In some embodiments, a method for autonomous navigation of an unmanned aerial vehicle (UAV) is provided. The UAV determines a tracked position using at least one positioning sensor of the UAV. The UAV captures an image using a camera of the UAV. The UAV determines a visual position confidence area using the captured image. The UAV checks the tracked position using the visual position confidence area to determine whether the tracked position is accurate. In response to determining that the tracked position is not accurate, the UAV causes a corrective action based on the visual position confidence area to be taken.
A technique for a UAV includes: acquiring an aerial image of an area below a UAV that includes one or more instances of an object; analyzing the aerial image with an image classifier to classify select pixels of the aerial image as being keypoint pixels associated with keypoints of the object; grouping the keypoint pixels into one or more groups each associated with one of the instances of the object, wherein first keypoint pixels of the keypoint pixels are grouped into a first group of the one or more groups associated with a first instance of the one or more instances of the object; generating an estimate of a relative position of the UAV to the first instance of the object based at least upon a machine vision analysis of the first keypoint pixels; and navigating the UAV into alignment with the first instance based upon the estimate.
A technique for a UAV includes: acquiring an aerial image of an area below a UAV that includes one or more instances of an object; analyzing the aerial image with an image classifier to classify select pixels of the aerial image as being keypoint pixels associated with keypoints of the object; grouping the keypoint pixels into one or more groups each associated with one of the instances of the object, wherein first keypoint pixels of the keypoint pixels are grouped into a first group of the one or more groups associated with a first instance of the one or more instances of the object; generating an estimate of a relative position of the UAV to the first instance of the object based at least upon a machine vision analysis of the first keypoint pixels; and navigating the UAV into alignment with the first instance based upon the estimate.
In some embodiments, a method for autonomous navigation of an unmanned aerial vehicle (UAV) is provided. The UAV determines a tracked position using at least one positioning sensor of the UAV. The UAV captures an image using a camera of the UAV. The UAV determines a visual position confidence area using the captured image. The UAV checks the tracked position using the visual position confidence area to determine whether the tracked position is accurate. In response to determining that the tracked position is not accurate, the UAV causes a corrective action based on the visual position confidence area to be taken.
B64U 10/20 - Vertical take-off and landing [VTOL] aircraft
G06V 10/764 - Arrangements for image or video recognition or understanding using pattern recognition or machine learning using classification, e.g. of video objects
G06V 20/17 - Terrestrial scenes taken from planes or by drones
5.
AUTOMATED DISCOVERY AND MONITORING OF UNCREWED AERIAL VEHICLE GROUND-SUPPORT INFRASTRUCTURE
A computing system in an infrastructure support network for uncrewed aerial vehicles (UAVs) may receive, from a UAV, aerial observation data of a ground-based cluster of charging pads for UAVs, the cluster comprising assets including the charging pads arranged in a layout and fiducial markers distributed across the layout. The aerial observation data may comprise position measurements of the UAV at aerial geolocations above the cluster, and vector positions of one or more assets with respect to the aerial geolocations. The computing system may generate a map graph from the aerial observation data, the map graph comprising (i) nodes corresponding to both the aerial geolocations and vector positions, and (ii) edges between pairs of selected nodes, the edges corresponding to distances between selected nodes and including measurement uncertainties. The computing system may generate a spatial map of cluster assets of the cluster by computationally optimizing the map graph.
An uncrewed aerial vehicle (UAV) may be configured to hover above a particular charging pad within a portion of a cluster of charging pads for UAVs. The cluster may include the charging pads arranged in a layout and fiducial markers distributed at positions across the layout. While hovering above the particular charging pad, the UAV may capture an aerial image of the portion of the cluster. The UAV may derive cluster-portion observation data from the image, the cluster-portion observation data including information indicating a position of the particular charging pad, and positions of one or more fiducial markers within the portion of the cluster relative to the particular charging pad. The UAV may send the cluster-portion observation data to a computing system in an infrastructure support network for UAVs, and thereafter receive, from the computing system, location information indicating that UAV's geolocation is a geolocation of the particular charging pad.
A computing system in an infrastructure support network for uncrewed aerial vehicles (UAVs) may receive, from a UAV, aerial observation data of a ground-based cluster of charging pads for UAVs, the cluster comprising assets including the charging pads arranged in a layout and fiducial markers distributed across the layout. The aerial observation data may comprise position measurements of the UAV at aerial geolocations above the cluster, and vector positions of one or more assets with respect to the aerial geolocations. The computing system may generate a map graph from the aerial observation data, the map graph comprising (i) nodes corresponding to both the aerial geolocations and vector positions, and (ii) edges between pairs of selected nodes, the edges corresponding to distances between selected nodes and including measurement uncertainties. The computing system may generate a spatial map of cluster assets of the cluster by computationally optimizing the map graph.
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.
B64U 50/13 - Propulsion using external fans or propellers
B64U 101/60 - UAVs specially adapted for particular uses or applications for transporting goods other than weapons
B64U 101/67 - UAVs specially adapted for particular uses or applications for transporting goods other than weapons the UAVs comprising tethers for lowering the goods
A pay load coupling apparatus having a housing comprising an outer surface extending around a perimeter of the housing, an upper portion above the outer surface and including a tether attachment point, and a lower portion below the outer surface; a first slot extending into the outer surface of the housing thereby forming a first lower lip on the housing beneath the first slot; wherein the first slot is adapted to receive a handle of a payload; and a second slot extending into the outer surface of the housing thereby forming a second lower lip on the housing beneath the second slot; wherein the second slot is adapted to receive the handle of the pay load.
B64D 1/22 - Taking-up articles from earth's surface
B64U 101/67 - UAVs specially adapted for particular uses or applications for transporting goods other than weapons the UAVs comprising tethers for lowering the goods
10.
Payload Retriever Having Multiple Slots For Use with a UAV
A payload coupling apparatus having a housing comprising an outer surface extending around a perimeter of the housing, an upper portion above the outer surface and including a tether attachment point, and a lower portion below the outer surface; a first slot extending into the outer surface of the housing thereby forming a first lower lip on the housing beneath the first slot; wherein the first slot is adapted to receive a handle of a payload; and a second slot extending into the outer surface of the housing thereby forming a second lower lip on the housing beneath the second slot; wherein the second slot is adapted to receive the handle of the payload.
In some embodiments, a non-transitory computer-readable medium having logic stored thereon is provided. The logic, in response to execution by one or more processors of an unmanned aerial vehicle (UAV), causes the UAV to perform actions comprising receiving at least one ADS-B message from an intruder aircraft; generating a intruder location prediction based on the at least one ADS-B message; comparing the intruder location prediction to an ownship location prediction to detect conflicts; and in response to detecting a conflict between the intruder location prediction and the ownship location prediction, determining a safe landing location along a planned route for the UAV and descending to land at the safe landing location.
A package adapted for use with an uncrewed aerial vehicle (UAV) is provided. The package includes a hanger, an enclosure component and a first structure component. The hanger includes a base and a handle extending up from the base. The enclosure component is formed of a flexible material and defines an enclosed interior space for holding a payload. The first structure component is formed of a second material and has a predetermined shape. The first structure component is secured to the enclosure component and defines at least a portion of a shape of the package.
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.
B64U 101/67 - UAVs specially adapted for particular uses or applications for transporting goods other than weapons the UAVs comprising tethers for lowering the goods
A technique for detection of an obstacle by a UAV includes arriving above a location at a first altitude by the UAV; navigating a descent flight pattern from the first altitude towards the location; acquiring aerial images of the location below the UAV with a camera system disposed onboard the UAV; and analyzing the aerial images with a machine vision system disposed onboard the UAV that is adapted to detect a presence of the obstacle in the aerial images. The descent flight pattern is selected to increase perception by the machine vision system of the obstacle.
A technique for detection of an obstacle by a UAV includes arriving above a location at a first altitude by the UAV; navigating a descent flight pattern from the first altitude towards the location; acquiring aerial images of the location below the UAV with a camera system disposed onboard the UAV; and analyzing the aerial images with a machine vision system disposed onboard the UAV that is adapted to detect a presence of the obstacle in the aerial images. The descent flight pattern is selected to increase perception by the machine vision system of the obstacle.
G05D 1/242 - Means based on the reflection of waves generated by the vehicle (using passive navigation aids external to the vehicle G05D 1/244;using signals provided by artificial sources external to the vehicle G05D 1/247)
G05D 1/622 - Obstacle avoidance (predicting or avoiding probable or impending collision of road vehicles B60W 30/08)
G05D 1/644 - Optimisation of travel parameters, e.g. of energy consumption, journey time or distance
A method includes receiving, at a user device, a user selection entered into a third-party application to have a payload delivered to a delivery location via an uncrewed aerial vehicle (UAV). The method also includes displaying, by the user device within the third-party application, a first UI portion of a delivery software development kit (SDK). The first UI portion enables user selection of a delivery point at the delivery location. The method additionally includes after user selection of the delivery point, receiving, at the user device, a delivery status update from the delivery SDK indicating that the UAV has commenced delivery of the payload. The method also includes displaying, by the user device within the third-party application, a second UI portion of the delivery SDK. The second UI portion displays UAV tracking information as the UAV delivers the payload to the selected delivery point at the delivery location.
A package adapted for use with an uncrewed aerial vehicle (UAV) is provided. The package includes a hanger, an enclosure component and a first structure component. The hanger includes a base and a handle extending up from the base. The enclosure component is formed of a flexible material and defines an enclosed interior space for holding a payload. The first structure component is formed of a second material and has a predetermined shape. The first structure component is secured to the enclosure component and defines at least a portion of a shape of the package.
B65D 5/42 - Rigid or semi-rigid containers of polygonal cross-section, e.g. boxes, cartons or trays, formed by folding or erecting one or more blanks made of paper - Details of containers or of foldable or erectable container blanks
B65D 5/18 - Rigid or semi-rigid containers of polygonal cross-section, e.g. boxes, cartons or trays, formed by folding or erecting one or more blanks made of paper by folding a single blank to U-shape to form the base of the container and opposite sides of the body portion, the remaining sides being formed primarily by extensions of one or more of these opposite sides, e.g. flaps hinged thereto
B65D 88/14 - Large containers rigid specially adapted for transport by air
B64D 1/22 - Taking-up articles from earth's surface
B64U 101/67 - UAVs specially adapted for particular uses or applications for transporting goods other than weapons the UAVs comprising tethers for lowering the goods
19.
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 method includes navigating, by an uncrewed aerial vehicle (UAV), to a delivery location in an environment. The method also includes capturing, by at least one sensor on the UAV, sensor data representative of the delivery location. The method further includes determining, based on the sensor data representative of the delivery location, a segmented point cloud. The segmented point cloud defines a point cloud of the delivery location segmented into a plurality of point cloud areas with corresponding semantic classifications. The method additionally includes determining, based on the segmented point cloud, at least one delivery point in the delivery location. The at least one delivery point in the delivery location satisfies at least one condition indicating that a descent path above the at least one delivery point represented in the point cloud is at least a particular lateral distance away from point cloud areas with corresponding semantic classifications indicative of an obstacle at the delivery location. The method also includes transmitting, by the UAV, the at least one delivery point to a server device.
G06Q 10/08 - Logistics, e.g. warehousing, loading or distribution; Inventory or stock management
G05D 1/644 - Optimisation of travel parameters, e.g. of energy consumption, journey time or distance
G05D 1/617 - Safety or protection, e.g. defining protection zones around obstacles or avoiding hazards (arrangements for controlling the position or course of two or more vehicles for avoiding collisions therebetween G05D 1/693;arrangements for reacting to or preventing system or operator failure G05D 1/80)
G05D 1/622 - Obstacle avoidance (predicting or avoiding probable or impending collision of road vehicles B60W 30/08)
A combination payload retrieval and package pickup apparatus having a base, an autoloader assembly mounted to the base including a payload holder configured to hold a payload for retrieval by a UAV, a channel coupled to the payload holder and configured to direct a payload coupling apparatus to the payload holder, a package receptacle housing having package receptacles configured to house a package to be picked up, wherein each of the package receptacles includes a locking feature to secure a package to be picked up in the package receptacle, wherein the locking feature is configured to be unlocked upon receipt of a first access code to allow access to an interior of the package receptacle to allow a package to be placed into, or removed from, the package receptacle.
A47G 29/30 - Accessories, e.g. signalling devices, lamps, means for leaving messages
A47G 29/14 - Deposit receptacles for food, e.g. breakfast, milk; Similar receptacles for large parcels with appliances for preventing unauthorised removal of the deposited articles
B64F 1/32 - Ground or aircraft-carrier-deck installations for handling freight
B64D 1/22 - Taking-up articles from earth's surface
B64U 101/67 - UAVs specially adapted for particular uses or applications for transporting goods other than weapons the UAVs comprising tethers for lowering the goods
A UAV inchiding a wing attached to a fuselage body, a rotatable cargo bay in the fuselage body, the cargo bay having an entrance for receiving the payload, an actuator in the fuselage body operable to rotate the cargo bay about a pivot axis into a first position where the entrance of the cargo bay is positioned above the fuselage body to allow for entry of the payload into the cargo bay, and the cargo bay extends through an opening in an upper surface of the fuselage body, rotatable into a second position where the entrance of the cargo bay is positioned within the fuselage body during transport; and rotatable into a third position where the entrance of the cargo bay is positioned below the fuselage body to allow for exiting of the payload, and the cargo bay extends through an opening in a lower surface of the fuselage body.
A payload retrieval apparatus having a base, an extending member secured to the base, the extending member including a lower section that is attached to the base and an upper section coupled to the lower section and movable between a first lowered position and a second raised position, an autoloader assembly mounted to the upper section of the extending member, the autoloader assembly including a payload holder configured to hold a payload for retrieval by an uncrewed aerial vehicle (UAV), a channel coupled to the payload holder and configured to direct a payload coupling apparatus to the payload holder, and a first tether engager that extends away from the channel in a first direction, wherein the first tether engager is adapted to guide a tether having a first end attached to the UAV and a second end attached to the payload coupling apparatus towards the payload holder.
A payload retrieval apparatus having an extending member having an upper end and a lower end, a channel having a first end and a second end and first and second inner edges defining a tether slot therebetween, wherein the tether slot is configured to guide passage of a tether coupled to a payload retriever suspended from a UAV when the payload retriever is passing within the channel, a first tether engager that extends in a first direction from the first end of the channel adapted to guide the tether towards the channel, a payload holder positioned near the second end of the channel that is adapted to secure a payload, wherein the channel includes a first projection that extends from the first edge into the tether slot so as to hinder removal of the tether from exiting the tether slot once the tether has entered the tether slot.
A method includes receiving, at a user device, a user selection entered into a third-party application to have a payload delivered to a delivery location via an uncrewed aerial vehicle (UAV). The method also includes displaying, by the user device within the third-party application, a first UI portion of a delivery software development kit (SDK). The first UI portion enables user selection of a delivery point at the delivery location. The method additionally includes after user selection of the delivery point, receiving, at the user device, a delivery status update from the delivery SDK indicating that the UAV has commenced delivery of the payload. The method also includes displaying, by the user device within the third-party application, a second UI portion of the delivery SDK. The second UI portion displays UAV tracking information as the UAV delivers the payload to the selected delivery point at the delivery location.
A payload retrieval apparatus having a base, an extending member secured to the base, the extending member including a lower section that is attached to the base and an upper section coupled to the lower section and movable between a first lowered position and a second raised position, an autoloader assembly mounted to the upper section of the extending member, the autoloader assembly including a payload holder configured to hold a payload for retrieval by an uncrewed aerial vehicle (UAV), a channel coupled to the payload holder and configured to direct a payload coupling apparatus to the payload holder, and a first tether engager that extends away from the channel in a first direction, wherein the first tether engager is adapted to guide a tether having a first end attached to the UAV and a second end attached to the payload coupling apparatus towards the payload holder.
B64F 1/32 - Ground or aircraft-carrier-deck installations for handling freight
B64D 1/22 - Taking-up articles from earth's surface
B64U 101/67 - UAVs specially adapted for particular uses or applications for transporting goods other than weapons the UAVs comprising tethers for lowering the goods
28.
PAYLOAD RETRIEVAL APPARATUS HAVING TETHER SLOT PROJECTION FOR USE WITH A UAV
A payload retrieval apparatus having an extending member having an upper end and a lower end, a channel having a first end and a second end and first and second inner edges defining a tether slot therebetween, wherein the tether slot is configured to guide passage of a tether coupled to a pay load retriever suspended from a UAV when the payload retriever is passing within the channel, a first tether engager that extends in a first direction from the first end of the channel adapted to guide the tether towards the channel, a pay load holder positioned near the second end of the channel that is adapted to secure a payload, wherein the channel includes a first projection that extends from the first edge into the tether slot so as to hinder removal of the tether from exiting the tether slot once the tether has entered the tether slot.
B64F 1/32 - Ground or aircraft-carrier-deck installations for handling freight
B64D 1/22 - Taking-up articles from earth's surface
B64U 101/67 - UAVs specially adapted for particular uses or applications for transporting goods other than weapons the UAVs comprising tethers for lowering the goods
29.
Payload Retrieval Apparatus with Internal Unlocking Feature and Security Features for Use With a UAV
A payload retrieval apparatus having a base, an autoloader assembly mounted to the base including: a payload holder configured to hold a payload for retrieval by a UAV, a channel coupled to the payload holder configured to direct a payload retriever suspended from the UAV to the payload holder, and a locking feature configured to lock access to the payload on the payload holder that includes has a movable end that extends through a wall of the channel into an interior of the channel, wherein when the payload retriever contacts the movable end of the locking member, the movable end moves outwardly thereby unlocking the payload on the payload holder, wherein the payload holder is positioned such that when the payload retriever exits the channel, the payload retriever engages a handle of the payload and removes the payload from the payload holder.
A combination payload retrieval and package pickup apparatus having a base, an autoloader assembly mounted to the base including a payload holder configured to hold a payload for retrieval by a UAV, a channel coupled to the payload holder and configured to direct a payload coupling apparatus to the payload holder, a package receptacle housing having package receptacles configured to house a package to be picked up, wherein each of the package receptacles includes a locking feature to secure a package to be picked up in the package receptacle, wherein the locking feature is configured to be unlocked upon receipt of a first access code to allow access to an interior of the package receptacle to allow a package to be placed into, or removed from, the package receptacle.
In some embodiments, a method of determining an estimated location of a UAV is provided. A captured image is received from a camera of the UAV. Semantic labels are generated by the UAV for a plurality of objects visible in the captured image. The UAV compares the semantic labels to reference labels associated with a reference map to determine a current location estimate. The UAV updates an accumulated location estimate using the current location estimate, and the UAV determines the estimated location of the UAV based on the accumulated location estimate.
A payload retrieval apparatus including a support structure having an upper end and a lower end; a first sloped surface secured to the support structure and a second sloped surface positioned adjacent the first sloped surface; an opening between the first and second sloped surfaces leading to a space to allow a payload retriever attached to a tether suspended from a UAV to travel into the space; an angled channel positioned beneath the first sloped surface having a tether slot to allow for passage of the tether as the payload retriever is drawn through the angled channel; and a payload holder positioned at the end of the angled channel.
A landing gear assembly for an unmanned aerial vehicle (UAV) includes a shock tower, a pair of leg members, and suspension assemblies. The shock tower is adapted to mount to a frame of a fuselage of the UAV and includes upper and lower end mounts. The leg members are adapted to extend out from opposing sides of the lower end mounts. The leg members are flexible and each include an upper leg section pivotally mounted to the lower end mount and a lower leg section adapted to connect to a ground gear. The suspension assemblies are each mounted to and extend between the upper end mount and a corresponding one of the leg members. The suspension assemblies each include a damper and a spring.
In some embodiments, a method of determining an estimated location of a UAV is provided. A captured image is received from a camera of the UAV. Semantic labels are generated by the UAV for a plurality of objects visible in the captured image. The UAV compares the semantic labels to reference labels associated with a reference map to determine a current location estimate. The UAV updates an accumulated location estimate using the current location estimate, and the UAV determines the estimated location of the UAV based on the accumulated location estimate.
A technique for detecting and avoiding obstacles by an unmanned aerial vehicle (UAV) includes: querying a knowledge graph having information related to a dynamic obstacle that may be in proximity to the UAV when traveling along a planned route; comparing the location of the dynamic obstacle to the UAV to detect conflicts; and in response to detecting a conflict, performing an action to avoid conflict with the dynamic obstacle. The knowledge graph can be updated by receiving a VHF radio signal containing the information related to the dynamic obstacle in the audible speech format; translating the audible speech format to a text format using speech recognition; analyzing the text format for relevant information related to the dynamic obstacle; comparing the relevant information related to the dynamic obstacle of the text format to the knowledge graph to detect changes; and updating the knowledge graph.
A technique for detecting and avoiding obstacles by an unmanned aerial vehicle (UAV) includes: querying a knowledge graph having information related to a dynamic obstacle that may be in proximity to the UAV when traveling along a planned route; comparing the location of the dynamic obstacle to the UAV to detect conflicts; and in response to detecting a conflict, performing an action to avoid conflict with the dynamic obstacle. The knowledge graph can be updated by receiving a VHF radio signal containing the information related to the dynamic obstacle in the audible speech format; translating the audible speech format to a text format using speech recognition; analyzing the text format for relevant information related to the dynamic obstacle; comparing the relevant information related to the dynamic obstacle of the text format to the knowledge graph to detect changes; and updating the knowledge graph.
In an example embodiment, a method carried out by an uncrewed aerial vehicle (UAV) may involve receiving a reference map of a cluster of charging pads from a server. The cluster may include a layout of charging pads and fiducial markers distributed across the layout, the reference map representing the layout and fiducial markers. The UAV may fly to the cluster and acquire an image of charging pads and observed fiducial markers near the charging pads. The image may capture an observed constellation of fiducial markers at apparent positions and orientations relative to the charging pads. A reference constellation of fiducial markers at reference positions and orientations relative to reference charging pads may be identified in the reference map. Identities of the reference charging pads and a match of the reference constellation to the observed constellation may be used to disambiguate a particular charging pad from among the charging pads.
In an example embodiment, a method carried out by an uncrewed aerial vehicle (UAV) may involve receiving a reference map of a cluster of charging pads from a server. The cluster may include a. layout of charging pads and fiducial markers distributed across the layout, the reference map representing the layout and fiducial markers. The UAV may fly to the cluster and acquire an image of charging pads and observed fiducial markers near die charging pads. The image may capture an observed constellation of fiducial markers at apparent positions and orientations relative to the charging pads. A reference constellation of fiducial markers at reference positions and orientations relative to reference charging pads may be identified in the reference map. Identities of the reference charging pads and a match of the reference constellation to the observed constellation may be used to disambiguate a particular charging pad from among the charging pads.
G01C 23/00 - Combined instruments indicating more than one navigational value, e.g. for aircraft; Combined measuring devices for measuring two or more variables of movement, e.g. distance, speed or acceleration
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.
Systems, apparatus, and methods are presented for testing a device. One method includes activating an actuator device to cause a. carriage, coupled to a device, to be moved in one or more directions along a guide rail, wherein the device includes at least one processing device and one or more sensor devices. The method may also comprise receiving, by the device, one or more input commands and executing, by the device based on the one or more input commands, a. software application to generate an output while the device is moving in the one or more directions. Further, the method may comprise verifying the execution of the software application on the device based on the output.
Systems, apparatus, and methods are presented for testing a device. One method includes activating an actuator device to cause a carriage, coupled to a device, to be moved in one or more directions along a guide rail, wherein the device includes at least one processing device and one or more sensor devices. The method may also comprise receiving, by the device, one or more input commands and executing, by the device based on the one or more input commands, a software application to generate an output while the device is moving in the one or more directions. Further, the method may comprise verifying the execution of the software application on the device based on the output.
Techniques for identifying a close encounter between an aircraft and an obstacle are disclosed. The technique includes acquiring a video stream of a ground area below the aircraft with a stereovision camera system disposed onboard the aircraft. A depth perception map is generated with a stereovision processing pipeline indicating stereovision depth estimates of first image pixels from the video stream. An optical flow map is generated with an optical flow processing pipeline indicating optical flow depth estimates of second image pixels from the video stream. The depth perception and optical flow maps are compared. An encounter flag indicating that the close encounter between the aircraft and the obstacle occurred is asserted based at least on the comparing.
A method includes navigating, by an uncrewed aerial vehicle (UAV), to a delivery location in an environment. The method also includes capturing, by at least one sensor on the UAV, sensor data representative of the delivery location. The method further includes determining, based on the sensor data representative of the delivery location, a segmented point cloud. The segmented point cloud defines a point cloud of the delivery location segmented into a plurality of point cloud areas with corresponding semantic classifications. The method additionally includes determining, based on the segmented point cloud, at least one delivery point in the delivery location. The at least one delivery point in the delivery location satisfies at least one condition indicating that a descent path above the at least one delivery point represented in the point cloud is at least a particular lateral distance away from point cloud areas with corresponding semantic classifications indicative of an obstacle at the delivery location. The method also includes transmitting, by the UAV, the at least one delivery point to a server device.
Techniques for identifying a close encounter between an aircraft and an obstacle are disclosed. The technique includes acquiring a video stream of a ground area below the aircraft with a stereovision camera system disposed onboard the aircraft. A depth perception map is generated with a stereovision processing pipeline indicating stereovision depth estimates of first image pixels from the video stream. An optical flow map is generated with an optical flow processing pipeline indicating optical flow depth estimates of second image pixels from the video stream. The depth perception and optical flow maps are compared. An encounter flag indicating that the close encounter between the aircraft and the obstacle occurred is asserted based at least on the comparing.
A landing gear assembly for an unmanned aerial vehicle (UAV) is described. The landing gear assembly includes a mounting block assembly adapted to mount to a structural frame of a fuselage of the UAV, a shared shock assembly including a spring adapted to provide a spring force and a damper adapted to dampen oscillations of the spring, a pair of leg members extending out from the mounting block assembly, and a pair of pivot blocks each pivotally mounted to the mounting block assembly. The pivot blocks are rigidly connected to a corresponding one of the leg members and pivotally connected to one of opposing ends of the shared shock assembly. The leg members are each connected to a ground gear. An upward suspension travel of one or both of the ground gears rotates one or both of the pivot blocks, thereby compressing the spring.
An example method earned out by an uncrewed vehicle (UV) is disclosed. The method may involve establishing a wireless cellular connection with a wireless cellular network via a wireless cellular communications interface of the UV. The wireless cellular network may be communicatively connected with one or more data servers via a data backhaul network. The example method may further involve exchanging operational data between the one or more data servers and a data storage device of the UV via. the wireless cellular connection with the wireless cellular network, establishing a wireless local area, network (WLAN) network connection with one or more uncrewed aerial vehicles (UAVs) via a WLAN communications interface of the U V, and exchanging the operational data between the data, storage device and at least one of the one or more UAVs over the WLAN network connection.
H04L 67/12 - Protocols specially adapted for proprietary or special-purpose networking environments, e.g. medical networks, sensor networks, networks in vehicles or remote metering networks
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.
In an example embodiment, a method may be carried out by an uncrewed aerial vehicle (UAV). The method may involve establishing a wireless local area network (WLAN) network connection with one or more other UAVs via a WLAN communications interface of the UAV, and exchanging operational data between a data storage device of the UAV and at least one of the other UAVs over the WLAN network connection. The method may also involve establishing, via the WLAN communications interface, a WLAN network connection with a data backhaul device having a network interface to a data backhaul network communicatively connected with one or more data servers, and exchanging the operational data between the data storage device and the one or more data servers over the data backhaul network via the WLAN network connection with the backhaul device.
H04L 67/12 - Protocols specially adapted for proprietary or special-purpose networking environments, e.g. medical networks, sensor networks, networks in vehicles or remote metering networks
A UAV having a fuselage body including a cavity that forms a cargo bay for transporting a payload, and a lower access opening providing an exit for the payload from the cargo bay, the lower access opening including a lower cargo bay door, an actuator positioned in the fuselage body, a linkage assembly connected, to the actuator and connected to the lower cargo bay door, wherein the actuator and linkage assembly are operable to open and/or close the lower cargo bay door, wherein a first horn is mounted to the actuator, and wherein the linkage assembly includes a first linkage member having a first end and a second end, tire first end of the first linkage member pivotally attached to the first horn and the second end of the first linkage member pivotally attached to the cargo bay door.
A payload receiver apparatus including a base configured to receive a payload, suspended from an uncrewed aerial vehicle (UAV), an extending member having an upper end positioned above the base, a first tether engager that extends in a first direction from the extending member, wherein the base includes a payload platform positioned, below the first tether end of the channel and configured to receive a. payload thereon, wherein the first tether engager is adapted to guide a tether having a first end attached to the UAV and a second end attached to a payload coupling apparatus to a position above the payload platform.
B64F 1/32 - Ground or aircraft-carrier-deck installations for handling freight
A47G 29/14 - Deposit receptacles for food, e.g. breakfast, milk; Similar receptacles for large parcels with appliances for preventing unauthorised removal of the deposited articles
B64U 101/67 - UAVs specially adapted for particular uses or applications for transporting goods other than weapons the UAVs comprising tethers for lowering the goods
51.
Adaptive Mobile Distribution of Data Among a Fleet of Uncrewed Vehicles
An example method carried out by an uncrewed vehicle (UV) is disclosed. The method may involve establishing a wireless cellular connection with a wireless cellular network via a wireless cellular communications interface of the UV. The wireless cellular network may be communicatively connected with one or more data servers via a data backhaul network. The example method may further involve exchanging operational data between the one or more data servers and a data storage device of the UV via the wireless cellular connection with the wireless cellular network, establishing a wireless local area network (WLAN) network connection with one or more uncrewed aerial vehicles (UAVs) via a WLAN communications interface of the UV, and exchanging the operational data between the data storage device and at least one of the one or more UAVs over the WLAN network connection.
A payload receiver apparatus including a base configured to receive a payload suspended from an uncrewed aerial vehicle (UAV), an extending member having an upper end positioned above the base, a first tether engager that extends in a first direction from the extending member, wherein the base includes a payload platform positioned below the first tether end of the channel and configured to receive a payload thereon, wherein the first tether engager is adapted to guide a tether having a first end attached to the UAV and a second end attached to a payload coupling apparatus to a position above the payload platform.
A modular housing structure for housing a plurality of unmanned aerial vehicles (UAVs) includes a plurality of housing segments and a plurality of landing pads. The plurality of housing segments are shaped to mechanically join together to define an interior of the modular housing structure. The individual housing segments have a common structural shape that repeats when assembled to form the modular housing structure. The plurality of landing pads are positioned within the individual housing segments, each of the landing pads sized to physically support and charge a corresponding one of the UAVs.
E04H 6/44 - Buildings for parking cars, rolling-stock, aircraft, vessels or like vehicles, e.g. garages for storing aircraft
B60L 53/30 - Constructional details of charging stations
B64U 70/90 - Launching from or landing on platforms
B64U 80/10 - Transport or storage specially adapted for UAVs with means for moving the UAV to a supply or launch location, e.g. robotic arms or carousels
B64U 80/25 - Transport or storage specially adapted for UAVs with arrangements for servicing the UAV for refuelling
B64U 80/40 - Transport or storage specially adapted for UAVs for two or more UAVs
E04H 6/12 - Garages for many vehicles with mechanical means for shifting or lifting vehicles
A UAV having a fuselage body including a cavity that forms a cargo bay for transporting a payload, and a lower access opening providing an exit for the payload from the cargo bay, the lower access opening including a lower cargo bay door, an actuator positioned in the fuselage body, a linkage assembly connected to the actuator and connected to the lower cargo bay door, wherein the actuator and linkage assembly are operable to open and/or close the lower cargo bay door, wherein a first horn is mounted to the actuator, and wherein the linkage assembly includes a first linkage member having a first end and a second end, the first end of the first linkage member pivotally attached to the first horn and the second end of the first linkage member pivotally attached to the cargo bay door.
A UAV including a wing attached to a fuselage body, a rotatable cargo bay in the fuselage body, the cargo bay having an entrance for receiving the payload, an actuator in the fuselage body operable to rotate the cargo bay about a pivot axis into a first position where the entrance of the cargo bay is positioned above the fuselage body to allow for entry of the payload into the cargo bay, and the cargo bay extends through an opening in an upper surface of the fuselage body, rotatable into a second position where the entrance of the cargo bay is positioned within the fuselage body during transport; and rotatable into a third position where the entrance of the cargo bay is positioned below the fuselage body to allow for exiting of the payload, and the cargo bay extends through an opening in a lower surface of the fuselage body.
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 - Determining position or orientation of objects or cameras
G06V 10/24 - Aligning, centring, orientation detection or correction of the image
G06V 10/25 - Determination of region of interest [ROI] or a volume of interest [VOI]
G06V 10/50 - Extraction of image or video features by summing image-intensity values; Projection analysis
G06V 10/60 - Extraction of image or video features relating to illumination properties, e.g. using a reflectance or lighting model
G06V 10/764 - Arrangements for image or video recognition or understanding using pattern recognition or machine learning using classification, e.g. of video objects
57.
OBSTACLE AVOIDANCE FOR AIRCRAFT FROM SHADOW ANALYSIS
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.
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.
B64F 1/32 - Ground or aircraft-carrier-deck installations for handling freight
B64D 1/22 - Taking-up articles from earth's surface
B64U 101/67 - UAVs specially adapted for particular uses or applications for transporting goods other than weapons the UAVs comprising tethers for lowering the goods
59.
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.
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.
B64U 40/10 - On-board mechanical arrangements for adjusting control surfaces or rotors; On-board mechanical arrangements for in-flight adjustment of the base configuration for adjusting control surfaces or rotors
B64U 20/75 - Constructional aspects of the UAV body the body formed by joined shells or by a shell overlaying a chassis
B64C 39/02 - Aircraft not otherwise provided for characterised by special use
B64U 101/69 - UAVs specially adapted for particular uses or applications for transporting goods other than weapons the UAVs provided with means for airdropping goods, e.g. deploying a parachute during descent
61.
PIXEL-BY-PIXEL SEGMENTATION OF AERIAL IMAGERY FOR AUTONOMOUS VEHICLE CONTROL
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.
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.
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.
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.
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.
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.
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.
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. Hie 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.
B64D 1/22 - Taking-up articles from earth's surface
B64D 1/10 - Stowage arrangements for the devices in aircraft
B64C 39/02 - Aircraft not otherwise provided for characterised by special use
B64U 101/67 - UAVs specially adapted for particular uses or applications for transporting goods other than weapons the UAVs comprising tethers for lowering the goods
69.
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.
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.
39 - Transport, packaging, storage and travel services
Goods & Services
Business management of logistics for others; business
management of logistics for others in the field of drone
delivery, retail, delivery, and transportation; business
advisory services in the field of transportation logistics. Transportation and delivery services of goods by air;
management of autonomous aircraft and drone navigation in
the nature of traffic flow through advanced communications
network and technology; routing of autonomous aircraft and
drones by computer on data networks; aeronautic navigation
services, namely, aeronautic radio navigation services;
expedited shipping service of goods for others; GPS
navigation services for autonomous aircrafts and drones; air
navigation services for autonomous aircrafts and drones;
storage of goods; storage of goods for later pickup and
delivery purposes; storage of goods at designated pickup
locations; transportation logistics services, namely,
arranging, planning, and scheduling the delivery of goods by
drone for others.
72.
UAV with distributed propulsion for short takeoffs and landings
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.
39 - Transport, packaging, storage and travel services
Goods & Services
Business management of logistics for others; business
management of logistics for others in the field of drone
delivery, retail, delivery, and transportation; business
advisory services in the field of transportation logistics. Transportation and delivery services of goods by air;
management of autonomous aircraft and drone navigation in
the nature of traffic flow through advanced communications
network and technology; routing of autonomous aircraft and
drones by computer on data networks; aeronautic navigation
services, namely, aeronautic radio navigation services;
expedited shipping service of goods for others; GPS
navigation services for autonomous aircrafts and drones; air
navigation services for autonomous aircrafts and drones;
storage of goods; storage of goods for later pickup and
delivery purposes; storage of goods at designated pickup
locations; transportation logistics services, namely,
arranging, planning, and scheduling the delivery of goods by
drone for others.
74.
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 19/39 - Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
G01S 19/48 - Determining position by combining or switching between position solutions derived from the satellite radio beacon positioning system and position solutions derived from a further system
75.
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.
G06V 20/17 - Terrestrial scenes taken from planes or by drones
G01S 19/39 - Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
G05D 1/10 - Simultaneous control of position or course in three dimensions
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 1/00 - Control of position, course, altitude, or attitude of land, water, air, or space vehicles, e.g. automatic pilot
B64D 47/02 - Arrangements or adaptations of signal or lighting devices
G06F 18/2413 - Classification techniques relating to the classification model, e.g. parametric or non-parametric approaches based on distances to training or reference patterns
G06T 7/70 - Determining position or orientation of objects or cameras
B64U 101/30 - UAVs specially adapted for particular uses or applications for imaging, photography or videography
77.
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 - Determining position by combining or switching between position solutions derived from the satellite radio beacon positioning system and position solutions derived from a further system
G01S 19/40 - Correcting position, velocity or attitude
G01S 19/26 - Acquisition or tracking of signals transmitted by the system involving a sensor measurement for aiding acquisition or tracking
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.
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.
B64C 39/02 - Aircraft not otherwise provided for characterised by special use
G05D 1/10 - Simultaneous control of position or course in three dimensions
G01S 19/48 - Determining position by combining or switching between position solutions derived from the satellite radio beacon positioning system and position solutions derived from a further system
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.
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 - Simultaneous control of position or course in three dimensions
G05D 1/00 - Control of position, course, altitude, or attitude of land, water, air, or space vehicles, e.g. automatic pilot
G06T 7/70 - Determining position or orientation of objects or cameras
B64D 1/22 - Taking-up articles from earth's surface
B64U 20/87 - Mounting of imaging devices, e.g. mounting of gimbals
B64C 39/02 - Aircraft not otherwise provided for characterised by special use
G01P 5/00 - Measuring speed of fluids, e.g. of air stream; Measuring speed of bodies relative to fluids, e.g. of ship, of aircraft
G01P 13/02 - Indicating direction only, e.g. by weather vane
B64U 101/67 - UAVs specially adapted for particular uses or applications for transporting goods other than weapons the UAVs comprising tethers for lowering the goods
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.
B64D 1/22 - Taking-up articles from earth's surface
B64D 45/00 - Aircraft indicators or protectors not otherwise provided for
B64C 39/02 - Aircraft not otherwise provided for characterised by special use
B64U 101/67 - UAVs specially adapted for particular uses or applications for transporting goods other than weapons the UAVs comprising tethers for lowering the goods
86.
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 pay load to secure the payload to the handle of the payload; and wherein the upper portion of the fuselage body includes a. vertical handle slot tor receiving the handle of the payload.
B64D 1/22 - Taking-up articles from earth's surface
B64D 1/10 - Stowage arrangements for the devices in aircraft
B64C 39/02 - Aircraft not otherwise provided for characterised by special use
B66D 1/60 - Rope, cable, or chain winding mechanisms; Capstans adapted for special purposes
B64U 101/60 - UAVs specially adapted for particular uses or applications for transporting goods other than weapons
B64U 101/67 - UAVs specially adapted for particular uses or applications for transporting goods other than weapons the UAVs comprising tethers for lowering the goods
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.
B64D 1/22 - Taking-up articles from earth's surface
B64C 39/02 - Aircraft not otherwise provided for characterised by special use
B64U 101/67 - UAVs specially adapted for particular uses or applications for transporting goods other than weapons the UAVs comprising tethers for lowering the goods
88.
UAV WITH UPPER DOOR INCLUDING WINCH AND METHOD OF OPERATION
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 tire payload.
B64D 1/22 - Taking-up articles from earth's surface
B64C 39/02 - Aircraft not otherwise provided for characterised by special use
B64U 101/67 - UAVs specially adapted for particular uses or applications for transporting goods other than weapons the UAVs comprising tethers for lowering the goods
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.
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 - Injection moulding, i.e. forcing the required volume of moulding material through a nozzle into a closed mould; Apparatus therefor
B64C 29/02 - Aircraft capable of landing or taking-off vertically, e.g. vertical take-off and landing [VTOL] aircraft having its flight directional axis vertical when grounded
B64C 39/02 - Aircraft not otherwise provided for characterised by special use
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 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.
G06Q 50/28 - Logistics, e.g. warehousing, loading, distribution or shipping
G06Q 10/08 - Logistics, e.g. warehousing, loading or distribution; Inventory or stock management
B64D 1/22 - Taking-up articles from earth's surface
B64C 39/02 - Aircraft not otherwise provided for characterised by special use
B64U 101/67 - UAVs specially adapted for particular uses or applications for transporting goods other than weapons the UAVs comprising tethers for lowering the goods
94.
Staging unmanned aerial vehicles at merchant facilities
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.
B64D 1/22 - Taking-up articles from earth's surface
B64C 39/02 - Aircraft not otherwise provided for characterised by special use
B64U 101/67 - UAVs specially adapted for particular uses or applications for transporting goods other than weapons the UAVs comprising tethers for lowering the goods
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.
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.
G05D 1/00 - Control of position, course, altitude, or attitude of land, water, air, or space vehicles, e.g. automatic pilot
H04W 4/02 - Services making use of location information
H04W 4/35 - Services specially adapted for particular environments, situations or purposes for the management of goods or merchandise
H04W 4/40 - Services specially adapted for particular environments, situations or purposes for vehicles, e.g. vehicle-to-pedestrians [V2P]
H04W 4/44 - Services specially adapted for particular environments, situations or purposes for vehicles, e.g. vehicle-to-pedestrians [V2P] for communication between vehicles and infrastructures, e.g. vehicle-to-cloud [V2C] or vehicle-to-home [V2H]
B64U 101/00 - UAVs specially adapted for particular uses or applications
B64U 101/60 - UAVs specially adapted for particular uses or applications for transporting goods other than weapons
B64U 101/64 - UAVs specially adapted for particular uses or applications for transporting goods other than weapons for parcel delivery or retrieval
100.
AUTONOMOUS CONTROL TECHNIQUES FOR AVOIDING COLLISIONS WITH COOPERATIVE AIRCRAFT
In some embodiments, a non-transitory computer-readable medium having logic stored thereon is provided. The logic, in response to execution by one or more processors of an unmanned aerial vehicle (UAV), causes the UAV to perform actions comprising receiving at least one ADS-B message from an intruder aircraft; generating a intruder location prediction based on the at least one ADS-B message; comparing the intruder location prediction to an ownship location prediction to detect conflicts; and in response to detecting a conflict between the intruder location prediction and the ownship location prediction, determining a safe landing location along a planned route for the UAV and descending to land at the safe landing location.
