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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. 发明公开

US20240029575A1 METHOD AND APPARATUS FOR CONTROLLING OPERATIONS OF FLIGHT VEHICLES 审中-公开
公开(公告)号：US20240029575A1
公开(公告)日：2024-01-25
申请号：US18355474
申请日：2023-07-20
申请人： PABLO AIR Co., Ltd.
发明人： Hyeong Min KIM , Seung Han LIM , Youngjoon KIM , Seung Yeop LEE , Hyun Woo LEE
IPC分类号： G08G5/04 , G08G5/00
CPC分类号： G08G5/045 , G08G5/0021 , G08G5/0078
摘要： A method of controlling the operations of flight vehicles is provided. The method may comprise assigning neighboring virtual flight vehicles to each of monitored flight vehicles, inputting operation information of the monitored flight vehicles to a collision detection model, and if information indicating that a collision has occurred between neighboring virtual flight vehicles of the first monitored flight vehicle and neighboring virtual flight vehicles of the second monitored flight vehicle is output from the collision detection model, outputting a collision warning message, wherein the collision detection model is a model that utilizes operation information of the neighboring virtual flight vehicles, which is obtained by applying the operation information of the monitored flight vehicles to their respective neighboring virtual flight vehicles, to determine and output the occurrence of a collision between the neighboring virtual flight vehicles of the first and second monitored flight vehicles.

3. 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.

4. 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.

5. 发明授权

US11842647B2 Unmanned moving vehicle for monitoring and system including same 有权
公开(公告)号：US11842647B2
公开(公告)日：2023-12-12
申请号：US17110830
申请日：2020-12-03
申请人： PABLO AIR Co., Ltd.
发明人： Hyeong Min Kim
IPC分类号： G05D1/10 , G05D1/12 , G08G5/00 , B64C39/02 , B64U101/30
CPC分类号： G08G5/0043 , B64C39/024 , G05D1/104 , G05D1/12 , G08G5/0008 , G08G5/0013 , B64U2101/30 , B64U2201/102
摘要： Provided is an unmanned moving vehicle for monitoring and a system including the same and, more particularly, to a method of controlling an unmanned moving vehicle whose communication with a master unmanned device is disconnected. To this end, the unmanned moving vehicle system for monitoring includes a master unmanned device performing communication with a ground control system located on the ground; and an unmanned moving vehicle performing communication with the master unmanned device, flying in formation around the master unmanned device, and calculating a distance to other unmanned moving vehicle flying in formation when communication with the master unmanned device is disconnected.

6. 发明授权

US11808556B2 Apparatus and method for integrated control of ignition of fireworks products and flight of unmanned aerial vehicles for fireworks show 有权
公开(公告)号：US11808556B2
公开(公告)日：2023-11-07
申请号：US17527338
申请日：2021-11-16
申请人： HANWHA CORPORATION , PABLO AIR Co., Ltd.
发明人： Bum Suck Moon , Jang Cheol Lee , Du Yeon Yoon , Seong Bok Kim , Young Joon Kim
IPC分类号： F42B4/24 , G08G5/00 , G05D1/10 , B64C39/02 , B64U10/13 , B64U101/00
CPC分类号： F42B4/24 , B64C39/024 , G05D1/104 , G08G5/0013 , G08G5/0043 , B64U10/13 , B64U2101/00 , B64U2201/20
摘要： Proposed are an apparatus and a method for integrated control of ignition of fireworks products and flight of unmanned aerial vehicles for a fireworks show, the apparatus including: an information input part configured to receive flight information of the multiple unmanned aerial vehicles and ignition information of the fireworks products provided at the respective multiple unmanned aerial vehicles; an unmanned aerial vehicle flight controller configured to generate flight control signals on the basis of the received flight information of the unmanned aerial vehicles; a fireworks product ignition controller configured to generate ignition control signals on the basis of the received ignition information of the fireworks products; and a state information receiver configured to receive in real time flight state information of the unmanned aerial vehicles that have received the generated flight control signals, and ignition state information of the fireworks products that have received the generated ignition control signals.

7. 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.

8. 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.

9. 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.

10. 发明公开

US20240038073A1 METHOD AND APPARATUS FOR PROVIDING FLIGHT VEHICLE OPERATION INFORMATION 审中-公开
公开(公告)号：US20240038073A1
公开(公告)日：2024-02-01
申请号：US18355448
申请日：2023-07-20
申请人： PABLO AIR Co., Ltd.
发明人： Hyeong Min KIM , Seung Han LIM , Youngjoon KIM , Seung Yeop LEE , Hyun Woo LEE
IPC分类号： G08G5/00 , G08G5/04 , G06N3/044
CPC分类号： G08G5/0026 , G08G5/045 , G08G5/0082 , G06N3/044
摘要： A method of providing flight vehicle operation information is provided. The method may comprise providing a first control screen, which displays first operation information of a plurality of monitored flight vehicles, inputting the first operation information and context information to a pre-established operation information prediction model and generating second operation information of the monitored flight vehicles at a future time point based on data output from the operation information prediction model, and providing a second control screen, which displays the second operation information.

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