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1. 发明授权

US11966221B2 Method for handling goods by collaboration of autonomous objects 有权
公开(公告)号：US11966221B2
公开(公告)日：2024-04-23
申请号：US17812391
申请日：2022-07-13
申请人： PABLO AIR Co., Ltd. , PABLO AIR International, INC.
发明人： Youngjoon Kim , Seung Han Lim
IPC分类号： G05D1/00 , B60P1/02 , B64C39/02 , B64U101/60
CPC分类号： G05D1/0027 , B60P1/02 , B64C39/024 , G05D1/0287 , B64U2101/60 , B64U2201/10 , B64U2201/20
摘要： Provided is a method for delivering goods in collaboration of a plurality of autonomous vehicles including a master vehicle and one or more slave vehicles. The method comprises calculating, by the master vehicle among the plurality of autonomous vehicles, a floor area required for unloading the goods based on a size of the goods, searching and determining, by the master vehicle, a region providing a flat area greater than or equal to the floor area as a goods handing over point, providing, by the master vehicle, position information of the goods handing over point to the one or more slave vehicles so that the one or more slave vehicles are gathered to the goods handing over point, providing, by the master vehicle, the position information of the goods handing over point to an unmanned aerial vehicle so that the unmanned aerial vehicle moves to the goods handing over point, determining, by the master vehicle, a portion of the goods to be supported by each autonomous vehicle based on a size of delivery target goods, moving, by each autonomous vehicle located at the goods handing over point, to a position corresponding to the determined portion, taking over the goods from the unmanned aerial vehicle and loading them together by collaborating with each autonomous vehicle at the moved position, and delivering the loaded goods to a destination by the plurality of autonomous vehicles.

2. 发明授权

US11334078B1 Method and apparatus for handling goods by unmanned aerial vehicle and autonomous vehicle 有权
公开(公告)号：US11334078B1
公开(公告)日：2022-05-17
申请号：US17518967
申请日：2021-11-04
申请人： PABLO AIR Co., Ltd. , PABLO AIR International, INC.
发明人： Youngjoon Kim , Seung Han Lim
IPC分类号： G05D1/00 , B64C39/02 , B64D1/12 , B64D1/22 , B64D47/08 , G05D1/02 , G05D1/10 , G06K7/14 , G06V20/13 , H04W76/10 , G06K7/10
摘要： Provided is a method for an unmanned aerial vehicle to handle goods in cooperation with an autonomous vehicle. The method comprises capturing, by the unmanned aerial vehicle, an image of the autonomous vehicle having a goods storage box, recognizing, by the unmanned aerial vehicle, a marker displayed in the goods storage box by analyzing the captured image, identifying, by the unmanned aerial vehicle, a region occupied by the marker on the captured image, adjusting a relative position of the unmanned aerial vehicle and the autonomous vehicle, wherein the marker displayed in the goods storage box is covered by a lid of the goods storage box and placed in a state that cannot be captured by the unmanned aerial vehicle, and the marker is exposed in a state that can be captured by the unmanned aerial vehicle only when the lid of the storage box is opened by communication between the unmanned aerial vehicle and the autonomous vehicle.

3. 发明授权

US11873090B2 Method and apparatus for handling goods by a group of collaborating unmanned aerial vehicles 有权
公开(公告)号：US11873090B2
公开(公告)日：2024-01-16
申请号：US17712872
申请日：2022-04-04
申请人： PABLO AIR Co., Ltd. , PABLO AIR International, INC.
发明人： Seung Han Lim , Youngjoon Kim , Dong Jin Lee
IPC分类号： B64C39/02 , G05D1/10 , B64U10/13 , G08G5/00 , G06Q10/08 , G06Q10/083 , B64U101/60
CPC分类号： B64C39/024 , G05D1/104 , G05D1/106 , G06Q10/083 , G08G5/0008 , B64U10/13 , B64U2101/60 , B64U2201/102
摘要： Provided is a method for delivering goods through an unmanned aerial vehicle group including a plurality of aircraft respectively connected to delivery target goods. The method comprises identifying, by a master aircraft of the unmanned aerial vehicle group, an actual load applied to each of the aircraft by the goods while the unmanned aerial vehicle group is flying to deliver the goods, and controlling the unmanned aerial vehicle group by the master aircraft to adjust the actual load applied to each of the aircraft.

4. 发明授权

US11768491B2 Method and apparatus for handling goods by unmanned aerial vehicle and autonomous vehicle 有权
公开(公告)号：US11768491B2
公开(公告)日：2023-09-26
申请号：US17721597
申请日：2022-04-15
申请人： PABLO AIR Co., Ltd. , PABLO AIR International, INC.
发明人： Youngjoon Kim , Seung Han Lim
IPC分类号： G05D1/00 , B64C39/02 , B64D1/12 , B64D47/08 , G06K7/10 , G05D1/10 , G06V20/17 , G05D1/02 , B64D1/22 , G06K7/14 , H04W76/10 , B64U10/13 , B64U50/00 , B64U101/30 , B64U101/60
CPC分类号： G05D1/0094 , B64C39/024 , B64D1/12 , B64D1/22 , B64D47/08 , G05D1/0276 , G05D1/101 , G06K7/10722 , G06K7/1417 , G06V20/17 , B64U10/13 , B64U50/00 , B64U2101/30 , B64U2101/60 , H04W76/10
摘要： Provided is a method for an unmanned aerial vehicle to handle goods in cooperation with an autonomous vehicle. The method comprises capturing, by the unmanned aerial vehicle, an image of the autonomous vehicle having a goods storage box, recognizing, by the unmanned aerial vehicle, a marker displayed in the goods storage box by analyzing the captured image, identifying, by the unmanned aerial vehicle, a region occupied by the marker on the captured image, adjusting a relative position of the unmanned aerial vehicle and the autonomous vehicle, wherein the marker displayed in the goods storage box is covered by a lid of the goods storage box and placed in a state that cannot be captured by the unmanned aerial vehicle, and the marker is exposed in a state that can be captured by the unmanned aerial vehicle only when the lid of the storage box is opened by communication between the unmanned aerial vehicle and the autonomous vehicle.

5. 发明授权

US11340629B1 Autonomous vehicle for handling goods in cooperation with unmanned aerial vehicle and method thereof 有权
公开(公告)号：US11340629B1
公开(公告)日：2022-05-24
申请号：US17519402
申请日：2021-11-04
申请人： PABLO AIR Co., Ltd. , PABLO AIR International, INC.
发明人： Youngjoon Kim , Seung Han Lim
IPC分类号： G05D1/02 , B64C39/02 , B64D1/08 , G05D1/00 , G05D1/10
摘要： Provided is a method for an autonomous vehicle to handle goods in collaboration with an unmanned aerial vehicle. The method comprises recognizing an unmanned aerial vehicle loading goods by the autonomous vehicle, capturing an image of the recognized unmanned aerial vehicle by the autonomous vehicle, analyzing the captured image to recognize a marker by the autonomous vehicle, adjusting a relative position of the autonomous vehicle and the unmanned aerial vehicle by moving the autonomous vehicle based on a recognition result of the marker, and taking over the goods from the unmanned aerial vehicle by the autonomous vehicle after position adjustment is completed.

6. 发明授权

US12025979B2 Autonomous vehicle 有权
公开(公告)号：US12025979B2
公开(公告)日：2024-07-02
申请号：US17812405
申请日：2022-07-13
申请人： PABLO AIR Co., Ltd. , PABLO AIR International, INC.
发明人： Youngjoon Kim , Seung Han Lim
IPC分类号： G05D1/00 , B60P1/02 , B64C39/02 , B64U101/60
CPC分类号： G05D1/0027 , B60P1/02 , B64C39/024 , G05D1/0287 , B64U2101/60 , B64U2201/10 , B64U2201/20
摘要： Provided is a method for delivering goods in collaboration of a plurality of autonomous vehicles including a master vehicle and one or more slave vehicles. The method comprises calculating, by the master vehicle among the plurality of autonomous vehicles, a floor area required for unloading the goods based on a size of the goods, searching and determining, by the master vehicle, a region providing a flat area greater than or equal to the floor area as a goods handing over point, providing, by the master vehicle, position information of the goods handing over point to the one or more slave vehicles so that the one or more slave vehicles are gathered to the goods handing over point, providing, by the master vehicle, the position information of the goods handing over point to an unmanned aerial vehicle so that the unmanned aerial vehicle moves to the goods handing over point, determining, by the master vehicle, a portion of the goods to be supported by each autonomous vehicle based on a size of delivery target goods, moving, by each autonomous vehicle located at the goods handing over point, to a position corresponding to the determined portion, taking over the goods from the unmanned aerial vehicle and loading them together by collaborating with each autonomous vehicle at the moved position, and delivering the loaded goods to a destination by the plurality of autonomous vehicles.

7. 发明申请

US20220297835A1 METHOD AND APPARATUS FOR HANDLING GOODS BY A GROUP OF COLLABORATING UNMANNED AERIAL VEHICLES 有权
公开(公告)号：US20220297835A1
公开(公告)日：2022-09-22
申请号：US17712872
申请日：2022-04-04
申请人： PABLO AIR Co., Ltd. , PABLO AIR International, INC.
发明人： Seung Han LIM , Youngjoon KIM , Dong Jin LEE
IPC分类号： B64C39/02 , G08G5/00 , G05D1/10 , G06Q10/08
摘要： Provided is a method for delivering goods through an unmanned aerial vehicle group including a plurality of aircraft respectively connected to delivery target goods. The method comprises identifying, by a master aircraft of the unmanned aerial vehicle group, an actual load applied to each of the aircraft by the goods while the unmanned aerial vehicle group is flying to deliver the goods, and controlling the unmanned aerial vehicle group by the master aircraft to adjust the actual load applied to each of the aircraft.

8. 发明授权

US11415981B1 Method and apparatus for delivering goods by collaboration of autonomous vehicles 有权
公开(公告)号：US11415981B1
公开(公告)日：2022-08-16
申请号：US17519015
申请日：2021-11-04
申请人： PABLO AIR Co., Ltd. , PABLO AIR International, INC.
发明人： Youngjoon Kim , Seung Han Lim
IPC分类号： G05D1/00 , G05D1/02 , B60P1/02 , B64C39/02
摘要： Provided is a method for delivering goods in collaboration of a plurality of autonomous vehicles including a master vehicle and one or more slave vehicles. The method comprises calculating, by the master vehicle among the plurality of autonomous vehicles, a floor area required for unloading the goods based on a size of the goods, searching and determining, by the master vehicle, a region providing a flat area greater than or equal to the floor area as a goods handing over point, providing, by the master vehicle, position information of the goods handing over point to the one or more slave vehicles so that the one or more slave vehicles are gathered to the goods handing over point, providing, by the master vehicle, the position information of the goods handing over point to an unmanned aerial vehicle so that the unmanned aerial vehicle moves to the goods handing over point, determining, by the master vehicle, a portion of the goods to be supported by each autonomous vehicle based on a size of delivery target goods, moving, by each autonomous vehicle located at the goods handing over point, to a position corresponding to the determined portion, taking over the goods from the unmanned aerial vehicle and loading them together by collaborating with each autonomous vehicle at the moved position, and delivering the loaded goods to a destination by the plurality of autonomous vehicles.

9. 发明申请

US20220244728A1 METHOD AND APPARATUS FOR HANDLING GOODS BY UNMANNED AERIAL VEHICLE AND AUTONOMOUS VEHICLE 有权
公开(公告)号：US20220244728A1
公开(公告)日：2022-08-04
申请号：US17721597
申请日：2022-04-15
申请人： PABLO AIR Co., Ltd. , PABLO AIR International, INC.
发明人： Youngjoon KIM , Seung Han LIM
IPC分类号： G05D1/00 , G06K7/10 , G05D1/02 , B64C39/02 , G06V20/13 , G05D1/10 , G06K7/14 , B64D1/22 , B64D1/12 , B64D47/08
摘要： Provided is a method for an unmanned aerial vehicle to handle goods in cooperation with an autonomous vehicle. The method comprises capturing, by the unmanned aerial vehicle, an image of the autonomous vehicle having a goods storage box, recognizing, by the unmanned aerial vehicle, a marker displayed in the goods storage box by analyzing the captured image, identifying, by the unmanned aerial vehicle, a region occupied by the marker on the captured image, adjusting a relative position of the unmanned aerial vehicle and the autonomous vehicle, wherein the marker displayed in the goods storage box is covered by a lid of the goods storage box and placed in a state that cannot be captured by the unmanned aerial vehicle, and the marker is exposed in a state that can be captured by the unmanned aerial vehicle only when the lid of the storage box is opened by communication between the unmanned aerial vehicle and the autonomous vehicle.

10. 发明授权

US11914389B2 Autonomous vehicle for handling goods in cooperation with unmanned aerial vehicle and method thereof 有权
公开(公告)号：US11914389B2
公开(公告)日：2024-02-27
申请号：US17728481
申请日：2022-04-25
申请人： PABLO AIR Co., Ltd. , PABLO AIR International, INC.
发明人： Youngjoon Kim , Seung Han Lim
IPC分类号： G05D1/02 , B64C39/02 , B64D1/08 , G05D1/10 , B64U10/13 , G05D1/00 , B64U101/60
CPC分类号： G05D1/0234 , B64C39/024 , B64D1/08 , G05D1/0094 , G05D1/101 , B64U10/13 , B64U2101/60
摘要： Provided is a method for an autonomous vehicle to handle goods in collaboration with an unmanned aerial vehicle. The method comprises recognizing an unmanned aerial vehicle loading goods by the autonomous vehicle, capturing an image of the recognized unmanned aerial vehicle by the autonomous vehicle, analyzing the captured image to recognize a marker by the autonomous vehicle, adjusting a relative position of the autonomous vehicle and the unmanned aerial vehicle by moving the autonomous vehicle based on a recognition result of the marker, and taking over the goods from the unmanned aerial vehicle by the autonomous vehicle after position adjustment is completed.

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