US 12,449,810 B2
Autonomous maneuver generation to mate connectors
Trent M. Kyono, Wailuku, HI (US); Jacob Arthur Lucas, Makawao, HI (US); Nicole Catherine Gagnier, Kihei, HI (US); Justin Cleve Hatcher, Sumner, WA (US); Yifan Yang, Kirkland, WA (US); James Lee Clayton, Everett, WA (US); and Paul S. Idell, Thousand Oaks, CA (US)
Assigned to THE BOEING COMPANY, Arlington, VA (US)
Filed by THE BOEING COMPANY, Chicago, IL (US)
Filed on Feb. 16, 2022, as Appl. No. 17/651,323.
Claims priority of provisional application 63/155,052, filed on Mar. 1, 2021.
Prior Publication US 2022/0276652 A1, Sep. 1, 2022
Int. Cl. G06T 7/11 (2017.01); B64D 39/02 (2006.01); B64D 39/06 (2006.01); B64D 47/08 (2006.01); B64G 1/64 (2006.01); B64G 1/66 (2006.01); G05D 1/00 (2006.01); G06T 3/40 (2006.01); G06V 10/40 (2022.01)
CPC G05D 1/0094 (2013.01) [B64D 39/02 (2013.01); B64D 39/06 (2013.01); B64D 47/08 (2013.01); B64G 1/6462 (2023.08); B64G 1/66 (2013.01); G05D 1/101 (2013.01); G06T 3/40 (2013.01); G06T 7/11 (2017.01); G06V 10/40 (2022.01); G06T 2207/30252 (2013.01)] 8 Claims
OG exemplary drawing
 
1. A method comprising:
providing a first image as input to a feature extraction model to generate feature data, wherein the first image depicts a first portion of a first device and a second portion of a second device, wherein the feature data includes first coordinates representing key points of the first device depicted in the first image and includes second coordinates representing key points of the second device depicted in the first image;
obtaining, from one or more sensors onboard the first device, position data indicating a position in three-dimensional space of a first connector of the first device, wherein the first connector is disposed on the first portion of the first device; and
providing the feature data and the position data as input to a trained autonomous agent to maneuver to mate the first connector with a second connector of the second device.