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公开(公告)号：US12282524B2
公开(公告)日：2025-04-22
申请号：US18161028
申请日：2023-01-27
Applicant: Skydio, Inc.
Inventor： Hayk Martirosyan , Aaron Christopher Miller , Nathan Leo Bucki , Bradley Matthew Solliday , Ryan David Kennedy , Jack Louis Zhu , Teodor Tomic , Yixiao Sun , Josiah Timothy VanderMey , Gareth Benoit Cross , Peter Benjamin Henry , Dominic William Pattison , Samuel Shenghung Wang , Kristen Marie Holtz , Harrison Zheng
Abstract: A computer accesses a first symbolic expression for an output matrix as a function of an input matrix at a computing device comprising processing circuitry and memory. The computer computes a first Jacobian of the input matrix with respect to an input tangent space. The computer computes a second Jacobian of the output matrix with respect to the input matrix. The computer computes a third Jacobian of an output tangent space with respect to the input matrix. The computer applies symbolic matrix multiplication to the first Jacobian, the second Jacobian, and the third Jacobian to obtain a second symbolic expression for the output tangent space with respect to the input tangent space. The computer provides a representation of the second symbolic expression, the second symbolic expression representing a computed tangent-space Jacobian.
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公开(公告)号：US20240409237A1
公开(公告)日：2024-12-12
申请号：US18390949
申请日：2023-12-20
Applicant: Skydio, Inc.
Inventor： Yevgeniy Kozlenko , Jack Zhu , Gareth Cross , Teodor Tomic , Adam Bry , Abraham Galton Bachrach
Abstract: Described herein are systems for automated docking of an unmanned aerial vehicle. For example, some systems include a landing surface configured to hold an unmanned aerial vehicle; a box configured to enclose the landing surface in a first arrangement of the dock and expose the landing surface in a second arrangement of the dock; and a retractable arm, wherein the landing surface is positioned at an end of the retractable arm and the retractable arm is configured to extend to move the landing surface outside of the box and contract to pull the landing surface inside of the box.
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公开(公告)号：US12296981B2
公开(公告)日：2025-05-13
申请号：US18390949
申请日：2023-12-20
Applicant: Skydio, Inc.
Inventor： Yevgeniy Kozlenko , Jack Zhu , Gareth Cross , Teodor Tomic , Adam Bry , Abraham Galton Bachrach
Abstract: Described herein are systems for automated docking of an unmanned aerial vehicle. For example, some systems include a landing surface configured to hold an unmanned aerial vehicle; a box configured to enclose the landing surface in a first arrangement of the dock and expose the landing surface in a second arrangement of the dock; and a retractable arm, wherein the landing surface is positioned at an end of the retractable arm and the retractable arm is configured to extend to move the landing surface outside of the box and contract to pull the landing surface inside of the box.
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公开(公告)号：US11897632B2
公开(公告)日：2024-02-13
申请号：US17218807
申请日：2021-03-31
Applicant: Skydio, Inc.
Inventor： Yevgeniy Kozlenko , Jack Zhu , Gareth Cross , Teodor Tomic , Adam Bry , Abraham Galton Bachrach
CPC classification number: B64F1/222 , B64D45/08 , B64F1/18 , B64C39/024 , B64U50/19 , B64U80/70 , B64U2201/10
Abstract: Described herein are systems for automated docking of an unmanned aerial vehicle. For example, some systems include an unmanned aerial vehicle including a propulsion mechanism, a battery, and a processing apparatus; and a dock including a landing surface with a funnel geometry shaped to fit a bottom surface of the unmanned aerial vehicle at a base of the funnel, wherein tapered sides of the funnel form corners at the base of the funnel, and a battery charger configured to charge the battery of the unmanned aerial vehicle while the unmanned aerial vehicle is on the landing surface, wherein conducting contacts of the battery charger are on the landing surface, positioned at the bottom of the funnel.
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公开(公告)号：US11726498B2
公开(公告)日：2023-08-15
申请号：US17306204
申请日：2021-05-03
Applicant: Skydio, Inc.
Inventor： Rowland Wilde O'Flaherty , Teodor Tomic , Hayk Martirosyan , Abraham Galton Bachrach , Kristen Marie Holtz , Jack Louis Zhu
CPC classification number: G05D1/042 , B64C39/024 , G06N20/00 , B64U70/00 , B64U2201/10
Abstract: A technique is introduced for touchdown detection during autonomous landing by an aerial vehicle. In some embodiments, the introduced technique includes processing perception inputs with a dynamics model of the aerial vehicle to estimate the external forces and/or torques acting on the aerial vehicle. The estimated external forces and/or torques are continually monitored while the aerial vehicle is landing to determine when the aerial vehicle is sufficiently supported by a landing surface. In some embodiments, semantic information associated with objects in the environment is utilized to configure parameters associated with the touchdown detection process.
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Patent Agency Ranking
公开(公告)号：US20210276734A1
公开(公告)日：2021-09-09
申请号：US17218807
申请日：2021-03-31
Applicant: Skydio, Inc.
Inventor： Yevgeniy Kozlenko , Jack Zhu , Gareth Cross , Teodor Tomic , Adam Bry , Abraham Galton Bachrach
Abstract: Described herein are systems for automated docking of an unmanned aerial vehicle. For example, some systems include an unmanned aerial vehicle including a propulsion mechanism, a battery, and a processing apparatus; and a dock including a landing surface with a funnel geometry shaped to fit a bottom surface of the unmanned aerial vehicle at a base of the funnel, wherein tapered sides of the funnel form corners at the base of the funnel, and a battery charger configured to charge the battery of the unmanned aerial vehicle while the unmanned aerial vehicle is on the landing surface, wherein conducting contacts of the battery charger are on the landing surface, positioned at the bottom of the funnel.
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公开(公告)号：US12271208B2
公开(公告)日：2025-04-08
申请号：US18350061
申请日：2023-07-11
Applicant: Skydio, Inc.
Inventor： Rowland Wilde O'Flaherty , Teodor Tomic , Hayk Martirosyan , Abraham Galton Bachrach , Kristen Marie Holtz , Jack Louis Zhu
Abstract: A technique is introduced for touchdown detection during autonomous landing by an aerial vehicle. In some embodiments, the introduced technique includes processing perception inputs with a dynamics model of the aerial vehicle to estimate the external forces and/or torques acting on the aerial vehicle. The estimated external forces and/or torques are continually monitored while the aerial vehicle is landing to determine when the aerial vehicle is sufficiently supported by a landing surface. In some embodiments, semantic information associated with objects in the environment is utilized to configure parameters associated with the touchdown detection process.
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公开(公告)号：US20230280765A1
公开(公告)日：2023-09-07
申请号：US18161026
申请日：2023-01-27
Applicant: Skydio, Inc.
Inventor： Hayk Martirosyan , Aaron Christopher Miller , Nathan Leo Bucki , Bradley Matthew Solliday , Ryan David Kennedy , Jack Louis Zhu , Teodor Tomic , Yixiao Sun , Josiah Timothy VanderMey , Gareth Benoit Cross , Peter Benjamin Henry , Dominic William Pattison , Samuel Shenghung Wang , Kristen Marie Holtz , Harrison Zheng
CPC classification number: G05D1/0825 , G06F17/18 , B64U10/00
Abstract: A computer accesses an input element storage and an output element storage. The computer accesses a symbolic expression for output element storage as a function of the input element storage. The computer computes, using a symbolic computation engine of the computer, a symbolic expression for the tangent space Jacobian of the output element storage with respect to an input tangent space. The computer outputs the computed expression.
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公开(公告)号：US20230244750A1
公开(公告)日：2023-08-03
申请号：US18161024
申请日：2023-01-27
Applicant: Skydio, Inc.
Inventor： Hayk Martirosyan , Aaron Christopher Miller , Nathan Leo Bucki , Bradley Matthew Solliday , Ryan David Kennedy , Jack Louis Zhu , Teodor Tomic , Yixiao Sun , Josiah Timothy VanderMey , Gareth Benoit Cross , Peter Benjamin Henry , Dominic William Pattison , Samuel Shenghung Wang , Kristen Marie Holtz , Harrison Zheng
CPC classification number: G06F17/16 , G05D1/0022 , G06F9/526
Abstract: A computer accesses a first symbolic expression for an output value as a function of an input value. The computer computes a first symbolic Jacobian of the input value with respect to an input tangent space from a symbolic Lie group definition. The computer computes a second symbolic Jacobian of the output value with respect to the input value. The computer computes a third symbolic Jacobian of an output tangent space with respect to the input value from the symbolic Lie group definition. The computer applies symbolic matrix multiplication to the first symbolic Jacobian, the second symbolic Jacobian, and the third symbolic Jacobian to obtain a second symbolic expression for the output tangent space with respect to the input tangent space. The computer provides a representation of the second symbolic expression.
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公开(公告)号：US20210107682A1
公开(公告)日：2021-04-15
申请号：US16991122
申请日：2020-08-12
Applicant: Skydio, Inc.
Inventor： Yevgeniy Kozlenko , Jack Zhu , Gareth Benoit Cross , Teodor Tomic , Adam Bry , Abraham Galton Bachrach
Abstract: Described herein are systems for automated docking of an unmanned aerial vehicle. For example, some systems include an unmanned aerial vehicle including a propulsion mechanism, an image sensor, and processing apparatus; and a dock including a landing surface configured to hold the unmanned aerial vehicle and a fiducial on the landing surface, wherein the processing apparatus is configured to: control the propulsion mechanism to cause the unmanned aerial vehicle to fly to a first location in a vicinity of the dock; access one or more images captured using the image sensor; detect the fiducial in at least one of the one or more images; determine a pose of the fiducial based on the one or more images; and control, based on the pose of the fiducial, the propulsion mechanism to cause the unmanned aerial vehicle to land on the landing surface.
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