Brian H Richman

US Patent:

20220406193, Dec 22, 2022

Filed:

Aug 18, 2022

Appl. No.:

17/890889

Inventors:

- Redwood City CA, US
Jack Zhu - San Mateo CA, US
Brian Richman - San Francisco CA, US
Harrison Zheng - Palo Alto CA, US
Hayk Martirosyan - San Francisco CA, US
Matthew Donahoe - Redwood City CA, US
Abraham Galton Bachrach - Emerald Hills CA, US
Adam Bry - Redwood City CA, US

International Classification:

G08G 5/00
G06F 3/04845
G06F 3/04817
G06T 17/05
G06T 19/00
G06F 3/04847
B64C 39/02
B64D 47/08
G05D 1/10
G05D 1/00
G08G 5/04
G01S 13/89
G01S 17/89
H04N 5/272
G06T 17/10
G06V 20/13
G06V 20/10

Abstract:

Described herein are systems for roof scan using an unmanned aerial vehicle. For example, some methods include capturing, using an unmanned aerial vehicle, an overview image of a roof of a building from above the roof; presenting a suggested bounding polygon overlaid on the overview image to a user; determining a bounding polygon based on the suggested bounding polygon and user edits; based on the bounding polygon, determining a flight path including a sequence of poses of the unmanned aerial vehicle with respective fields of view at a fixed height that collectively cover the bounding polygon; fly the unmanned aerial vehicle to a sequence of scan poses with horizontal positions matching respective poses of the flight path and vertical positions determined to maintain a consistent distance above the roof; and scanning the roof from the sequence of scan poses to generate a three-dimensional map of the roof

US Patent:

20230021969, Jan 26, 2023

Filed:

Aug 18, 2022

Appl. No.:

17/890884

Inventors:

- Redwood City CA, US
Jack Zhu - San Mateo CA, US
Brian Richman - San Francisco CA, US
Harrison Zheng - Palo Alto CA, US
Hayk Martirosyan - San Francisco CA, US
Matthew Donahoe - Redwood City CA, US
Abraham Galton Bachrach - Emerald Hills CA, US
Adam Bry - Redwood City CA, US

International Classification:

G08G 5/00
G06F 3/04845
G06F 3/04817
G06T 17/05
G06T 19/00
G06F 3/04847
B64C 39/02
B64D 47/08
G05D 1/10
G05D 1/00
G08G 5/04
G01S 13/89
G01S 17/89
H04N 5/272
G06T 17/10
G06V 20/13
G06V 20/10

Abstract:

Described herein are systems and methods for structure scan using an unmanned aerial vehicle. For example, some methods include accessing a three-dimensional map of a structure; generating facets based on the three-dimensional map, wherein the facets are respectively a polygon on a plane in three-dimensional space that is fit to a subset of the points in the three-dimensional map; generating a scan plan based on the facets, wherein the scan plan includes a sequence of poses for an unmanned aerial vehicle to assume to enable capture, using image sensors of the unmanned aerial vehicle, of images of the structure; causing the unmanned aerial vehicle to fly to assume a pose corresponding to one of the sequence of poses of the scan plan; and capturing one or more images of the structure from the pose.

US Patent:

20210263488, Aug 26, 2021

Filed:

Feb 12, 2021

Appl. No.:

17/174583

Inventors:

- Redwood City CA, US
Jack ZHU - San Francisco CA, US
Brian RICHMAN - San Francisco CA, US
Harrison ZHENG - Palo Alto CA, US
Hayk MARTIROSYAN - San Francisco CA, US
Matthew DONAHOE - Redwood City CA, US
Abraham BACHRACH - Redwood City CA, US
Adam BRY - Redwood City CA, US
Ryan David KENNEDY - Redwood City CA, US
Himel MONDAL - Windsor, CA
Quentin Allen Wah Yen DELEPINE - Cupertino CA, US

International Classification:

G05B 17/02
B64C 39/02
B64D 47/08
B64D 31/06
G05D 1/10
G06T 17/00
H04N 5/232
H04N 5/247
G06T 7/55

Abstract:

In some examples, an unmanned aerial vehicle (UAV) may determine, based on a three-dimensional (3D) model including a plurality of points corresponding to a scan target, a scan plan for scanning at least a portion of the scan target. For instance, the scan plan may include a plurality of poses for the UAV to assume to capture images of the scan target. The UAV may capture with one or more image sensors, one or more images of the scan target from one or more poses of the plurality of poses. Further, the UAV may determine an update to the 3D model based at least in part on the one or more images. Additionally, the UAV may update the scan plan based at least in part on the update to the 3D model.

US Patent:

20210263515, Aug 26, 2021

Filed:

Feb 12, 2021

Appl. No.:

17/174585

Inventors:

- Redwood City CA, US
Jack ZHU - San Francisco CA, US
Brian RICHMAN - San Francisco CA, US
Harrison ZHENG - Palo Alto CA, US
Hayk MARTIROSYAN - San Francisco CA, US
Matthew DONAHOE - Redwood City CA, US
Abraham BACHRACH - Redwood City CA, US
Adam BRY - Redwood City CA, US
Ryan David KENNEDY - Redwood City CA, US
Himel MONDAL - Windsor, CA
Quentin Allen Wah Yen DELEPINE - Cupertino CA, US

International Classification:

G05D 1/00
B64C 39/02
B64D 47/08
B64D 31/06
G05B 13/02
G06T 17/00
G06T 7/55
G06T 19/20
G06T 7/73
H04N 5/232
G05D 1/10

Abstract:

In some examples, an unmanned aerial vehicle (UAV) employs one or more image sensors to capture images of a scan target and may use distance information from the images for determining respective locations in three-dimensional (3D) space of a plurality of points of a 3D model representative of a surface of the scan target. The UAV may compare a first image with a second image to determine a difference between a current frame of reference position for the UAV and an estimate of an actual frame of reference position for the UAV. Further, based at least on the difference, the UAV may determine, while the UAV is in flight, an update to the 3D model including at least one of an updated location of at least one point in the 3D model, or a location of a new point in the 3D model.

US Patent:

20210125406, Apr 29, 2021

Filed:

Jun 8, 2020

Appl. No.:

16/896066

Inventors:

- Redwood City CA, US
Jack Zhu - San Francisco CA, US
Brian Richman - San Francisco CA, US
Harrison Zheng - Palo Alto CA, US
Hayk Martirosyan - San Francisco CA, US
Matthew Donahoe - Redwood City CA, US
Abraham Galton Bachrach - Redwood City CA, US
Adam Bry - Redwood City CA, US

International Classification:

G06T 17/10
G05D 1/00
G06K 9/00
B64C 39/02

Abstract:

Described herein are systems and methods for structure scan using an unmanned aerial vehicle. For example, some methods include accessing a three-dimensional map of a structure; generating facets based on the three-dimensional map, wherein the facets are respectively a polygon on a plane in three-dimensional space that is fit to a subset of the points in the three-dimensional map; generating a scan plan based on the facets, wherein the scan plan includes a sequence of poses for an unmanned aerial vehicle to assume to enable capture, using image sensors of the unmanned aerial vehicle, of images of the structure; causing the unmanned aerial vehicle to fly to assume a pose corresponding to one of the sequence of poses of the scan plan; and capturing one or more images of the structure from the pose.

US Patent:

20210125503, Apr 29, 2021

Filed:

Aug 6, 2020

Appl. No.:

16/987336

Inventors:

- Redwood City CA, US
Jack Zhu - San Francisco CA, US
Brian Richman - San Francisco CA, US
Harrison Zheng - Palo Alto CA, US
Hayk Martirosyan - San Francisco CA, US
Matthew Donahoe - Redwood City CA, US
Abraham Galton Bachrach - Redwood City CA, US
Adam Bry - Redwood City CA, US

International Classification:

G08G 5/00
H04N 5/272
G06F 3/0484
G06F 3/0481
G06T 17/05
G06T 19/00
G06K 9/00
B64C 39/02
B64D 47/08
G05D 1/10
G05D 1/00
G08G 5/04
G01S 13/89
G01S 17/89

Abstract:

Described herein are systems for roof scan using an unmanned aerial vehicle. For example, some methods include capturing, using an unmanned aerial vehicle, an overview image of a roof of a building from above the roof; presenting a suggested bounding polygon overlaid on the overview image to a user; determining a bounding polygon based on the suggested bounding polygon and user edits; based on the bounding polygon, determining a flight path including a sequence of poses of the unmanned aerial vehicle with respective fields of view at a fixed height that collectively cover the bounding polygon; fly the unmanned aerial vehicle to a sequence of scan poses with horizontal positions matching respective poses of the flight path and vertical positions determined to maintain a consistent distance above the roof; and scanning the roof from the sequence of scan poses to generate a three-dimensional map of the roof.

US Patent:

20210065563, Mar 4, 2021

Filed:

Sep 14, 2018

Appl. No.:

16/132284

Inventors:

- Redwood CA, US
Brian Richman - San Francisco CA, US
Alan Jay Poole - San Francisco CA, US
Bernard J. Michini - San Francisco CA, US
Jonathan Anders Lovegren - San Francisco CA, US
Brett Michael Bethke - Millbrae CA, US
Hui Li - San Francisco CA, US

International Classification:

G08G 5/00
H04N 7/18
B64C 39/02
G05D 1/00
H04N 5/232
G06K 9/00
G08G 5/02
B64D 47/08
G05D 1/06
G05D 1/04
G06Q 10/06
G06Q 10/10
G06Q 50/16
G06T 17/05
G06K 9/62
H04N 5/445
G01C 21/20
G06F 3/0481

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 receiving, by the UAV, flight information describing a job to perform an inspection of a rooftop. A particular altitude is ascended to, and an inspection of the rooftop is performed including obtaining sensor information describing the rooftop. Location information identifying a damaged area of the rooftop is received. The damaged area of the rooftop is traveled to. An inspection of the damaged area of the rooftop is performed including obtaining detailed sensor information describing the damaged area. A safe landing location is traveled to.

US Patent:

20210058331, Feb 25, 2021

Filed:

Aug 31, 2020

Appl. No.:

17/007618

Inventors:

- Redwood City CA, US
Bernard J. Michini - San Francisco CA, US
Brian Richman - San Francisco CA, US

International Classification:

H04L 12/825
G01C 23/00
G05D 1/00
B64C 39/02
B64D 41/00
B64D 47/00
B64D 47/08

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.