US 12,253,855 B2
Method and apparatus for handling goods by unmanned aerial vehicle and autonomous vehicle
Youngjoon Kim, Incheon (KR); and Seung Han Lim, Daejeon (KR)
Assigned to PABLO AIR Co., Ltd., Incheon (KR); and PABLO AIR International, INC., Phoenix, AZ (US)
Filed by PABLO AIR Co., Ltd., Incheon (KR); and PABLO AIR International, INC., Phoenix, AZ (US)
Filed on Aug. 3, 2023, as Appl. No. 18/364,541.
Application 18/364,541 is a continuation of application No. 17/721,597, filed on Apr. 15, 2022, granted, now 11,768,491.
Application 17/721,597 is a continuation of application No. 17/518,967, filed on Nov. 4, 2021, granted, now 11,334,078.
Claims priority of application No. 10-2021-0008448 (KR), filed on Jan. 21, 2021.
Prior Publication US 2023/0376038 A1, Nov. 23, 2023
This patent is subject to a terminal disclaimer.
Int. Cl. G05D 1/00 (2024.01); B64D 1/12 (2006.01); B64D 1/22 (2006.01); G06K 7/10 (2006.01); G06K 7/14 (2006.01); G06V 20/17 (2022.01); B64U 10/16 (2023.01); B64U 20/87 (2023.01); B64U 101/30 (2023.01); B64U 101/60 (2023.01); H04W 76/10 (2018.01)
CPC G05D 1/0094 (2013.01) [B64D 1/12 (2013.01); B64D 1/22 (2013.01); G05D 1/0276 (2013.01); G05D 1/101 (2013.01); G06K 7/10722 (2013.01); G06K 7/1417 (2013.01); G06V 20/17 (2022.01); B64U 10/16 (2023.01); B64U 20/87 (2023.01); B64U 2101/30 (2023.01); B64U 2101/60 (2023.01); H04W 76/10 (2018.02)] 6 Claims
OG exemplary drawing
 
1. A method for an unmanned aerial vehicle to handle goods in cooperation with an autonomous vehicle comprising:
capturing, by the unmanned aerial vehicle, an image of the autonomous vehicle having a storage box for storing goods, a marker being displayed at the storage box;
identifying, by the unmanned aerial vehicle, a region occupied by the marker on the captured image;
adjusting by the unmanned aerial vehicle, a relative position with the autonomous vehicle based on a distance between center coordinates of the identified region and center coordinates of the captured image, and
by the unmanned aerial vehicle, in response to the adjustment of the relative position is completed, unloading the goods into the storage box,
wherein the adjusting the relative position with the autonomous vehicle comprises:
by the unmanned aerial vehicle, determining whether the distance exceeds a preset threshold;
by the unmanned aerial vehicle, in response to the distance exceeding the threshold, adjusting the relative position with the autonomous vehicle by moving horizontally towards the center coordinate of the identified region; and
by the unmanned aerial vehicle, in response to the distance not exceeding the threshold, completing the adjustment of the relative position adjustment with the autonomous vehicle.