalisation ou d'éclairage
B64C 39/02 - Aéronefs non prévus ailleurs caractérisés par un emploi spécial
10.
TECHNIQUES FOR VALIDATING UAV POSITION USING VISUAL LOCALIZATION
Systems and methods for validating a position of an unmanned aerial vehicle (UAV) are provided. A method can include receiving map data for a location, the map data including labeled data for a plurality of landmarks in a vicinity of the location. The method can include generating image data for the location, the image data being derived from images of the vicinity generated by the UAV including at least a subset of the plurality of landmarks. The method can include determining a visual position of the UAV using the image data and the map data. The method can include determining a Global Navigation Satellite System (GNSS) position of the UAV. The method can include generating an error signal using the visual position and the GNSS position. The method can also include validating the GNSS position in accordance with the error signal satisfying a transition condition.
G01S 19/48 - Détermination de position en combinant ou en commutant entre les solutions de position dérivées du système de positionnement par satellite à radiophares et les solutions de position dérivées d'un autre système
G01S 19/40 - Correction de position, de vitesse ou d'attitude
G01S 19/26 - Acquisition ou poursuite des signaux émis par le système faisant intervenir une mesure par capteur pour faciliter l'acquisition ou la poursuite
An unmanned aerial vehicle (UAV) including a fuselage body having a cavity that forms a cargo bay for transporting a payload, and a lower access opening for lowering the payload from the cargo bay, the lower access opening including a cargo bay door; a winch system positioned in the cargo bay configured to suspend a payload within the cargo bay; and a cargo bay door monitor which is configured to detect when the payload is applying a weight to the cargo bay door.
A unmanned aerial vehicle (UAV) includes a fuselage body including a cavity that forms a cargo bay for transporting a payload, an upper access opening for receiving the payload into the cargo bay from a first direction, and a lower access opening for lowering the payload from the cargo bay. The UAV also includes an upper door associated with the upper access opening that is movable between a closed position in which the upper access opening is obstructed and an open position providing a path for the payload into the cargo bay. The upper door includes a winch configured to unwind or retract a tether secured to the payload.
A unmanned aerial vehicle (UAV) includes a fuselage including a top, a bottom, a cavity that forms a cargo bay between the top and the bottom, and a lower access opening in the bottom for lowering a payload from the cargo bay. A movable stage is coupled to the fuselage and adjustable between an upper position in which the stage is above the cargo bay and a lower position in which the stage is at the bottom of the fuselage, the stage including an opening extending through the stage. The UAV also includes a winch disposed in the fuselage and a tether coupled to the winch. The winch is configured to be secured to the payload and is movable through the opening in the stage so as to raise or lower the payload.
A method includes obtaining sensor data indicating a tension experienced by a tether while a payload coupling apparatus connected to the tether is lowered from an aerial vehicle using the tether. The method also includes determining, based on the sensor data, a ground contact time at which the payload coupling apparatus or a payload coupled thereto made initial contact with a ground surface. The method additionally includes determining a length of the tether released from the aerial vehicle at the ground contact time. The method further includes determining a tether-based altitude of the aerial vehicle based on the length of the tether released from the aerial vehicle at the ground contact time. The method yet further includes causing the aerial vehicle to perform an operation based on the tether-based altitude.
G01C 5/00 - Mesure des hauteurs; Mesure des distances transversales par rapport à la ligne de visée; Nivellement entre des points séparés; Niveaux à lunette
B64C 39/02 - Aéronefs non prévus ailleurs caractérisés par un emploi spécial
B64D 1/08 - Largage ou éjection d'objets les objets étant des dispositifs porte-charges
G05D 1/10 - Commande de la position ou du cap dans les trois dimensions simultanément
15.
Machine-Learned Monocular Depth Estimation and Semantic Segmentation for 6-DOF Absolute Localization of a Delivery Drone
A method includes receiving a two-dimensional (2D) image captured by a camera on a unmanned aerial vehicle (UAV) and representative of an environment of the UAV. The method further includes applying a trained machine learning model to the 2D image to produce a semantic image of the environment and a depth image of the environment, where the semantic image comprises one or more semantic labels. The method additionally includes retrieving reference depth data representative of the environment, wherein the reference depth data includes reference semantic labels. The method also includes aligning the depth image of the environment with the reference depth data representative of the environment to determine a location of the UAV in the environment, where the aligning associates the one or more semantic labels from the semantic image with the reference semantic labels from the reference depth data.
G06T 7/73 - Détermination de la position ou de l'orientation des objets ou des caméras utilisant des procédés basés sur les caractéristiques
G06T 7/50 - Récupération de la profondeur ou de la forme
B64C 39/02 - Aéronefs non prévus ailleurs caractérisés par un emploi spécial
G05D 1/10 - Commande de la position ou du cap dans les trois dimensions simultanément
G01S 19/48 - Détermination de position en combinant ou en commutant entre les solutions de position dérivées du système de positionnement par satellite à radiophares et les solutions de position dérivées d'un autre système
An unmanned aerial vehicle (UAV) includes a fuselage, a pair of wings attached to the fuselage, and a propulsion system mounted to the wings to provide propulsion to the UAV. The fuselage has an outer fuselage shell that is a first mechanical support structure for an airframe of the UAV. The pair of wings is attached to the fuselage and shaped to provide aerodynamic lift. The wings have outer wing shells that are second mechanical support structures for the airframe. The outer fuselage shell or the outer wing shells comprise one or more formed-metal sheets.
B64U 20/75 - Caractéristiques de construction du corps du véhicule aérien sans pilote le corps étant formé par des plaques assemblées ou par une plaque superposée à un châssis
B64U 10/20 - Aéronefs à décollage et atterrissage verticaux [ADAV, en anglais VTOL]
B64U 20/30 - Caractéristiques de construction de véhicules aériens sans pilote pour la sécurité, p. ex. avec des composants frangibles
B64U 20/77 - Caractéristiques de construction du corps du véhicule aérien sans pilote le corps étant formé intégralement avec des ailes ou des supports de rotor
B64U 20/83 - Composants électroniques structurellement intégrés à des éléments de l’aéronef, p. ex. circuits imprimés portant des charges
17.
Payload Coupling Apparatus for UAV and Method of Delivering a Payload
An unmanned aerial vehicle system including an unmanned aerial vehicle (UAV); a tether having a first end positioned in a winch system of the UAV and a second end secured to a payload coupling apparatus; a payload coupling apparatus receptacle positioned in the UAV; a payload having a handle, wherein the handle of the payload is positioned within a slot in the payload coupling apparatus; wherein the UAV has a recessed restraint slot for receiving a top portion of the payload.
An example method of manufacturing a wing includes providing a wing frame. The wing frame includes a primary spar, a drag spar, a plurality of transverse frame elements having at least one spar joiner, and a plurality of mounting elements. The primary spar is coupled to the drag spar via the at least one spar joiner. The method further includes placing the wing frame into a mold, wherein the mold defines a shape of the wing. The method also includes injecting the mold with an air-filled matrix material, such that the air-filled matrix material substantially encases the wing frame and fills the defined shape of the wing, and such that the plurality of transverse frame elements provide torsional rigidity to the wing.
B29C 45/00 - Moulage par injection, c. à d. en forçant un volume déterminé de matière à mouler par une buse d'injection dans un moule fermé; Appareils à cet effet
B64C 29/02 - Aéronefs capables d'atterrir ou de décoller à la verticale, p.ex. aéronefs à décollage et atterrissage verticaux [ADAV, en anglais VTOL] dont l'axe matérialisant la direction du vol est vertical lorsque l'aéronef est au sol
B64C 39/02 - Aéronefs non prévus ailleurs caractérisés par un emploi spécial
A delivery method using curbside payload pickup by a UAV is provided. The method includes providing instructions to cause physical loading of a payload onto an autoloader device for subsequent UAV transport of the payload. A communication signal is received indicating that the autoloader device has been physically loaded with the payload. A UAV from a group of one or more UAVs is selected to pick up the payload from the autoloader device. Instructions are provided to cause the selected UAV to navigate to the autoloader device to pick up the payload and transport the payload to a delivery location.
A UAV package delivery system includes a cabinet for deployment inside a merchant facility. The cabinet is configured for storing and charging UAVs on-site at the merchant facility remote from a command and control of the UAVs. The cabinet includes a plurality of cubbies, power circuitry, communication circuitry, and a controller. The cubbies are each sized and shaped to receive one of the UAVs. The power circuitry is configured for charging the UAVs when the UAVs are stowed within the cubbies. The communication circuitry is configured for communicating with the UAVs when the UAVs are proximate to the cabinet or stowed within the cubbies and for communicating with the command and control. The controller causes the UAV package delivery system to retrieve status information from the UAVs, relay the status information to the command and control, and relay mission data between the command and control and the UAVs.
A method includes determining, by an unmanned aerial vehicle (UAV), a position of an autoloader device for the UAV; based on the determined position of the autoloader device, causing the UAV to follow a descent trajectory in which the UAV moves from a starting position to a first nudged position in order to deploy a tethered pickup component of the UAV to a payout position on an approach side of the autoloader device; deploying the tethered pickup component of the UAV to the payout position; causing the UAV to follow a side-step trajectory in which the UAV moves laterally to a second nudged position in order to cause the tethered pickup component of the UAV to engage the autoloader device; and retracting the tethered pickup component of the UAV to pick up a payload from the autoloader device.
A method includes determining, by an unmanned aerial vehicle (UAV), a position of an autoloader device for the UAV; based on the determined position of the autoloader device, causing the UAV to follow a descent trajectory in which the UAV moves from a starting position to a first nudged position in order to deploy a tethered pickup component of the UAV to a payout position on an approach side of the autoloader device; deploying the tethered pickup component of the UAV to the payout position; causing the UAV to follow a side-step trajectory in which the UAV moves laterally to a second nudged position in order to cause the tethered pickup component of the UAV to engage the autoloader device; and retracting the tethered pickup component of the UAV to pick up a payload from the autoloader device.
A method includes, during a delivery process of an unmanned aerial vehicle (UAV), receiving, by an image processing system, a depth image captured by a downward-facing stereo camera on the UAV. One or more pixels are within a sample area of the depth image and are associated with corresponding depth values indicative of distances of one or more objects to the downward-facing stereo camera. The method also includes determining, by the image processing system an estimated depth value representative of depth values within the sample area. The method further includes determining that the estimated depth value is below a trigger depth. The method further includes, based at least on determining that the estimated depth value is below the trigger depth, aborting the delivery process of the UAV
In some embodiments, a mobile computing device comprising one or more processors, a display, and a non-transitory computer-readable medium is provided. The computer-readable medium has logic stored thereon that, in response to execution by the one or more processors, causes the mobile computing device to perform actions comprising: determining, by the mobile computing device, a location associated with flight plan information; transmitting, by the mobile computing device, the location to a restriction management system; receiving, by the mobile computing device from the restriction management system, information for presenting a checklist including checklist items indicating statuses of flight restriction conditions associated with the location; generating, by the mobile computing device, an interface having a format based on whether all checklist items are passed, wherein the interface includes a map, a pin, and a checklist; and presenting, by the mobile computing device, the interface on the display.
A technique for detecting an environmental change to a delivery zone via an unmanned aerial vehicle includes obtaining an anchor image and an evaluation image, each representative of the delivery zone, providing the anchor image and the evaluation image to a machine learning model to determine an embedding score associated with a distance between representations of the anchor image and the evaluation image within an embedding space, and determining an occurrence of the environmental change to the delivery zone when the embedding score is greater than a threshold value.
G06T 7/246 - Analyse du mouvement utilisant des procédés basés sur les caractéristiques, p.ex. le suivi des coins ou des segments
B64C 39/02 - Aéronefs non prévus ailleurs caractérisés par un emploi spécial
G06T 7/174 - Découpage; Détection de bords impliquant l'utilisation de plusieurs images
B64U 101/30 - Véhicules aériens sans pilote spécialement adaptés à des utilisations ou à des applications spécifiques à l’imagerie, à la photographie ou à la vidéographie
B64U 101/60 - Véhicules aériens sans pilote spécialement adaptés à des utilisations ou à des applications spécifiques au transport de marchandises autres que des armes
A mobile nest for unmanned aerial vehicles (UAVs) includes a cuboid-shaped frame, staging pads, charging electronics, and exterior siding. The cuboid-shaped frame includes vertical supports positioned at corners of the cuboid-shaped frame. The staging pads are adapted for landing, launching, and charging the UAVs. The staging pads are mounted to pivot about two or more of the vertical supports. Each of the staging pads rotates into the cuboid-shaped frame when stowed and rotates out of the cuboid-shaped frame when deployed for launching or landing the corresponding one of the UAVs. The charging electronics are disposed within the cuboid-shaped frame and coupled to the staging pads to charge the UAVs when the UAVs are positioned on the staging pads. The exterior siding is mounted to the cuboid-shaped frame to provide a weather barrier that protects the UAVs from weather when the UAVs are stowed within the mobile housing structure.
A payload coupling apparatus is provided that includes a housing. The housing is adapted for attachment to a first end of a tether. The apparatus further includes a slot extending downwardly from an outer surface of the housing towards a center of the housing thereby forming a lower lip on the housing beneath the slot. The slot is adapted to receive a handle of a payload. The apparatus further includes a sensor configured to detect touchdown of the payload and a transmitter configured to send a touchdown confirmation signal to an unmanned aerial vehicle (UAV) based on a touchdown detection by the sensor.
B66C 1/38 - Crochets de grues adaptés pour le désengagement automatique des charges au moment où le câble se détend
B66D 1/12 - Mécanismes d'entraînement comportant des moteurs électriques
B64U 101/60 - Véhicules aériens sans pilote spécialement adaptés à des utilisations ou à des applications spécifiques au transport de marchandises autres que des armes
28.
Unmanned Aerial Vehicle Trajectories for Nudging and Un-nudging
A method includes navigating, by an unmanned aerial vehicle (UAV), to a first altitude above a first delivery point at a delivery location. The method further includes determining, by the UAV, a second delivery point at the delivery location. The method includes navigating, by the UAV, through a descending trajectory to move the UAV from the first altitude above the first delivery point to a second altitude above the second delivery point at the delivery location. The second altitude is lower than the first altitude. The method additionally includes delivering, by the UAV, a payload to the second delivery point at the delivery location. The method includes after delivering the payload, navigating, by the UAV, through an ascending trajectory to move the UAV from a third altitude above the second delivery point to a fourth altitude above the first delivery point. The fourth altitude is higher than the third altitude.
A method includes capturing, by a sensor on an unmanned aerial vehicle (UAV), an image of a delivery location. The method also includes determining, based on the image of the delivery location, a segmentation image. The segmentation image segments the delivery location into a plurality of pixel areas with corresponding semantic classifications. The method additionally includes determining, based on the segmentation image, a percentage of obstacle pixels within a surrounding area of a delivery point at the delivery location, wherein each obstacle pixel has a semantic classification indicative of an obstacle in the delivery location. The method further includes based on the percentage of obstacle pixels being above a threshold percentage, aborting a delivery process of the UAV.
G06V 20/17 - Scènes terrestres transmises par des avions ou des drones
G06V 10/774 - Dispositions pour la reconnaissance ou la compréhension d’images ou de vidéos utilisant la reconnaissance de formes ou l’apprentissage automatique utilisant l’intégration et la réduction de données, p.ex. analyse en composantes principales [PCA] ou analyse en composantes indépendantes [ ICA] ou cartes auto-organisatrices [SOM]; Séparation aveugle de source méthodes de Bootstrap, p.ex. "bagging” ou “boosting”
G06T 7/70 - Détermination de la position ou de l'orientation des objets ou des caméras
G06Q 10/08 - Logistique, p.ex. entreposage, chargement ou distribution; Gestion d’inventaires ou de stocks
G05D 1/00 - Commande de la position, du cap, de l'altitude ou de l'attitude des véhicules terrestres, aquatiques, aériens ou spatiaux, p.ex. pilote automatique
G05D 1/06 - Régime de modification de l'altitude ou de la profondeur
B64C 39/02 - Aéronefs non prévus ailleurs caractérisés par un emploi spécial
Example implementations relate to a method of dynamically updating a transport task of a UAV. The method includes receiving, at a transport-provider computing system, an item provider request for transportation of a plurality of packages from a loading location at a given future time. The method also includes assigning, by the transport-provider computing system, a respective transport task to each of a plurality of UAVs, where the respective transport task comprises an instruction to deploy to the loading location to pick up one or more of the plurality of packages. Further, the method includes identifying, by the transport-provider system, a first package while or after a first UAV picks up the first package. Yet further, the method includes based on the identifying of the first package, providing, by the transport-provider system, a task update to the first UAV to update the respective transport task of the first UAV.
B64C 39/02 - Aéronefs non prévus ailleurs caractérisés par un emploi spécial
G05D 1/00 - Commande de la position, du cap, de l'altitude ou de l'attitude des véhicules terrestres, aquatiques, aériens ou spatiaux, p.ex. pilote automatique
A computer-implemented method comprises receiving, by an image processing system, a depth image captured by a stereo camera on an unmanned aerial vehicle (UAV). One or more pixels of the depth image are associated with corresponding depth values indicative of distances of one or more objects to the stereo camera. The image processing system determines that one or more pixels of the depth image are associated with invalid depth values. The image processing system infers, based on a distribution of the one or more pixels of the depth image that are associated with invalid depth values, a presence of a potential obstacle in an environment of the UAV. The UAV is controlled based on the inferred presence of the potential obstacle.
G06V 10/75 - Appariement de motifs d’image ou de vidéo; Mesures de proximité dans les espaces de caractéristiques utilisant l’analyse de contexte; Sélection des dictionnaires
G06T 7/593 - Récupération de la profondeur ou de la forme à partir de plusieurs images à partir d’images stéréo
G05D 1/10 - Commande de la position ou du cap dans les trois dimensions simultanément
G05D 1/04 - Commande de l'altitude ou de la profondeur
B64C 39/02 - Aéronefs non prévus ailleurs caractérisés par un emploi spécial
G06N 5/04 - Modèles d’inférence ou de raisonnement
32.
Method for Semantic Localization of an Unmanned Aerial Vehicle
A computer-implemented method comprises receiving an image captured by a camera on an unmanned aerial vehicle (UAV). The image depicts an environment below the UAV. A feature mask associated with the image is generated via a machine learning model that is trained to identify and semantically label pixels representing the environment depicted in the image. One or more reference tiles associated with the environment are retrieved. The reference tiles are associated with particular geographic locations and specify semantically labeled pixels representing the geographic locations. The semantically labeled pixels of the feature mask are correlated with the semantically labeled pixels of at least one of the one or more reference tiles to determine the geographic location of the UAV in the environment.
A method includes capturing, by a sensor on an unmanned aerial vehicle (UAV), an image of a delivery location. The method further includes determining, based on the image of the delivery location, a segmentation image. The segmentation image segments the delivery location into a plurality of pixel areas with corresponding semantic classifications. The method also includes determining, based on the segmentation image, a distance-to-obstacle image of a delivery zone at the delivery location. The distance-to-obstacle image comprises a plurality of pixels, each pixel representing a distance in the segmentation image from a nearest pixel area with a semantic classification indicative of an obstacle in the delivery location. Additionally, the method includes selecting, based on the distance-to-obstacle image, a delivery point in the delivery zone. The method also includes positioning the UAV above the delivery point in the delivery zone for delivery of a payload.
B64C 39/02 - Aéronefs non prévus ailleurs caractérisés par un emploi spécial
G05D 1/04 - Commande de l'altitude ou de la profondeur
G05D 1/00 - Commande de la position, du cap, de l'altitude ou de l'attitude des véhicules terrestres, aquatiques, aériens ou spatiaux, p.ex. pilote automatique
G06V 20/17 - Scènes terrestres transmises par des avions ou des drones
G06V 20/58 - Reconnaissance d’objets en mouvement ou d’obstacles, p.ex. véhicules ou piétons; Reconnaissance des objets de la circulation, p.ex. signalisation routière, feux de signalisation ou routes
34.
Slotted receptacle for payload handle to secure payload within a UAV
An unmanned aerial vehicle (UAV) including a fuselage body having a cavity that forms a cargo bay for transporting a payload; an access opening positioned in the cargo bay adapted to receive the payload; a winch system positioned in an upper portion of the fuselage body above the cargo bay, the winch system configured to suspend the payload within the cargo bay; wherein a tether has a first end attached to the winch system and a second end attached to a payload coupling apparatus that includes a downwardly extending slot positioned above a lip of the payload coupling apparatus, the lip of the payload coupling apparatus is configured to extend through an opening in the handle of the payload to secure the payload to the handle of the payload; and wherein the upper portion of the fuselage body includes a vertical handle slot for receiving the handle of the payload.
B64U 101/60 - Véhicules aériens sans pilote spécialement adaptés à des utilisations ou à des applications spécifiques au transport de marchandises autres que des armes
35.
Systems and methods for battery capacity management in a fleet of UAVs
A method includes determining a threshold capacity associated with at least a first unmanned aerial vehicle (UAV) and a second UAV. The method includes initially setting a target charge voltage of a first battery of the first UAV to less than a full charge voltage to limit a state of charge of the first battery based on the threshold capacity. The method includes, over a lifetime of the first battery of the first UAV, periodically comparing a full charge capacity of the first battery to the threshold capacity. The method includes, based on the comparing, periodically adjusting the target charge voltage of the first battery, such that, as the full charge capacity of the first battery decreases with age, the target charge voltage increases towards the full charge voltage of the first battery.
B60L 58/13 - Maintien de l’état de charge [SoC] à l'intérieur d'une plage déterminée
G01R 31/387 - Détermination de la capacité ampère-heure ou de l’état de charge
B64C 39/02 - Aéronefs non prévus ailleurs caractérisés par un emploi spécial
G01R 31/392 - Détermination du vieillissement ou de la dégradation de la batterie, p.ex. état de santé
B60L 58/16 - Procédés ou agencements de circuits pour surveiller ou commander des batteries ou des piles à combustible, spécialement adaptés pour des véhicules électriques pour la surveillance et la commande des batteries en fonction du vieillissement de la batterie, p.ex. du nombre de cycles de charge ou de l'état de santé [SoH]
B64U 50/19 - Propulsion utilisant des moteurs électriques
A landing pad for an unmanned aerial vehicle (“UAV”) is disclosed. The landing pad includes a support structure, a charging pad, and a plurality of movable UAV supports. The charging pad is coupled to the support structure and able to move relative to the support structure. The UAV supports are also coupled to the support structure and configured to translate along the support structure from a first position to a second position. When the UAV supports are in the first position, the charging pad supports the UAV. When the UAV supports are in the second position, the charging pad is lowered and the UAV supports then provide support to the UAV.
B64C 39/02 - Aéronefs non prévus ailleurs caractérisés par un emploi spécial
B64D 9/00 - Appareillage pour manutention du fret; Appareillage pour faciliter l'embarquement des passagers ou autres
B64F 1/32 - Installations au sol ou installations pour ponts d'envol des porte-avions pour la manutention du fret
B64U 70/00 - Dispositions pour le lancement, le décollage ou l'atterrissage
B64U 101/60 - Véhicules aériens sans pilote spécialement adaptés à des utilisations ou à des applications spécifiques au transport de marchandises autres que des armes
37.
METHODS AND SYSTEMS FOR RAISING AND LOWERING A PAYLOAD
Described herein are methods and systems for picking up, transporting, and lowering a payload coupled to a tether of a winch system arranged on an unmanned aerial vehicle (UAV). For example, the winch system may include a motor for winding and unwinding the tether from a spool, and the UAV's control system may operate the motor to lower the tether toward the ground so a payload may be attached to the tether. The control system may monitor an electric current supplied to the motor to determine whether the payload has been attached to the tether. In another example, when lowering a payload, the control system may monitor the motor current to determine that the payload has reached the ground and responsively operate the motor to detach the payload from the tether. The control system may then monitor the motor current to determine whether the payload has detached from the tether.
An unmanned aerial vehicle (UAV) is disclosed that includes a retractable payload delivery system. The payload delivery system can lower a payload to the ground using a delivery device that secures the payload during descent and releases the payload upon reaching the ground. The location of the delivery device can be determined as it is lowered to the ground using image tracking. The UAV can include an imaging system that captures image data of the suspended delivery device and identifies image coordinates of the delivery device, and the image coordinates can then be mapped to a location. The UAV may also be configured to account for any deviations from a planned path of descent in real time to effect accurate delivery locations of released payloads.
B64C 39/02 - Aéronefs non prévus ailleurs caractérisés par un emploi spécial
G05D 1/04 - Commande de l'altitude ou de la profondeur
G05D 1/00 - Commande de la position, du cap, de l'altitude ou de l'attitude des véhicules terrestres, aquatiques, aériens ou spatiaux, p.ex. pilote automatique
B64D 1/22 - Enlèvement d'objets à la surface du sol
39.
Backup Navigation System for Unmanned Aerial Vehicles
Described is a method that involves operating an unmanned aerial vehicle (UAV) to begin a flight, where the UAV relies on a navigation system to navigate to a destination. During the flight, the method involves operating a camera to capture images of the UAV's environment, and analyzing the images to detect features in the environment. The method also involves establishing a correlation between features detected in different images, and using location information from the navigation system to localize a feature detected in different images. Further, the method involves generating a flight log that includes the localized feature. Also, the method involves detecting a failure involving the navigation system, and responsively operating the camera to capture a post-failure image. The method also involves identifying one or more features in the post-failure image, and determining a location of the UAV based on a relationship between an identified feature and a localized feature.
A package coupling apparatus for securing a package to an unmanned aerial vehicle (UAV) is provided. The package coupling apparatus includes a hanger and a strap coupled to the hanger. The hanger includes a base configured to be positioned adjacent to the package and a handle extending up from the base. The handle includes a handle opening and a bridge that extends over the handle opening. The bridge is configured to be secured by a component of the UAV. The strap is configured to surround the package and secure the package to the hanger.
An unmanned aerial vehicle (UAV) includes lift rotors and control rotors. The lift rotors are mounted to the UAV and oriented to provide a first vertical thrust to the UAV. The control rotors are mounted to the UAV outboard of the lift rotors and oriented to provide a second vertical thrust to the UAV. The control rotors are each smaller than any of the lift rotors.
B64C 39/02 - Aéronefs non prévus ailleurs caractérisés par un emploi spécial
B64C 27/26 - Giravions complexes, c. à d. aéronefs utilisant en vol à la fois les caractéristiques de l'avion et celles du giravion caractérisé par le fait qu'il est doté d'ailes fixes
B64C 11/00 - Hélices, p.ex. du type caréné; Caractéristiques communes aux hélices et aux rotors pour giravions
B64C 27/30 - Giravions complexes, c. à d. aéronefs utilisant en vol à la fois les caractéristiques de l'avion et celles du giravion avec moyens permettant de réduire la traînée du rotor en période de non fonctionnement
B64C 27/80 - Mécanismes pour la commande du réglage ou du mouvement de la pale par rapport à la tête du rotor, p.ex. mouvement de traînée pour le réglage différentiel du pas des pales entre plusieurs rotors de sustentation
G05D 1/10 - Commande de la position ou du cap dans les trois dimensions simultanément
42.
Package Coupling Apparatus with Attachment Plate for Securing a Package to a UAV and Method of Securing a Package for Delivery
A package coupling apparatus for securing a package to an unmanned aerial vehicle (UAV) is provided. The package coupling apparatus includes a support plate configured to be secured to an upper surface of the package and a handle extending up from the support plate. The handle includes a handle opening and a bridge that extends over the handle opening, wherein the bridge is configured to be secured by a component of the UAV.
A payload retrieval apparatus is provided including a channel having a first end and a second end provided with a curved portion, wherein the channel has a tether slot therein and is configured to receive a payload retriever attached to a tether suspended from a UAV; and a payload holder positioned at the second end of the channel on the curved portion, wherein the payload holder is adapted to hold a payload having a handle with an opening therein, wherein the curved portion is configured to change an exit angle of the payload retriever such that a lip of the payload retriever is angled upwardly to ease entry of the lip into the opening of the handle of the payload.
A payload retrieval apparatus is provided including a stand or base, wherein the base or stand has an upper end and a lower end, a first sloped surface positioned over the upper end of the stand or base, a second sloped surface positioned over the upper end of the stand or base and adjacent the first sloped surface, a tether slot positioned in a channel having a first end and a second end, the channel positioned under or near the first sloped surface, and a payload holder positioned at the second end of the channel, wherein the payload holder is adapted to secure a payload.
Systems, devices, and techniques for active thermal control of energy storage units are described. In some embodiments, an unmanned aerial vehicle (UAV) includes a battery pack. The battery pack includes a plurality of battery cells and an enclosure coupled with the plurality of battery cells to physically retain the plurality of battery cells in an arrangement. The arrangement defines a void space between the plurality of battery cells. The UAV also includes a cooling system configured to cool the battery cells. The cooling system includes a source of forced convection fluidically coupled with the battery pack to drive a cooling fluid through the void space. The cooling system also includes a cooling controller electrically coupled with the source of forced convection to controllably activate the source of forced convection.
In some embodiments, techniques are provided for verifying operability of an automatic dependent surveillance-broadcast (ADS-B) receiver included in a first unmanned aerial vehicle (UAV), which includes receiving ADS-B data representative of ADS-B messages broadcast by traffic within a reception range of the ADS-B receiver during a first period of time, estimating a traffic environment for a service area spanning, at least in part, a first operating area of the first UAV during the first period of time, determining an expected observed traffic of the first UAV during the first period of time based on the estimated traffic environment, and verifying operability of the ADS-B receiver of the first UAV based on a comparison between the expected observed traffic of the first UAV and the traffic associated with the ADS-B data received by the ADS-B receiver of the first UAV.
An unmanned aerial vehicle (UAV) includes a fuselage, electronics disposed with the fuselage, a heat sink, and a solar shield. The heat sink is thermally connected to the electronics and includes a cooling plate disposed on or extends through an exterior surface of the fuselage. The cooling plate is exposed to an external environment of the UAV to conduct heat from the electronics to the external environment via convection. The solar shield extends over the cooling plate and defines an air scoop within which the cooling plate is disposed. The air scoop directs airflow from the external environment across the cooling plate. The solar shield shades the cooling plate from solar radiation to prevent or reduce solar heating of the cooling plate.
B64C 39/02 - Aéronefs non prévus ailleurs caractérisés par un emploi spécial
B64C 29/00 - Aéronefs capables d'atterrir ou de décoller à la verticale, p.ex. aéronefs à décollage et atterrissage verticaux [ADAV, en anglais VTOL]
B64D 13/00 - Aménagements ou adaptations des appareils de conditionnement d'air pour équipages d'aéronefs, passagers ou pour emplacement réservé au fret
B64C 1/26 - Fixation de la voilure, des empennages ou des surfaces stabilisatrices
B60L 53/00 - PROPULSION DES VÉHICULES À TRACTION ÉLECTRIQUE; FOURNITURE DE L'ÉNERGIE ÉLECTRIQUE À L'ÉQUIPEMENT AUXILIAIRE DES VÉHICULES À TRACTION ÉLECTRIQUE; SYSTÈMES DE FREINS ÉLECTRODYNAMIQUES POUR VÉHICULES, EN GÉNÉRAL; SUSPENSION OU LÉVITATION MAGNÉTIQUES POUR VÉHICULES; CONTRÔLE DES PARAMÈTRES DE FONCTIONNEMENT DES VÉHICULES À TRACTION ÉLECTRIQUE; DISPOSITIFS ÉLECTRIQUES DE SÉCURITÉ POUR VÉHICULES À TRACTION ÉLECTRIQUE Échange d'éléments d’emmagasinage d'énergie dans les véhicules électriques
B64C 1/38 - Constructions adaptées pour réduire les effets de l'échauffement aérodynamique ou d'un échauffement externe d'autre nature
A payload retrieval apparatus including a stand having an upper end and a lower end, a channel having a first end and a second end, the channel coupled to the stand, a first extension that extends in a first direction from the first end of the channel, wherein the first extension is configured to direct a tether extending from a UAV and a payload retriever attached to an end of the tether toward the first end of the channel, wherein the second end of the channel has a payload engaging member positioned near the second end of the channel that is adapted to secure a payload, and wherein the payload retrieval apparatus is configured to cause the UAV to pick up the payload with the payload retriever while maintaining flying.
Example methods, systems, and articles of manufacture may relate to an aerial vehicle. The methods, systems, and articles of manufacture may include receiving an audio signal with a microphone of the aerial vehicle. The methods, systems, and articles of manufacture may also include processing the audio signal to determine at least one of a distance and type of aircraft located near the aerial vehicle. Additionally, the methods, systems, and articles of manufacture may include, based on the determination, performing at least one maneuver of the aerial vehicle.
H04R 1/40 - Dispositions pour obtenir la fréquence désirée ou les caractéristiques directionnelles pour obtenir la caractéristique directionnelle désirée uniquement en combinant plusieurs transducteurs identiques
B64C 39/02 - Aéronefs non prévus ailleurs caractérisés par un emploi spécial
B64D 45/00 - Indicateurs ou dispositifs de protection d'aéronefs, non prévus ailleurs
G05D 1/00 - Commande de la position, du cap, de l'altitude ou de l'attitude des véhicules terrestres, aquatiques, aériens ou spatiaux, p.ex. pilote automatique
H04R 1/02 - Boîtiers; Meubles; Montages à l'intérieur de ceux-ci
G10K 11/178 - Procédés ou dispositifs de protection contre le bruit ou les autres ondes acoustiques ou pour amortir ceux-ci, en général utilisant des effets d'interférence; Masquage du son par régénération électro-acoustique en opposition de phase des ondes acoustiques originales
Described is a method that involves operating an unmanned aerial vehicle (UAV) to begin a flight, where the UAV relies on a navigation system to navigate to a destination. During the flight, the method involves operating a camera to capture images of the UAV's environment, and analyzing the images to detect features in the environment. The method also involves establishing a correlation between features detected in different images, and using location information from the navigation system to localize a feature detected in different images. Further, the method involves generating a flight log that includes the localized feature. Also, the method involves detecting a failure involving the navigation system, and responsively operating the camera to capture a post-failure image. The method also involves identifying one or more features in the post-failure image, and determining a location of the UAV based on a relationship between an identified feature and a localized feature.
A method for automated assignment of a staging pad to an unmanned aerial vehicle (UAV) includes: launching the UAV from a launch location; tracking a drift of the UAV from the launch location; determining a subsequent position of the UAV after the launching based upon geofiducial navigation; calculating an estimated position of the launch location by offsetting the subsequent position by the drift; attempting to match the estimated position to an available staging pad of a plurality of staging pads; and assigning the UAV to the available staging pad when the estimated position successfully matches to the available staging pad.
G05D 1/10 - Commande de la position ou du cap dans les trois dimensions simultanément
G05D 1/06 - Régime de modification de l'altitude ou de la profondeur
G06K 9/00 - Méthodes ou dispositions pour la lecture ou la reconnaissance de caractères imprimés ou écrits ou pour la reconnaissance de formes, p.ex. d'empreintes digitales
In some embodiments, a computer-implemented method for simulating an unmanned aerial vehicle (UAV) to improve control system performance is provided. A computing system obtains ground truth aerial imagery for a region that depicts the region during a first state. The computing system determines a route for a simulated UAV within the region. The computing system generates, based on the ground truth aerial imagery, predicted aerial imagery that depicts portions of the region associated with the route. The computing system generates simulated aerial imagery that depicts portions of the region associated with the route during a second state different from the first state by providing the predicted aerial imagery to a machine learning model. The computing system simulates travel of the simulated UAV along the route during the second state by providing the simulated aerial imagery as simulated input to at least one control system of the simulated UAV.
A payload loading system is disclosed. The payload loading system includes a UAV and a loading structure. A retractable tether is coupled to a payload coupling apparatus at a distal end and the UAV at a proximate end. A payload is loaded to the UAV by coupling the payload to the payload coupling apparatus. The loading structure of the payload loading system includes a landing platform and a tether guide. The tether guide is coupled to the landing platform and directs the tether as the UAV approaches and travels across at least a portion of the landing platform such that the payload coupling apparatus arrives at a target location. The payload is loaded to the payload coupling apparatus while the payload coupling apparatus is within the target location.
A method includes receiving a digital surface model of an area for unmanned aerial vehicle (UAV) navigation. The digital surface model represents an environmental surface in the area. The method includes determining, for each grid cell of a plurality of grid cells in the area, a confidence value of an altitude of the environmental surface at the grid cell and determining a terrain clearance value based at least on the confidence value of the altitude of the environmental surface at the grid cell. The method includes determining a route for a UAV through the area such that the altitude of the UAV is above the altitude of the environmental surface at each grid cell of a sequence of grid cells of the route by at least the terrain clearance value determined for the grid cell. The method includes causing the UAV to navigate through the area using the determined route.
An apparatus for visual navigation of a UAV includes a geo-fiducial mat and a plurality of geo-fiducials. The geo-fiducial mat includes a landing pad region that provides a location for aligning with a landing pad of a UAV. The geo-fiducials each includes a two-dimensional (2D) pattern that visually conveys a code. The 2D pattern has a shape from which a visual navigation system of the UAV can visually triangulate a position of the UAV.
Methods and systems for recipient-assisted recharging during delivery by an unmanned aerial vehicle (UAV) are disclosed herein. During a UAV transport task, a UAV determines that the UAV has arrived at a delivery location specified by a first flight leg of the transport task. The UAV responsively initiates a notification process indicating that a recipient-assisted recharging process should be initiated at or near the delivery location. When the UAV determines that the recipient-assisted recharging process has recharged a battery of the UAV to a target level, and also determines that a non-returnable portion of the payload has been removed from the UAV while a returnable portion of the payload is coupled to or held by the UAV, the UAV initiates a second flight segment of the transport task.
In some embodiments, a computer-implemented method of managing a fleet of unmanned aerial vehicles (UAVs) is provided. A fleet management computing system receives telemetry information from a plurality of UAVs. The fleet management computing system generates a map interface having a plurality of UAV icons based on the telemetry information. The fleet management computing system receives a selection of an initial group of UAV icons via the map interface, wherein the initial group of UAV icons includes two or more UAV icons. The fleet management computing system receives a de-selection of one or more UAV icons from the initial group of UAV icons to create a final selected group of UAV icons. The fleet management computing system transmits a command to UAVs associated with the UAV icons of the final selected group of UAV icons.
G05D 1/10 - Commande de la position ou du cap dans les trois dimensions simultanément
G06F 3/04817 - Techniques d’interaction fondées sur les interfaces utilisateur graphiques [GUI] fondées sur des propriétés spécifiques de l’objet d’interaction affiché ou sur un environnement basé sur les métaphores, p.ex. interaction avec des éléments du bureau telles les fenêtres ou les icônes, ou avec l’aide d’un curseur changeant de comport utilisant des icônes
G06F 3/0482 - Interaction avec des listes d’éléments sélectionnables, p.ex. des menus
59.
Generating dynamic checklists for aircraft operations
In some embodiments, a system comprising a user device and a restriction management system is provided. The restriction management system includes one or more processors and at least one computer-readable medium. The computer-readable medium has logic stored thereon that, in response to execution by the one or more processors, cause the restriction management system to perform actions comprising receiving flight plan information, querying a restriction data store to retrieve an initial set of restriction definitions relevant to the flight plan information, generating information for presenting a checklist based on a comparison of restriction definitions from the initial set of restrictions to a set of checklist items, and transmitting the information for presenting the set of checklist items to the user device for presentation. In some embodiments, the flight plan information includes a planned flight area and a planned flight period of time.
An example UAV landing structure includes a landing platform for a UAV, a cavity within the landing platform, and a track that runs along the landing platform and at least a part of the cavity. The UAV may include a winch system that includes a tether that may be coupled to a payload. Furthermore, the cavity may be aligned over a predetermined target location. The cavity may be sized to allow the winch system to pass a tethered payload through the cavity. The track may guide the UAV to a docked position over the cavity as the UAV moves along the landing platform. When the UAV is in the docked position, a payload may be loaded to or unloaded from the UAV through the cavity.
B64U 70/00 - Dispositions pour le lancement, le décollage ou l'atterrissage
B64C 39/02 - Aéronefs non prévus ailleurs caractérisés par un emploi spécial
B64U 101/60 - Véhicules aériens sans pilote spécialement adaptés à des utilisations ou à des applications spécifiques au transport de marchandises autres que des armes
61.
MANAGING A FLEET OF AUTONOMOUS VEHICLES BASED ON COLLECTED INFORMATION
Techniques for optimizing a restricted area for autonomous vehicle operations is provided. A fleet management system receives a definition of a general restricted area. The fleet management system collects information associated with the general restricted area. The fleet management system determines a specific restricted area based on the definition of the general restricted area and the collected information. The fleet management system controls one or more autonomous vehicles based on the specific restricted area. In some embodiments, the collected information includes aerial imagery and/or other environmental sensor data.
G05D 1/10 - Commande de la position ou du cap dans les trois dimensions simultanément
G05D 1/00 - Commande de la position, du cap, de l'altitude ou de l'attitude des véhicules terrestres, aquatiques, aériens ou spatiaux, p.ex. pilote automatique
G08G 5/02 - Aides pour l'atterrissage automatique, c. à d. systèmes dans lesquels les données des vols d'avions arrivant sont traitées de façon à fournir les données d'atterrissage
B64C 39/02 - Aéronefs non prévus ailleurs caractérisés par un emploi spécial
A method includes determining an operational condition associated with an unmanned aerial vehicle (UAV). The method includes, responsive to determining the operational condition, causing the UAV to perform a pre-flight check. The pre-flight check includes hovering the UAV above a takeoff location. The pre-flight check includes, while hovering the UAV, moving one or more controllable components of the UAV in accordance with a predetermined sequence of movements. The pre-flight check includes obtaining, by one or more sensors of the UAV, sensor data indicative of a flight response of the UAV to moving the one or more controllable components while hovering the UAV. The pre-flight check includes comparing the sensor data to expected sensor data associated with an expected flight response to the predetermined sequence of movements while hovering the UAV. The pre-flight check includes, based on comparing the sensor data to the expected sensor data, evaluating performance of the UAV.
Unmanned aerial vehicle (UAV) navigation systems include a UAV charging pad positioned at a storage facility, a plurality of fiducial markers positioned at the storage facility, and a UAV. Each of the fiducial markers is associated with a fiducial dataset storing a position of the corresponding fiducial marker, and the fiducial datasets are stored in a fiducial map. The UAV includes a camera and logic that when executed causes the UAV to image a first fiducial marker, to access from the fiducial map a first fiducial dataset storing the position of the first fiducial marker, and to navigate based upon the first fiducial dataset.
G05D 1/04 - Commande de l'altitude ou de la profondeur
G05D 1/12 - Commande pour la recherche d'un objectif
B64C 39/02 - Aéronefs non prévus ailleurs caractérisés par un emploi spécial
G06T 7/73 - Détermination de la position ou de l'orientation des objets ou des caméras utilisant des procédés basés sur les caractéristiques
G06K 7/14 - Méthodes ou dispositions pour la lecture de supports d'enregistrement par radiation corpusculaire utilisant la lumière sans sélection des longueurs d'onde, p.ex. lecture de la lumière blanche réfléchie
G06K 7/10 - Méthodes ou dispositions pour la lecture de supports d'enregistrement par radiation corpusculaire
G06K 19/06 - Supports d'enregistrement pour utilisation avec des machines et avec au moins une partie prévue pour supporter des marques numériques caractérisés par le genre de marque numérique, p.ex. forme, nature, code
64.
Anticipatory dispatch of UAVs to pre-staging locations
An example method involves determining an expected demand level for a first type of a plurality of types of transport tasks for unmanned aerial vehicles (UAVs), the first type of transport tasks associated with a first payload type. Each of the UAVs is physically reconfigurable between at least a first and a second configuration corresponding to the first payload type and a second payload type, respectively. The method also involves determining based on the expected demand level for the first type of transport tasks, (i) a first number of UAVs having the first configuration and (ii) a second number of UAVs having the second configuration. The method further involves, at or near a time corresponding to the expected demand level, providing one or more UAVs to perform the transport tasks, including at least the first number of UAVs.
G05D 1/10 - Commande de la position ou du cap dans les trois dimensions simultanément
B64C 39/02 - Aéronefs non prévus ailleurs caractérisés par un emploi spécial
G05D 1/00 - Commande de la position, du cap, de l'altitude ou de l'attitude des véhicules terrestres, aquatiques, aériens ou spatiaux, p.ex. pilote automatique
B64U 101/60 - Véhicules aériens sans pilote spécialement adaptés à des utilisations ou à des applications spécifiques au transport de marchandises autres que des armes
65.
Systems and methods for battery capacity management in a fleet of UAVs
A method includes determining a threshold capacity associated with at least a first unmanned aerial vehicle (UAV) and a second UAV. The method includes initially setting a target charge voltage of a first battery of the first UAV to less than a full charge voltage to limit a state of charge of the first battery based on the threshold capacity. The method includes, over a lifetime of the first battery of the first UAV, periodically comparing a full charge capacity of the first battery to the threshold capacity. The method includes, based on the comparing, periodically adjusting the target charge voltage of the first battery, such that, as the full charge capacity of the first battery decreases with age, the target charge voltage increases towards the full charge voltage of the first battery.
B60L 58/13 - Maintien de l’état de charge [SoC] à l'intérieur d'une plage déterminée
G01R 31/387 - Détermination de la capacité ampère-heure ou de l’état de charge
B64C 39/02 - Aéronefs non prévus ailleurs caractérisés par un emploi spécial
G01R 31/392 - Détermination du vieillissement ou de la dégradation de la batterie, p.ex. état de santé
B60L 58/16 - Procédés ou agencements de circuits pour surveiller ou commander des batteries ou des piles à combustible, spécialement adaptés pour des véhicules électriques pour la surveillance et la commande des batteries en fonction du vieillissement de la batterie, p.ex. du nombre de cycles de charge ou de l'état de santé [SoH]
66.
METHODS AND SYSTEMS FOR DAMPING OSCILLATIONS OF A PAYLOAD
Described herein are methods and systems to dampen oscillations of a payload coupled to a tether of a winch system arranged on an unmanned aerial vehicle (UAV). For example, the UAV's control system may dampen the oscillations by causing the UAV to switch to a forward flight mode in which movement of the UAV results in drag on the payload, thereby damping the oscillations. In another example, the control system may cause the UAV to reduce an extent flight stabilization along at least one dimension, thereby resulting in damping of the detected oscillations due to energy dissipation during movement of the UAV along the dimension. In this way, the control system could select and carry out one or more such techniques, and could do so during retraction and/or deployment of the tether.
A technique for operating unmanned aerial vehicles (UAVs) in a terminal area from which the UAVs are staged includes charging a plurality of the UAVs on charging pads disposed in a staging array at the terminal area. Merchant facilities for preparing packages for delivery by the UAVs are disposed about a periphery of the staging array. The UAVs are relocated under their own propulsion from interior charging pads to peripheral loading pads of the staging array as the peripheral loading pads become available and the UAVs are deemed sufficiently charged and ready for delivery missions.
B64U 101/30 - Véhicules aériens sans pilote spécialement adaptés à des utilisations ou à des applications spécifiques à l’imagerie, à la photographie ou à la vidéographie
B64U 101/60 - Véhicules aériens sans pilote spécialement adaptés à des utilisations ou à des applications spécifiques au transport de marchandises autres que des armes
G05D 1/00 - Commande de la position, du cap, de l'altitude ou de l'attitude des véhicules terrestres, aquatiques, aériens ou spatiaux, p.ex. pilote automatique
68.
Landing pad with charging and loading functionality for unmanned aerial vehicle
A landing pad for an unmanned aerial vehicle (“UAV”) is disclosed. The landing pad includes a support structure, a charging pad, and a plurality of movable UAV supports. The charging pad is coupled to the support structure and able to move relative to the support structure. The UAV supports are also coupled to the support structure and configured to translate along the support structure from a first position to a second position. When the UAV supports are in the first position, the charging pad supports the UAV. When the UAV supports are in the second position, the charging pad is lowered and the UAV supports then provide support to the UAV.
B64C 39/02 - Aéronefs non prévus ailleurs caractérisés par un emploi spécial
B64D 9/00 - Appareillage pour manutention du fret; Appareillage pour faciliter l'embarquement des passagers ou autres
B64F 1/32 - Installations au sol ou installations pour ponts d'envol des porte-avions pour la manutention du fret
B64U 70/00 - Dispositions pour le lancement, le décollage ou l'atterrissage
B64U 101/60 - Véhicules aériens sans pilote spécialement adaptés à des utilisations ou à des applications spécifiques au transport de marchandises autres que des armes
69.
Methods and Systems for Requesting and Displaying UAV Information
Described herein are methods and systems that help facilitate the summoning and loading of a pickup and delivery unmanned aerial vehicle (UAV). In particular, a computing system may display a graphical interface including an interface feature that indicates UAV assignments. That computing system may receive a message including a UAV identifier that identifies a particular UAV assigned to a particular item based on a UAV-assignment request for the particular item. And the computing system may use the received UAV identifier as a basis for displaying, on the graphical interface, (i) a graphical identifier of the particular UAV assigned to the particular item based on the UAV-assignment request for the particular item and (ii) a graphical identifier of the particular item.
G05D 1/02 - Commande de la position ou du cap par référence à un système à deux dimensions
G01C 21/32 - Structuration ou formatage de données cartographiques
G05D 1/00 - Commande de la position, du cap, de l'altitude ou de l'attitude des véhicules terrestres, aquatiques, aériens ou spatiaux, p.ex. pilote automatique
G06F 16/29 - Bases de données d’informations géographiques
70.
Methods and systems for door-enabled loading and release of payloads in an unmanned aerial vehicle (UAV)
Example implementations may relate to door-enabled loading and release of payloads in an unmanned aerial vehicle (UAV), which could be a type of UAV in a group of UAVs that is assigned to carry out certain transport tasks. In particular, the UAV may include a fuselage having a first side and a second side, as well as a chamber formed within the fuselage and arranged to house a payload. A first door may be arranged on the first side of the fuselage, such that an opening of the first door enables loading of the payload into the chamber. And a second door may be arranged on the second side of the fuselage, such that an opening of the second door enables release of the payload from the chamber. Moreover, the UAV may include a control system configured to control flight of the UAV, and possibly opening and/or closing of door(s).
B64U 101/60 - Véhicules aériens sans pilote spécialement adaptés à des utilisations ou à des applications spécifiques au transport de marchandises autres que des armes
71.
Verification of unmanned aerial vehicle ADS-B receiver operability
In some embodiments, techniques are provided for verifying operability of an automatic dependent surveillance-broadcast (ADS-B) receiver included in a first unmanned aerial vehicle (UAV), which includes receiving ADS-B data representative of ADS-B messages broadcast by traffic within a reception range of the ADS-B receiver during a first period of time, estimating a traffic environment for a service area spanning, at least in part, a first operating area of the first UAV during the first period of time, determining an expected observed traffic of the first UAV during the first period of time based on the estimated traffic environment, and verifying operability of the ADS-B receiver of the first UAV based on a comparison between the expected observed traffic of the first UAV and the traffic associated with the ADS-B data received by the ADS-B receiver of the first UAV.
Example implementations relate to a method of dynamically updating a transport task of a UAV. The method includes receiving, at a transport-provider computing system, an item provider request for transportation of a plurality of packages from a loading location at a given future time. The method also includes assigning, by the transport-provider computing system, a respective transport task to each of a plurality of UAVs, where the respective transport task comprises an instruction to deploy to the loading location to pick up one or more of the plurality of packages. Further, the method includes identifying, by the transport-provider system, a first package while or after a first UAV picks up the first package. Yet further, the method includes based on the identifying of the first package, providing, by the transport-provider system, a task update to the first UAV to update the respective transport task of the first UAV.
B64C 39/02 - Aéronefs non prévus ailleurs caractérisés par un emploi spécial
G05D 1/00 - Commande de la position, du cap, de l'altitude ou de l'attitude des véhicules terrestres, aquatiques, aériens ou spatiaux, p.ex. pilote automatique
G05D 1/10 - Commande de la position ou du cap dans les trois dimensions simultanément
B64U 101/60 - Véhicules aériens sans pilote spécialement adaptés à des utilisations ou à des applications spécifiques au transport de marchandises autres que des armes
A propeller blade for an unmanned aerial vehicle (“UAV”) is disclosed. The UAV includes a plurality of lift propellers and at least one thrust propeller. Each of the plurality of thrust propellers includes a thrust propeller blade coupled to a hub of the thrust propeller. The thrust propeller blade is configured such that a centrifugal force acting on the thrust propeller blade causes a thrust propeller disk area to increase from a first disk area when the UAV is in a first operational state to a second disk area when the UAV is in a second operational state.
B64C 27/57 - Mécanismes pour la commande du réglage ou du mouvement de la pale par rapport à la tête du rotor, p.ex. mouvement de traînée caractérisés par les dispositifs de déclenchement de la commande, p.ex. à commande manuelle automatiques ou sensibles à certains facteurs, p.ex. sensibles à la vitesse du rotor, au couple ou à la poussée
A technique for detecting an environmental change to a delivery zone via an unmanned aerial vehicle includes obtaining an anchor image and an evaluation image, each representative of the delivery zone, providing the anchor image and the evaluation image to a machine learning model to determine an embedding score associated with a distance between representations of the anchor image and the evaluation image within an embedding space, and determining an occurrence of the environmental change to the delivery zone when the embedding score is greater than a threshold value.
Controlling a vehicle according to a trained neural network model capable of being used to generate an output from which one or more vehicle operating variables can be estimated. The neural network model can be used to process, as input, aggregated data corresponding to operational and/or environmental characteristics experienced by the vehicle during at least a portion of a voyage. The aggregated data can include a range of values collected over a period of time when the vehicle is traversing the portion of the voyage. The output generated by the neural network model, based on processing the input, can be further processed in order to determine, for example, an estimated state of charge and/or an estimated remaining flight time for the vehicle. Such estimated values can thereafter be used by a controller of the vehicle to maintain course or maneuver to a charging station.
G05D 1/02 - Commande de la position ou du cap par référence à un système à deux dimensions
B60L 58/12 - Procédés ou agencements de circuits pour surveiller ou commander des batteries ou des piles à combustible, spécialement adaptés pour des véhicules électriques pour la surveillance et la commande des batteries en fonction de l'état de charge [SoC]
G05D 1/00 - Commande de la position, du cap, de l'altitude ou de l'attitude des véhicules terrestres, aquatiques, aériens ou spatiaux, p.ex. pilote automatique
G01C 21/34 - Recherche d'itinéraire; Guidage en matière d'itinéraire
G06N 5/04 - Modèles d’inférence ou de raisonnement
G06N 5/046 - Inférence en avant; Systèmes de production
An aerial vehicle is provided including rotor units connected to the aerial vehicle, and a control system configured to operate at least one of the rotor units. The rotor unit includes rotor blades, wherein each rotor blade includes a surface area, and wherein an asymmetric parameter is defined, at least in part, by the relationship between the surface areas of the rotor blades. The value of the asymmetric parameter is selected such that the operation of the rotor unit: (i) moves the rotor blades such that each rotor blade produces a respective vortex and (ii) the respective vortices cause the rotor unit to produce a sound output having an energy distribution defined, at least in part, by a set of frequencies, wherein the set of frequencies includes a fundamental frequency, one or more harmonic frequencies, and one or more non-harmonic frequencies having a respective strength greater than a threshold strength.
An apparatus for visual navigation of a UAV includes a geo-fiducial mat and a plurality of geo-fiducials. The geo-fiducial mat includes a landing pad region that provides a location for aligning with a landing pad of a UAV and a survey point. The geo-fiducials are each specified for a unique directional and offset position in or about the landing pad region relative to the survey point. The geo-fiducials each includes a two-dimensional (2D) pattern that visually conveys an alphanumerical code. The 2D pattern has a shape from which a visual navigation system of the UAV can visually triangulate a position of the UAV.
An aerial vehicle is provided including rotor units connected to the aerial vehicle, and a control system configured to operate at least one of the rotor units. The rotor unit includes rotor blades, wherein each rotor blade includes a surface area, and wherein an asymmetric parameter is defined, at least in part, by the relationship between the surface areas of the rotor blades. The value of the asymmetric parameter is selected such that the operation of the rotor unit: (i) moves the rotor blades such that each rotor blade produces a respective vortex and (ii) the respective vortices cause the rotor unit to produce a sound output having an energy distribution defined, at least in part, by a set of frequencies, wherein the set of frequencies includes a fundamental frequency, one or more harmonic frequencies, and one or more non-harmonic frequencies having a respective strength greater than a threshold strength.
A payload loading system is disclosed. The payload loading system includes a UAV and a loading structure. A retractable tether is coupled to a payload coupling apparatus at a distal end and the UAV at a proximate end. A payload is loaded to the UAV by coupling the payload to the payload coupling apparatus. The loading structure of the payload loading system includes a landing platform and a tether guide. The tether guide is coupled to the landing platform and directs the tether as the UAV approaches and travels across at least a portion of the landing platform such that the payload coupling apparatus arrives at a target location. The payload is loaded to the payload coupling apparatus while the payload coupling apparatus is within the target location.
A payload coupling apparatus is provided that includes a housing having an upper portion, a lower portion, and a side wall positioned between the upper and lower portions, an attachment point on the housing adapted for attachment to a first end of a tether, a slot in the housing that extends downwardly towards a center of the housing thereby forming a hook or lip on the lower portion of the housing beneath the slot, a plurality of holes in the upper portion of the housing; and a plurality of holes in the lower portion of the housing. A method of retracting a payload coupling apparatus during UAV flight is also provided.
Described herein are methods and systems for motorized control of a tether, such as for purposes of user interaction and feedback. In particular, a UAV's control system may determine one or more operational parameters of a motor for a winch disposed in the UAV, the winch including the tether and a spool. The control system may then detect in the one or more operational parameters, an operational pattern of the motor that is indicative of an intentional user-interaction with the tether. Based on the detected operational pattern of the motor that is indicative of the intentional user-interaction with the tether, the control system may determine a motor response process. Then, the control system may operate the motor in accordance with the determined motor response process.
B64D 1/22 - Enlèvement d'objets à la surface du sol
B64C 39/02 - Aéronefs non prévus ailleurs caractérisés par un emploi spécial
B64U 101/60 - Véhicules aériens sans pilote spécialement adaptés à des utilisations ou à des applications spécifiques au transport de marchandises autres que des armes
82.
Systems and methods for stopping movement of operational members
A method is provided that includes causing an operational member of a system to move. The method includes driving a power or control signal through a conductive coupling member. The conductive coupling member is connected between a first terminal and a second terminal in a power circuit, and the coupling member secures the operational member to a structural member of the system. The method includes detecting an electrical disconnect between the first terminal and a second terminal. The method includes determining a mechanical break associated with the coupling member based on the electrical disconnect between the first terminal and the second terminal. The method includes causing the operational member of the system to stop moving based on determining the mechanical break associated with the coupling member.
B64D 27/24 - Aéronefs caractérisés par le type ou la position des groupes moteurs utilisant la vapeur, l'électricité ou l'énergie de ressorts
B64C 39/02 - Aéronefs non prévus ailleurs caractérisés par un emploi spécial
B64C 27/68 - Transmissions, p.ex. en liaison avec les moyens déclenchant ou agissant sur les pales utilisant l'énergie électrique, p.ex. avec un amplificateur de puissance électrique
H01R 4/56 - Connexions conductrices de l'électricité entre plusieurs organes conducteurs en contact direct, c. à d. se touchant l'un l'autre; Moyens pour réaliser ou maintenir de tels contacts; Connexions conductrices de l'électricité ayant plusieurs emplacements espacés de connexion pour les conducteurs et utilisant des organes de contact pénétrant dans l'isolation un conducteur étant vissé dans un autre
83.
Methods and systems for self-deployment of operational infrastructure by an unmanned aerial vehicle (UAV)
Example implementations may relate to self-deployment of operational infrastructure by an unmanned aerial vehicle (UAV). Specifically, a control system may determine operational location(s) from which a group of UAVs is to provide aerial transport services in a geographic area. For at least a first of the operational location(s), the system may cause a first UAV from the group to perform an infrastructure deployment task that includes (i) a flight from a source location to the first operational location and (ii) installation of operational infrastructure at the first operational location by the first UAV. In turn, this may enable the first UAV to operate from the first operational location, as the first UAV can charge a battery of the first UAV using the operational infrastructure installed at the first operational location and/or can carry out item transport task(s) at location(s) that are in the vicinity of the first operational location.
H02J 7/00 - Circuits pour la charge ou la dépolarisation des batteries ou pour alimenter des charges par des batteries
H02J 7/35 - Fonctionnement en parallèle, dans des réseaux, de batteries avec d'autres sources à courant continu, p.ex. batterie tampon avec des cellules sensibles à la lumière
A technique for validating a balcony to receive delivery of a parcel via a UAV includes obtaining a first identification of a general location of the balcony; generating a first image representing a building including the balcony where the first image is selected based upon the location identified; obtaining a second identification or a confirmation of a precise location of the balcony in the building where the second identification or the confirmation are received in response to an end-user interaction with the first image; determining a deliverability score based at least in part on the precise location of the balcony; and indicating an enrollment status to the end-user where the enrollment status is generated based upon the deliverability score.
G06Q 10/08 - Logistique, p.ex. entreposage, chargement ou distribution; Gestion d’inventaires ou de stocks
B64C 39/02 - Aéronefs non prévus ailleurs caractérisés par un emploi spécial
G05D 1/00 - Commande de la position, du cap, de l'altitude ou de l'attitude des véhicules terrestres, aquatiques, aériens ou spatiaux, p.ex. pilote automatique
G05D 1/06 - Régime de modification de l'altitude ou de la profondeur
G06V 10/22 - Prétraitement de l’image par la sélection d’une région spécifique contenant ou référençant une forme; Localisation ou traitement de régions spécifiques visant à guider la détection ou la reconnaissance
An unmanned aerial vehicle (UAV) includes a propulsion system, a global navigation satellite system (GNSS) sensor, a camera and a controller. The controller includes logic that, in response to execution by the controller, causes the UAV to in response to detecting a loss of tracking by the GNSS sensor determine an estimated location of the UAV on a map based on a location image captured by the camera, determine a route to a destination using tracking parameters embedded in the map, wherein the map is divided into a plurality of sections and the tracking parameters indicate an ease of determining a location of the UAV using images captured by the camera with respect to each section, and control the propulsion system to cause the UAV to follow the route to the destination.
H04W 4/029 - Services de gestion ou de suivi basés sur la localisation
B64C 39/02 - Aéronefs non prévus ailleurs caractérisés par un emploi spécial
G05D 1/00 - Commande de la position, du cap, de l'altitude ou de l'attitude des véhicules terrestres, aquatiques, aériens ou spatiaux, p.ex. pilote automatique
B64U 101/30 - Véhicules aériens sans pilote spécialement adaptés à des utilisations ou à des applications spécifiques à l’imagerie, à la photographie ou à la vidéographie
86.
Systems and methods for generating annotations of structured, static objects in aerial imagery using geometric transfer learning and probabilistic localization
In some embodiments, aerial images of a geographic area are captured by an autonomous vehicle. In some embodiments, the locations of structures within a subset of the aerial images are manually annotated, and geographical locations of the manual annotations are determined based on pose information of the camera. In some embodiments, a machine learning model is trained using the manually annotated aerial images. The machine learning model is used to automatically generate annotations of other images of the geographic area, and the geographical locations determined from the manual annotations are used to determine an accuracy probability of the automatic annotations. The automatic annotations determined to be accurate may be used to re-train the machine learning model to increase its precision and recall.
Described herein are methods and systems for picking up, transporting, and lowering a payload coupled to a tether of a winch system arranged on an unmanned aerial vehicle (UAV). For example, the winch system may include a motor for winding and unwinding the tether from a spool, and the UAV's control system may operate the motor to lower the tether toward the ground so a payload may be attached to the tether. The control system may monitor an electric current supplied to the motor to determine whether the payload has been attached to the tether. In another example, when lowering a payload, the control system may monitor the motor current to determine that the payload has reached the ground and responsively operate the motor to detach the payload from the tether. The control system may then monitor the motor current to determine whether the payload has detached from the tether.
B64U 101/60 - Véhicules aériens sans pilote spécialement adaptés à des utilisations ou à des applications spécifiques au transport de marchandises autres que des armes
88.
Contingent use of commanded speed in lieu of sensed airspeed to inform flight control decisions
A technique for controlling an unmanned aerial vehicle (UAV) includes monitoring a sensed airspeed of the UAV, obtaining a commanded speed for the UAV, wherein the commanded speed representing a command to fly the UAV at a given speed relative to an airmass or to Earth, and when the commanded speed is greater than the sensed airspeed, using the commanded speed in lieu of the sensed airspeed to inform flight control decisions of the UAV.
In some embodiments, techniques are provided for analyzing time series data to detect anomalies. In some embodiments, the time series data is processed using a machine learning model. In some embodiments, the machine learning model is trained in an unsupervised manner on large amounts of previous time series data, thus allowing highly accurate models to be created from novel data. In some embodiments, training of the machine learning model alternates between a fitting optimization and a trimming optimization to allow large amounts of training data that includes untagged anomalous records to be processed. Because a machine learning model is used, anomalies can be detected within complex systems, including but not limited to autonomous vehicles such as unmanned aerial vehicles. When anomalies are detected, commands can be transmitted to the monitored system (such as an autonomous vehicle) to respond to the anomaly.
B64F 5/60 - Test ou inspection des composants ou des systèmes d'aéronefs
G05D 1/00 - Commande de la position, du cap, de l'altitude ou de l'attitude des véhicules terrestres, aquatiques, aériens ou spatiaux, p.ex. pilote automatique
G05D 1/10 - Commande de la position ou du cap dans les trois dimensions simultanément
B64C 39/02 - Aéronefs non prévus ailleurs caractérisés par un emploi spécial
An example embodiment may involve flying, by an unmanned aerial vehicle (UAV), to a geographical location, where a wireless router is at the geographical location. The example embodiment may also involve detecting, by the UAV, a wireless coverage area defined by the wireless router. The example embodiment may also involve accessing, by the UAV, the wireless coverage area using a network identifier and a password. The example embodiment may also involve establishing, by the UAV, a backhaul link to a data network. The example embodiment may also involve transmitting, by the UAV, a notification to a client device served by the wireless coverage area, where the notification indicates that the UAV is a default gateway for the wireless coverage area. The example embodiment may also involve exchanging, by the UAV, data transmissions between (i) the client device, and (ii) one or more other devices accessible via the data network.
An example embodiment may involve flying, by an unmanned aerial vehicle (UAV), to a geographical location, where a wireless router is at the geographical location. The example embodiment may also involve detecting, by the UAV, a wireless coverage area defined by the wireless router. The example embodiment may also involve accessing, by the UAV, the wireless coverage area using a network identifier and a password. The example embodiment may also involve establishing, by the UAV, a backhaul link to a data network. The example embodiment may also involve transmitting, by the UAV, a notification to a client device served by the wireless coverage area, where the notification indicates that the UAV is a default gateway for the wireless coverage area. The example embodiment may also involve exchanging, by the UAV, data transmissions between (i) the client device, and (ii) one or more other devices accessible via the data network.
A rotor unit is disclosed. The rotor unit includes a hub and a stacked rotor blade. The hub is configured to rotate about an axis in a first rotation direction. The stacked rotor blade is rotatable about the axis and further includes a first blade element and a second blade element. The first blade element has a first leading edge and the second blade element has a second leading edge. The blade elements are arranged in a stacked configuration. A leading edge of the stacked rotor blade is formed by at least a portion of the first leading edge of the first blade element as well as at least as portion of the second leading edge of the second blade element. In some embodiments, the rotor unit is coupled to an unmanned aerial vehicle.
A payload coupling apparatus is provided including a housing, wherein the housing is adapted for attachment to a first end of a tether, a slot extending downwardly from an outer surface of the housing towards a center of the housing thereby forming a lower lip on the housing beneath the slot, and wherein the slot is adapted to receive a handle of a payload.
An unmanned aerial vehicle system is provided including an unmanned aerial vehicle (UAV) having a fuselage, a tether having a first end secured to a winch system positioned in the UAV and a second end secured to a payload coupling apparatus, a payload coupling apparatus receptacle positioned in the fuselage of the UAV, a payload having a handle, wherein the handle of the payload is positioned within a slot in the payload coupling apparatus. A method of securing a payload to a UAV is also provided.
Techniques are provided to improve routing of autonomous vehicles through highly congested areas. In some embodiments, routes that include sequences of timed space reservations are provided to autonomous vehicles by a route reservation system. In some embodiments, the route reservation system detects route alteration states (including but not limited to an arrival of an autonomous vehicle at a waiting area), determines a new route for the autonomous vehicle that passes through the highly congested area, and transmits the new route to the autonomous vehicle for navigating from the waiting area to an endpoint.
G05D 1/10 - Commande de la position ou du cap dans les trois dimensions simultanément
G05D 1/00 - Commande de la position, du cap, de l'altitude ou de l'attitude des véhicules terrestres, aquatiques, aériens ou spatiaux, p.ex. pilote automatique
B64C 39/02 - Aéronefs non prévus ailleurs caractérisés par un emploi spécial
G01C 21/20 - Instruments pour effectuer des calculs de navigation
Described herein is a method comprising (a) sending unmanned aircraft system (UAS) data providing a first UAS location indication on a map on a display of the computing device, wherein the first UAS location indication comprises an aggregate indication of a plurality of UASs located within a first area on the map, (b) receiving data comprising a request for additional information related to the first UAS location indication, (c) in response to receiving the request for additional information, sending additional location data related to the plurality of UASs, including a plurality of second UAS location indications at a plurality of locations within the first area on the map, wherein each second UAS indication corresponds to a subset of the plurality of UASs represented by the first UAS location indication, and (d) updating the display of the computing device to show the plurality of second UAS location indications.
H04W 4/021 - Services concernant des domaines particuliers, p.ex. services de points d’intérêt, services sur place ou géorepères
G01C 21/00 - Navigation; Instruments de navigation non prévus dans les groupes
H04W 4/42 - Services spécialement adaptés à des environnements, à des situations ou à des fins spécifiques pour les véhicules, p.ex. communication véhicule-piétons pour les véhicules de transport collectif, p.ex. les autobus, les trains ou les aéronefs
G06F 16/29 - Bases de données d’informations géographiques
G01C 21/36 - Dispositions d'entrée/sortie pour des calculateurs embarqués
G05D 1/00 - Commande de la position, du cap, de l'altitude ou de l'attitude des véhicules terrestres, aquatiques, aériens ou spatiaux, p.ex. pilote automatique
H04W 4/44 - Services spécialement adaptés à des environnements, à des situations ou à des fins spécifiques pour les véhicules, p.ex. communication véhicule-piétons pour la communication entre véhicules et infrastructures, p.ex. véhicule à nuage ou véhicule à domicile
The present disclosure relates to devices, systems, and methods for controlling and/or augmenting acoustic sounds emitted from flight vehicles, such as unmanned aerial vehicles (UAVs). For example, while in flight, a UAV may emit a characteristic sound or tone (or a plurality of such tones), which may be a result of propeller and/or motor noise. To mitigate such noise from UAVs, disclosed embodiments may include acoustic resonators that may provide additional tones to complement the sounds or tones emitted from the UAV. Namely, the acoustic resonators may be shaped, adjusted, or otherwise controlled to emit additional tones that form pleasing intervals in combination with the characteristic tone(s) from the UAV.
An unmanned aerial vehicle (UAV) is disclosed that includes a retractable payload delivery system. The payload delivery system can lower a payload to the ground using a delivery device that secures the payload during descent and releases the payload upon reaching the ground. The location of the delivery device can be determined as it is lowered to the ground using image tracking. The UAV can include an imaging system that captures image data of the suspended delivery device and identifies image coordinates of the delivery device, and the image coordinates can then be mapped to a location. The UAV may also be configured to account for any deviations from a planned path of descent in real time to effect accurate delivery locations of released payloads.
B64C 39/02 - Aéronefs non prévus ailleurs caractérisés par un emploi spécial
G05D 1/04 - Commande de l'altitude ou de la profondeur
G05D 1/00 - Commande de la position, du cap, de l'altitude ou de l'attitude des véhicules terrestres, aquatiques, aériens ou spatiaux, p.ex. pilote automatique
B64D 1/22 - Enlèvement d'objets à la surface du sol
B64U 101/60 - Véhicules aériens sans pilote spécialement adaptés à des utilisations ou à des applications spécifiques au transport de marchandises autres que des armes
B64U 101/64 - Véhicules aériens sans pilote spécialement adaptés à des utilisations ou à des applications spécifiques au transport de marchandises autres que des armes à la livraison ou au retrait de colis
99.
Detecting impending motor failure using audio data
In an embodiment, one or more computer-readable storage medium comprising a plurality of instructions to cause an apparatus, in response to execution by one or more processors of the apparatus, to receive sounds emanating from one or more motors included in an unmanned aerial vehicle (UAV) during operation of the one or more motors; predict a number of operational cycles remaining before the one or more motors is to fail based on analysis of the sounds; and, based on the determination of the number of operational cycles remaining, restrict the UAV from normal use. The one or more motors comprises a vertical or horizontal propulsion motor of the UAV.
G07C 5/08 - Enregistrement ou indication de données de marche autres que le temps de circulation, de fonctionnement, d'arrêt ou d'attente, avec ou sans enregistrement des temps de circulation, de fonctionnement, d'arrêt ou d'attente
Unmanned aerial vehicle (UAV) navigation systems include a UAV charging pad positioned at a storage facility, a plurality of fiducial markers positioned at the storage facility, and a UAV. Each fiducial marker is associated with a fiducial dataset storing a position of the fiducial marker, and each fiducial dataset is stored in a fiducial map. The UAV has a navigation system that includes a camera, a fiducial navigation sub-system, a non-fiducial navigation sub-system, and logic that when executed causes the UAV to image a first fiducial marker with the camera, to transition from a non-fiducial navigation mode to a fiducial navigation mode, to access from the fiducial map the fiducial dataset storing the position of the first fiducial marker, and to navigate based upon the fiducial dataset storing the position of the first fiducial marker, into alignment with and land on the UAV charging pad.
G05D 1/04 - Commande de l'altitude ou de la profondeur
G05D 1/12 - Commande pour la recherche d'un objectif
B64C 39/02 - Aéronefs non prévus ailleurs caractérisés par un emploi spécial
G06T 7/73 - Détermination de la position ou de l'orientation des objets ou des caméras utilisant des procédés basés sur les caractéristiques
G06K 7/14 - Méthodes ou dispositions pour la lecture de supports d'enregistrement par radiation corpusculaire utilisant la lumière sans sélection des longueurs d'onde, p.ex. lecture de la lumière blanche réfléchie
G06K 7/10 - Méthodes ou dispositions pour la lecture de supports d'enregistrement par radiation corpusculaire
G06K 19/06 - Supports d'enregistrement pour utilisation avec des machines et avec au moins une partie prévue pour supporter des marques numériques caractérisés par le genre de marque numérique, p.ex. forme, nature, code
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