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公开(公告)号：US11656638B1
公开(公告)日：2023-05-23
申请号：US17133610
申请日：2020-12-23
Applicant: Wing Aviation LLC
Inventor： Dinuka Abeywardena , Damien Jourdan
CPC classification number: G05D1/106 , B64D47/08 , G01C11/06 , G01C21/32 , G06V20/13 , B64C2201/028 , B64C2201/123 , B64C2201/127 , B64C2201/141 , B64C2201/146
Abstract: 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.
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公开(公告)号：US20230122535A1
公开(公告)日：2023-04-20
申请号：US18047895
申请日：2022-10-19
Applicant: Wing Aviation LLC
Inventor： Dinuka Abeywardena , Konstantin Bozhkov , Kyle Kakligian , Stephen Lacy , Scott Barron , Brandon Jones , Aditya Undurti , Kyle David Julian , Sai Bhargav Yalamanchi
Abstract: 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.
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公开(公告)号：US11100667B2
公开(公告)日：2021-08-24
申请号：US16669309
申请日：2019-10-30
Applicant: Wing Aviation LLC
Inventor： Dinuka Abeywardena
IPC: G06T7/70
Abstract: In some embodiments, aerial images of a geographic area are captured by an autonomous vehicle. In some embodiments, the locations of structures within a subset of the aerial images are manually annotated, and geographical locations of the manual annotations are determined based on pose information of the camera. In some embodiments, a machine learning model is trained using the manually annotated aerial images. The machine learning model is used to automatically generate annotations of other images of the geographic area, and the geographical locations determined from the manual annotations are used to determine an accuracy probability of the automatic annotations. The automatic annotations determined to be accurate may be used to re-train the machine learning model to increase its precision and recall.
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公开(公告)号：US20210174301A1
公开(公告)日：2021-06-10
申请号：US16703170
申请日：2019-12-04
Applicant: WING Aviation LLC
Inventor： Dinuka Abeywardena , Jesse Blake , James R. Burgess , Marco Caflisch , Brandon Jones , Damien Jourdan , Kyle Krafka , James Schmalzried
Abstract: A technique for validating a balcony to receive delivery of a parcel via a UAV includes obtaining a first identification of a general location of the balcony; generating a first image representing a building including the balcony where the first image is selected based upon the location identified; obtaining a second identification or a confirmation of a precise location of the balcony in the building where the second identification or the confirmation are received in response to an end-user interaction with the first image; determining a deliverability score based at least in part on the precise location of the balcony; and indicating an enrollment status to the end-user where the enrollment status is generated based upon the deliverability score.
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公开(公告)号：US20240177619A1
公开(公告)日：2024-05-30
申请号：US18404697
申请日：2024-01-04
Applicant: WING Aviation LLC
Inventor： Martin Kubie , Dinuka Abeywardena
CPC classification number: G08G5/0069 , B64C39/024 , G05D1/222 , G05D1/225 , G05D1/689 , H04W4/029 , B64U2101/30 , B64U2201/104
Abstract: 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.
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Patent Agency Ranking
公开(公告)号：US20230360234A1
公开(公告)日：2023-11-09
申请号：US18098588
申请日：2023-01-18
Applicant: WING Aviation LLC
Inventor： Ali Shoeb , Dinuka Abeywardena
CPC classification number: G06T7/248 , G06T7/174 , B64C39/024 , G06T2207/10028 , G06T2207/10032 , G06T2207/20081 , B64U2101/30
Abstract: A technique for detecting an environmental change to a delivery zone via an unmanned aerial vehicle includes obtaining an anchor image and an evaluation image, each representative of the delivery zone, providing the anchor image and the evaluation image to a machine learning model to determine an embedding score associated with a distance between representations of the anchor image and the evaluation image within an embedding space, and determining an occurrence of the environmental change to the delivery zone when the embedding score is greater than a threshold value.
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公开(公告)号：US11587241B2
公开(公告)日：2023-02-21
申请号：US16887404
申请日：2020-05-29
Applicant: WING Aviation LLC
Inventor： Ali Shoeb , Dinuka Abeywardena
Abstract: A technique for detecting an environmental change to a delivery zone via an unmanned aerial vehicle includes obtaining an anchor image and an evaluation image, each representative of the delivery zone, providing the anchor image and the evaluation image to a machine learning model to determine an embedding score associated with a distance between representations of the anchor image and the evaluation image within an embedding space, and determining an occurrence of the environmental change to the delivery zone when the embedding score is greater than a threshold value.
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公开(公告)号：US20210374975A1
公开(公告)日：2021-12-02
申请号：US16887404
申请日：2020-05-29
Applicant: WING Aviation LLC
Inventor： Ali Shoeb , Dinuka Abeywardena
Abstract: A technique for detecting an environmental change to a delivery zone via an unmanned aerial vehicle includes obtaining an anchor image and an evaluation image, each representative of the delivery zone, providing the anchor image and the evaluation image to a machine learning model to determine an embedding score associated with a distance between representations of the anchor image and the evaluation image within an embedding space, and determining an occurrence of the environmental change to the delivery zone when the embedding score is greater than a threshold value.
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公开(公告)号：US20210150917A1
公开(公告)日：2021-05-20
申请号：US16689872
申请日：2019-11-20
Applicant: WING AVIATION LLC
Inventor： Martin Kubie , Dinuka Abeywardena
Abstract: 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.
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公开(公告)号：US20200026902A1
公开(公告)日：2020-01-23
申请号：US16411576
申请日：2019-05-14
Applicant: Wing Aviation LLC
Inventor： Dinuka Abeywardena , Damien Jourdan
Abstract: 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.
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