Patents Assigned to Skydio, Inc.
  • Patent number: 11029352
    Abstract: Methods, systems and apparatus, for an unmanned aerial vehicle electromagnetic avoidance and utilization system. One of the methods includes obtaining a flight package indicating a flight pattern associated with inspecting a structure, the flight pattern causing the UAV to remain at a standoff distance from the structure, wherein the standoff distance is based on an electromagnetic field associated with the structure, and wherein the flight pattern is laterally constrained according to a property geofence associated with a right of way of the structure. The UAV is navigated according to the flight pattern, and the UAV captures images of the structure. For an initial portion of the flight pattern, the UAV navigates at an altitude based on the standoff distance and the property geofence towards the structure. The UAV determines a location at which to capture images of the structure, and the UAV provides the captured images to a user device.
    Type: Grant
    Filed: May 17, 2017
    Date of Patent: June 8, 2021
    Assignee: Skydio, Inc.
    Inventors: Fabien Blanc-Paques, Bernard J. Michini, Mark Patrick Bauer
  • Patent number: 11025429
    Abstract: Described herein are systems for the production, communication, routing, service, authentication, and consumption of cryptographically authenticable contextual content produced by cryptographically authenticable devices; example implementations of the architecture for a Trusted Contextual Content Device which produces Trusted Contextual Content; and example implementations of the architecture for a Trusted Drone Device which produces Trusted Contextual Content. For example, some of the methods used may include accessing a first set of sensor data from one or more sensors; receiving, a first trusted contextual content that includes a first digital signature; generating a data structure including the first trusted contextual content and data based on the first set of sensor data; signing the data structure using a signing key to generate a second trusted contextual content including a second digital signature; and storing or transmitting the second trusted contextual content.
    Type: Grant
    Filed: May 14, 2018
    Date of Patent: June 1, 2021
    Assignee: Skydio, Inc.
    Inventors: Joseph Anthony Enke, Stepan Moskovchenko
  • Patent number: 11014666
    Abstract: Disclosed here are unmanned aerial vehicle embodiments including some embodiments having a fuselage, tail, and wings including example embodiments with an adaptable payload section, alternatively or additionally, modular flight surfaces including tail, wings and motor, alternatively or additionally the vehicle configured for short landings with reversible thrust, alternatively or additionally, the unmanned aerial vehicle configured with direct connection to moveable flight control surfaces.
    Type: Grant
    Filed: September 22, 2017
    Date of Patent: May 25, 2021
    Assignee: Skydio, Inc.
    Inventors: Thomas Skyler Sartorius, Calder Richmond Hughes, Julian Rene Alvarez, Sean David-Andrew Belardo
  • Patent number: 11017679
    Abstract: Methods, systems and apparatus, including computer programs encoded on computer storage media for unmanned aerial vehicle flight operations near physical structures or objects. In particular, a point cloud of the physical structure is generated using aerial images of the structure. The point cloud is then referenced to determine a flight path for the UAV to follow around the physical structure, determine whether a planned flight path to desired locations around the structure is possible, determine the fastest route to return home and land from a given position around the physical structure, determine possibility of inflight collision to surface represented in point cloud, or determine an orientation of a fixed or gimbaled camera given a position of the UAV relative the point cloud.
    Type: Grant
    Filed: January 12, 2018
    Date of Patent: May 25, 2021
    Assignee: Skydio, Inc.
    Inventors: Joseph Moster, Donna Okazaki, Bernard J. Michini
  • Patent number: 10996683
    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.
    Type: Grant
    Filed: February 11, 2019
    Date of Patent: May 4, 2021
    Assignee: Skydio, Inc.
    Inventors: Rowland Wilde O'Flaherty, Teodor Tomic, Hayk Martirosyan, Abraham Galton Bachrach, Kristen Marie Holtz, Jack Louis Zhu
  • Patent number: 10992865
    Abstract: Embodiments are described for a stabilization system configured, in some embodiments, for stabilizing image capture from an aerial vehicle (e.g., a UAV). According to some embodiments, the stabilization systems employs both active and passive stabilization means. A passive stabilization assembly includes a counter-balanced suspension system that includes an elongated arm that extends into and is coupled to the body of a vehicle. The counter-balanced suspension system passively stabilizes a mounted device such as an image capture device to counter motion of the UAV while in use. In some embodiment the counter-balanced suspension system passively stabilizes a mounted image capture assembly that includes active stabilization means (e.g., a motorized gimbal and/or electronic image stabilization). In some embodiments, the active and passive stabilization means operate together to effectively stabilize a mounted image capture device to counter a wide range of motion characteristics.
    Type: Grant
    Filed: September 23, 2019
    Date of Patent: April 27, 2021
    Assignee: Skydio, Inc.
    Inventors: David Kalinowski, Stephen R. McClure, Patrick Allen Lowe, Daniel Thomas Adams, Benjamin Scott Thompson, Adam Parker Bry, Abraham Galton Bachrach
  • Patent number: 10816967
    Abstract: Methods and systems are described for new paradigms for user interaction with an unmanned aerial vehicle (referred to as a flying digital assistant or FDA) using a portable multifunction device (PMD) such as smart phone. In some embodiments, a magic wand user interaction paradigm is described for intuitive control of an FDA using a PMD. In other embodiments, methods for scripting a shot are described.
    Type: Grant
    Filed: February 12, 2018
    Date of Patent: October 27, 2020
    Assignee: SKYDIO, INC.
    Inventors: Abraham Bachrach, Adam Bry, Matthew Donahoe
  • Patent number: 10795353
    Abstract: Methods and systems are described for new paradigms for user interaction with an unmanned aerial vehicle (referred to as a flying digital assistant or FDA) using a portable multifunction device (PMD) such as smart phone. In some embodiments, a user may control image capture from an FDA by adjusting the position and orientation of a PMD. In other embodiments, a user may input a touch gesture via a touch display of a PMD that corresponds with a flight path to be autonomously flown by the FDA.
    Type: Grant
    Filed: September 24, 2019
    Date of Patent: October 6, 2020
    Assignee: SKYDIO, INC.
    Inventors: Abraham Galton Bachrach, Adam Parker Bry, Matthew Joseph Donahoe
  • Patent number: 10784761
    Abstract: An actuator is introduced that utilizes the forces that result from placing a current carrying coil in a magnetic field to rotate a connected object about at least one axis. In some embodiments, the introduced coil actuator includes a coil of conductor coupled to an arm or other type of structural element that extends radially from an axis of rotation. The introduced coil actuator can be utilized to provide motion control in a variety of different applications such as gimbal mechanisms. In some embodiments, the introduced coil actuator can be implemented in a gimbal mechanism for adjusting an orientation of a device such as a camera relative to a connected platform such as the body of an aerial vehicle.
    Type: Grant
    Filed: June 12, 2019
    Date of Patent: September 22, 2020
    Assignee: SKYDIO, INC.
    Inventors: Daniel Thomas Adams, Patrick Allen Lowe, Benjamin Scott Thompson, Abraham Galton Bachrach, Adam Parker Bry
  • Patent number: 10761525
    Abstract: Methods, systems, and apparatus, including computer programs encoded on computer storage media, for an unmanned aerial system inspection system. One of the methods is performed by a UAV and includes obtaining, from a user device, flight operation information describing an inspection of a vertical structure to be performed, the flight operation information including locations of one or more safe locations for vertical inspection. A location of the UAV is determined to correspond to a first safe location for vertical inspection. A first inspection of the structure is performed is performed at the first safe location, the first inspection including activating cameras. A second safe location is traveled to, and a second inspection of the structure is performed. Information associated with the inspection is provided to the user device.
    Type: Grant
    Filed: August 9, 2017
    Date of Patent: September 1, 2020
    Assignee: Skydio, Inc.
    Inventors: Brett Michael Bethke, Hui Li, Bernard J. Michini
  • Patent number: 10764196
    Abstract: Methods, systems, and apparatus, including computer programs encoded on computer storage media, for a distributed system architecture for unmanned air vehicles. One of the methods includes obtaining information identifying flight information of a UAV, with the flight information including flight phase information or a contingency condition associated with a flight critical module included in the UAV. The obtained information is analyzed, and one or more first payload modules are determined to enter a modified power state. Requests to enter the modified power state are caused to be transmitted to each determined payload module in the one or more first payload modules.
    Type: Grant
    Filed: June 6, 2016
    Date of Patent: September 1, 2020
    Assignee: Skydio, Inc.
    Inventors: Jonathan Downey, Bernard J. Michini, Brian Richman
  • Patent number: 10762795
    Abstract: Disclosed in this specification are methods, systems and apparatus, including computer programs encoded on non-transitory computer storage media for unmanned aerial vehicle (UAV) flight operation and privacy controls. Based on geofence types, and UAV distance from a geofence, sensors and other devices connected to a UAV are conditionally operational. Image data collected during a UAV flight may be obfuscated by the UAV while in flight, or via a post-flight process using log data generated by the UAV.
    Type: Grant
    Filed: March 31, 2016
    Date of Patent: September 1, 2020
    Assignee: Skydio, Inc.
    Inventors: Dana Livonia Contreras, Lucas Palage Doyle, Justin Eugene Kuehn, Volkan Gurel, Eric David Johnson, Edward Dale Steakley
  • Patent number: 10755585
    Abstract: Methods, systems, and apparatus, including computer programs encoded on computer storage media, for unmanned aerial vehicle authorization and geofence envelope determination. One of the methods includes determining, by an electronic system in an Unmanned Aerial Vehicle (UAV), an estimated fuel remaining in the UAV. An estimated fuel consumption of the UAV is determined. Estimated information associated with wind affecting the UAV is determined using information obtained from sensors included in the UAV. Estimated flights times remaining for a current path, and one or more alternative flight paths, are determined using the determined estimated fuel remaining, determined estimated fuel consumption, determined information associated wind, and information describing each flight path. In response to the electronic system determining that the estimated fuel remaining, after completion of the current flight path, would be below a first threshold, an alternative flight path is selected.
    Type: Grant
    Filed: February 13, 2017
    Date of Patent: August 25, 2020
    Assignee: Skydio, Inc.
    Inventors: Jonathan Downey, Bernard J. Michini, Joseph Moster, Donald Curry Weigel, James Ogden
  • Patent number: 10599161
    Abstract: An autonomous vehicle that is equipped with image capture devices can use information gathered from the image capture devices to plan a future three-dimensional (3D) trajectory through a physical environment. To this end, a technique is described for image-space based motion planning. In an embodiment, a planned 3D trajectory is projected into an image-space of an image captured by the autonomous vehicle. The planned 3D trajectory is then optimized according to a cost function derived from information (e.g., depth estimates) in the captured image. The cost function associates higher cost values with identified regions of the captured image that are associated with areas of the physical environment into which travel is risky or otherwise undesirable. The autonomous vehicle is thereby encouraged to avoid these areas while satisfying other motion planning objectives.
    Type: Grant
    Filed: August 8, 2017
    Date of Patent: March 24, 2020
    Assignee: SKYDIO, INC.
    Inventors: Ryan David Kennedy, Peter Benjamin Henry, Hayk Martirosyan, Jack Louis Zhu, Abraham Galton Bachrach, Adam Parker Bry
  • Patent number: 10520943
    Abstract: Methods and systems are disclosed for an unmanned aerial vehicle (UAV) configured to autonomously navigate a physical environment while capturing images of the physical environment. In some embodiments, the motion of the UAV and a subject in the physical environment may be estimated based in part on images of the physical environment captured by the UAV. In response to estimating the motions, image capture by the UAV may be dynamically adjusted to satisfy a specified criterion related to a quality of the image capture.
    Type: Grant
    Filed: August 12, 2016
    Date of Patent: December 31, 2019
    Assignee: SKYDIO, INC.
    Inventors: Hayk Martirosyan, Adam Bry, Matthew Donahoe, Abraham Bacharach, Justin Michael Sadowski
  • Patent number: 10466695
    Abstract: Methods and systems are described for new paradigms for user interaction with an unmanned aerial vehicle (referred to as a flying digital assistant or FDA) using a portable multifunction device (PMD) such as smart phone. In some embodiments, a user may control image capture from an FDA by adjusting the position and orientation of a PMD. In other embodiments, a user may input a touch gesture via a touch display of a PMD that corresponds with a flight path to be autonomously flown by the FDA.
    Type: Grant
    Filed: October 23, 2017
    Date of Patent: November 5, 2019
    Assignee: SKYDIO, INC.
    Inventors: Abraham Bachrach, Adam Bry, Matthew Donahoe
  • Patent number: 10455155
    Abstract: Embodiments are described for a stabilization system configured, in some embodiments, for stabilizing image capture from an aerial vehicle (e.g., a UAV). According to some embodiments, the stabilization systems employs both active and passive stabilization means. A passive stabilization assembly includes a counter-balanced suspension system that includes an elongated arm that extends into and is coupled to the body of a vehicle. The counter-balanced suspension system passively stabilizes a mounted device such as an image capture device to counter motion of the UAV while in use. In some embodiment the counter-balanced suspension system passively stabilizes a mounted image capture assembly that includes active stabilization means (e.g., a motorized gimbal and/or electronic image stabilization). In some embodiments, the active and passive stabilization means operate together to effectively stabilize a mounted image capture device to counter a wide range of motion characteristics.
    Type: Grant
    Filed: October 23, 2017
    Date of Patent: October 22, 2019
    Assignee: SKYDIO, INC.
    Inventors: David Kalinowski, Stephen R. McClure, Patrick Allen Lowe, Daniel Thomas Adams, Benjamin Scott Thompson, Adam Parker Bry, Abraham Galton Bachrach
  • Patent number: 10435176
    Abstract: Embodiments are described for an unmanned aerial vehicle (UAV) configured for autonomous flight using visual navigation that includes a perimeter structure surrounding one or more powered rotors, the perimeter structure including image capture devices arranged so as to provide an unobstructed view around the UAV.
    Type: Grant
    Filed: May 25, 2016
    Date of Patent: October 8, 2019
    Assignee: SKYDIO, INC.
    Inventors: Stephen R. McClure, Benjamin S. Thompson, Adam Bry, Abraham Bachrach, Matthew Donahoe
  • Patent number: 10379545
    Abstract: Embodiments are described for detecting optical discrepancies associated with image capture analyzing pixels in multiple images corresponding to common points of reference in a physical environment. In an embodiment, photometric error values are averaged over time to compute the mean error at each pixel. Once the estimate of the mean error has a sufficient number of updates above a specified value, the estimate is thresholded to provide a mask of any optical discrepancies occurring in the stereo pair of images. Applications include detecting optical discrepancies in images captured for use by a visual navigation system in guiding an autonomous vehicle (e.g., an unmanned aerial vehicle).
    Type: Grant
    Filed: July 3, 2017
    Date of Patent: August 13, 2019
    Assignee: Skydio, Inc.
    Inventors: Ryan Kennedy, Peter Henry, Abraham Bachrach
  • Patent number: D906170
    Type: Grant
    Filed: February 13, 2018
    Date of Patent: December 29, 2020
    Assignee: SKYDIO, INC.
    Inventors: Benjamin Scott Thompson, Kevin Patrick Smith O'Leary, Asher Mendel Robbins-Rothman, Patrick Allen Lowe, Daniel Thomas Adams