Patent · US10159218B2 · B2 · US

Systems and methods for walking pets

(11) Publication number

US10159218B2

(21) Application number

15/827,787

(22) Filing date

2017-11-30

(30) Priority date

2014-10-31

(43) Publication date

2018-12-25

(45) Date of grant

2018-12-25

(51) IPC

A01K 15/00; A01K 15/02; A01K 15/04; A01K 27/00; B25J 11/00; B64C 39/02; B64D 47/08; G01S 13/88; G01S 13/91; G01S 13/93; G05D 1/00; G05D 1/12; G06K 9/00; H04N 7/15

(52) CPC

A01K Animal husbandry; aviculture; apiculture; pisciculture; fishing; rearing or breeding animals, not otherwise provided for; new breeds of animals: 15/021, 15/023, 15/027, 15/04, 27/00
B25J Manipulators; chambers provided with manipulation devices: 11/0085
B64C Aeroplanes; helicopters: 2201/12, 39/024
B64D Equipment for fitting in or to aircraft; flight suits; parachutes; arrangement or mounting of power plants or propulsion transmissions in aircraft: 47/08
B64U Unmanned aerial vehicles [uav]; equipment therefor: 10/10, 2101/30
G01S Radio direction-finding; radio navigation; determining distance or velocity by use of radio waves; locating or presence-detecting by use of the reflection or reradiation of radio waves; analogous arrangements using other waves: 13/88, 13/91, 13/93
G05D Systems for controlling or regulating non-electric variables: 1/0094, 1/106, 1/12
G06K Graphical data reading; presentation of data; record carriers; handling record carriers: 9/00369, 9/0063
G06V Image or video recognition or understanding: 40/103
H04N Pictorial communication, e.g. television: 7/15
Y10S Technical subjects covered by former uspc cross-reference art collections [xracs] and digests: 901/01

(73) Assignee

SZ DJI Technology Co Ltd

(72) Inventors

Yu Shen; Ang Liu; Guyue ZHOU

(54) Title

Systems and methods for walking pets

(57) Abstract

Systems and methods are provided for guiding a target object with an unmanned aerial vehicle (UAV) in an environment. The UAV may be able to recognize and locate the target object. The UAV can be configured to communicate the actions and behavior of the target object to a user through a user device in communication with the UAV. The UAV can provide positive and negative stimuli to the target object to encourage an action or behavior. The UAV can be configured to recognize and manage waste generated by the target object.

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Claims (20)

A method of guiding a target comprising: receiving, through a user device, a user input indicating a travel route for an unmanned aerial vehicle (UAV) to guide the target; guiding the target using the UAV by flying the UAV along the travel route while the target is in motion, wherein a location of the UAV is known; receiving, through the user device while the UAV is guiding the target along the travel route, a change to the travel route to provide an updated travel route; and guiding the target by flying the UAV along the updated travel route.
The method of claim 1, wherein: the user input comprises global coordinates that define the travel route, or the change to the travel route comprises changed ones of the global coordinates, the changed ones of the global coordinates and unchanged ones of the global coordinates defining the updated travel route.
The method of claim 1, wherein the target is an animal.
The method of claim 1, wherein the UAV guides the target by being physically attached to the target through an attachment mechanism.
The method of claim 4, further comprising: comparing, with aid of one or more processors on board the UAV, a calculation of a target motion and a UAV motion to determine one or more parameters with which the UAV pulls on the attachment mechanism.
The method of claim 1, wherein the UAV guides the target by displaying an attractor to the target with an attractor display mechanism.
The method of claim 6, further comprising: determining, with aid of one or more vision sensors on board the UAV, a location of the target relative to the UAV; and adjusting or maintaining, with aid of one or more processors on board the UAV, a flight speed of the UAV to keep the UAV within a proximity of the target that is sufficiently close for the target to perceive the attractor.
The method of claim 1, further comprising: capturing, with aid of one or more vision sensors on board the UAV, one or more images of the target; and detecting, with aid of one or more processors on board the UAV, whether the target is deviating from the travel route or the updated travel route based on the one or more images of the target.
The method of claim 8, further comprising playing a voice to the target when the target is deviating from the travel route or the updated travel route.
The method of claim 9, wherein the voice is transmitted from the user device to the UAV in real-time.
The method of claim 8, further comprising delivering an electric shock to the target when the target deviates from the travel route or the updated travel route beyond a predetermined distance.
The method of claim 1, wherein: the user input comprises at least one image or one line on a map defining the travel route, or the change to the travel route comprises at least one updated image or one updated line on the map defining the updated travel route.
The method of claim 1, wherein the UAV is a rotorcraft comprising a plurality of rotors that permit the UAV to take off and/or land vertically.
An unmanned aerial vehicle (UAV) comprising: one or more propulsion mechanisms configured to permit flight of the UAV; a communication system configured to communicate with a user device to receive a user input indicating a travel route for the UAV to guide a target; and one or more processors configured to control the one or more propulsion mechanisms to effect the UAV to fly along the travel route while the target is in motion; wherein: the communication system is further configured to communicate with the user device to receive a change to the travel route indicating an updated travel route, and the one or more processors are further configured to control the one or more propulsion mechanisms to effect the UAV to guide the target along the updated travel route.
The UAV of claim 14, further comprising: one or more vision sensors configured to determine a location of the target relative to the UAV; wherein the one or more processors are further configured to control the one or more propulsion mechanisms to adjust or maintain a flight speed of the UAV to keep the UAV within a proximity of the target that is sufficiently close for the UAV to guide the target.
The UAV of claim 14, further comprising: one or more vision sensors configured to capture one or more images of the target, wherein the one or more processors are further configured to detect whether the target is deviating from the travel route or the updated travel route based on the one or more images of the target.
The UAV of claim 16, wherein the one or more processors are further configured to: instruct a speaker to play a voice to the target when the target is deviating from the travel route or the updated travel route, or instruct an electric shock collar to deliver an electric shock to the target when the target deviates from the travel route or the updated travel route beyond a predetermined distance.
The UAV of claim 14, wherein: the user input comprises global coordinates that define the travel route, or the change to the travel route comprises changed ones of the global coordinates, the changed ones of the global coordinates and unchanged ones of the global coordinates defining the updated travel route.
The UAV of claim 14, wherein: the user input comprises at least one image or one line on a map defining the travel route, or the change to the travel route comprises at least one updated image or one updated line on the map defining the updated travel route.
The UAV of claim 14, wherein the UAV guides the target by being physically attached to the target through an attachment mechanism, or by displaying an attractor to the target with an attractor display mechanism.

Description

Aerial vehicles such as unmanned aerial vehicles (UAVs) can travel along defined routes.

Individuals can have pets that require regular exercise and time outside of a home or building. Individuals may not have time or desire to take their pets outside. Oftentimes individuals may hire human pet walkers, which can be costly.

A need exists to provide a method of guiding a target object by a movable object, such as an unmanned aerial vehicle (UAV), along a predefined route, instantaneously defined route, or an undefined route within a designated area or region. A UAV can be configured to autonomously or semi-autonomously guide a pet or target object along a route in order to provide the target object with exercise or time outdoors. Provided herein are systems and methods of guiding a target object by a UAV. The systems and methods further provide the ability to provide a defined route or a defined region where a UAV can guide a target object. Communication can occur between a user and the UAV in response to the defined route and/or region. Further communication can occur related to actions or behaviors exhibited by the target object. The UAV can be configured to locate the target object and to recognize actions and behaviors exhibited by the target object. The target object may be an animal such as a pet owned by a user.

Citations (55)

US3716029A
JPH0536383A
US5255629A
US6072173A
JP2000157089A
US6213056B1
US7937042B2
US20020046713A1
US6904868B2
US20050005876A1
US6782847B1
JP2005289307A
US7156054B1
US20060011144A1
US7479884B1
US20090146793A1
US20060106496A1
US7620493B2
JP2008061640A
US20080262669A1
US8006643B2
US20100042269A1
US20150025708A1
US8392065B2
US8028662B2
US20120210853A1
US8890871B2
US8253572B2
CN102809969A
US20120312250A1
US8744666B2
US20140037278A1
US20140020635A1
US20140062754A1
US8805008B1
US8922363B2
US20140222246A1
US9031714B1
US20140018979A1
US8807089B2
US20150350614A1
US8707900B1
US8800488B2
US20140100773A1
JP2014119828A
US8930044B1
US9538725B2
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US20160116915A1
US9661827B1
US20160171303A1

Record as JSON

{
  "publication_number": "US10159218B2",
  "country": "US",
  "kind": "B2",
  "title": "Systems and methods for walking pets",
  "abstract": "Systems and methods are provided for guiding a target object with an unmanned aerial vehicle (UAV) in an environment. The UAV may be able to recognize and locate the target object. The UAV can be configured to communicate the actions and behavior of the target object to a user through a user device in communication with the UAV. The UAV can provide positive and negative stimuli to the target object to encourage an action or behavior. The UAV can be configured to recognize and manage waste generated by the target object.",
  "claims": [
    "1. A method of guiding a target comprising: receiving, through a user device, a user input indicating a travel route for an unmanned aerial vehicle (UAV) to guide the target; guiding the target using the UAV by flying the UAV along the travel route while the target is in motion, wherein a location of the UAV is known; receiving, through the user device while the UAV is guiding the target along the travel route, a change to the travel route to provide an updated travel route; and guiding the target by flying the UAV along the updated travel route.",
    "2. The method of claim 1, wherein: the user input comprises global coordinates that define the travel route, or the change to the travel route comprises changed ones of the global coordinates, the changed ones of the global coordinates and unchanged ones of the global coordinates defining the updated travel route.",
    "3. The method of claim 1, wherein the target is an animal.",
    "4. The method of claim 1, wherein the UAV guides the target by being physically attached to the target through an attachment mechanism.",
    "5. The method of claim 4, further comprising: comparing, with aid of one or more processors on board the UAV, a calculation of a target motion and a UAV motion to determine one or more parameters with which the UAV pulls on the attachment mechanism.",
    "6. The method of claim 1, wherein the UAV guides the target by displaying an attractor to the target with an attractor display mechanism.",
    "7. The method of claim 6, further comprising: determining, with aid of one or more vision sensors on board the UAV, a location of the target relative to the UAV; and adjusting or maintaining, with aid of one or more processors on board the UAV, a flight speed of the UAV to keep the UAV within a proximity of the target that is sufficiently close for the target to perceive the attractor.",
    "8. The method of claim 1, further comprising: capturing, with aid of one or more vision sensors on board the UAV, one or more images of the target; and detecting, with aid of one or more processors on board the UAV, whether the target is deviating from the travel route or the updated travel route based on the one or more images of the target.",
    "9. The method of claim 8, further comprising playing a voice to the target when the target is deviating from the travel route or the updated travel route.",
    "10. The method of claim 9, wherein the voice is transmitted from the user device to the UAV in real-time.",
    "11. The method of claim 8, further comprising delivering an electric shock to the target when the target deviates from the travel route or the updated travel route beyond a predetermined distance.",
    "12. The method of claim 1, wherein: the user input comprises at least one image or one line on a map defining the travel route, or the change to the travel route comprises at least one updated image or one updated line on the map defining the updated travel route.",
    "13. The method of claim 1, wherein the UAV is a rotorcraft comprising a plurality of rotors that permit the UAV to take off and/or land vertically.",
    "14. An unmanned aerial vehicle (UAV) comprising: one or more propulsion mechanisms configured to permit flight of the UAV; a communication system configured to communicate with a user device to receive a user input indicating a travel route for the UAV to guide a target; and one or more processors configured to control the one or more propulsion mechanisms to effect the UAV to fly along the travel route while the target is in motion; wherein: the communication system is further configured to communicate with the user device to receive a change to the travel route indicating an updated travel route, and the one or more processors are further configured to control the one or more propulsion mechanisms to effect the UAV to guide the target along the updated travel route.",
    "15. The UAV of claim 14, further comprising: one or more vision sensors configured to determine a location of the target relative to the UAV; wherein the one or more processors are further configured to control the one or more propulsion mechanisms to adjust or maintain a flight speed of the UAV to keep the UAV within a proximity of the target that is sufficiently close for the UAV to guide the target.",
    "16. The UAV of claim 14, further comprising: one or more vision sensors configured to capture one or more images of the target, wherein the one or more processors are further configured to detect whether the target is deviating from the travel route or the updated travel route based on the one or more images of the target.",
    "17. The UAV of claim 16, wherein the one or more processors are further configured to: instruct a speaker to play a voice to the target when the target is deviating from the travel route or the updated travel route, or instruct an electric shock collar to deliver an electric shock to the target when the target deviates from the travel route or the updated travel route beyond a predetermined distance.",
    "18. The UAV of claim 14, wherein: the user input comprises global coordinates that define the travel route, or the change to the travel route comprises changed ones of the global coordinates, the changed ones of the global coordinates and unchanged ones of the global coordinates defining the updated travel route.",
    "19. The UAV of claim 14, wherein: the user input comprises at least one image or one line on a map defining the travel route, or the change to the travel route comprises at least one updated image or one updated line on the map defining the updated travel route.",
    "20. The UAV of claim 14, wherein the UAV guides the target by being physically attached to the target through an attachment mechanism, or by displaying an attractor to the target with an attractor display mechanism."
  ],
  "description_excerpt": "Aerial vehicles such as unmanned aerial vehicles (UAVs) can travel along defined routes.\n\nIndividuals can have pets that require regular exercise and time outside of a home or building. Individuals may not have time or desire to take their pets outside. Oftentimes individuals may hire human pet walkers, which can be costly.\n\nA need exists to provide a method of guiding a target object by a movable object, such as an unmanned aerial vehicle (UAV), along a predefined route, instantaneously defined route, or an undefined route within a designated area or region. A UAV can be configured to autonomously or semi-autonomously guide a pet or target object along a route in order to provide the target object with exercise or time outdoors. Provided herein are systems and methods of guiding a target object by a UAV. The systems and methods further provide the ability to provide a defined route or a defined region where a UAV can guide a target object. Communication can occur between a user and the UAV in response to the defined route and/or region. Further communication can occur related to actions or behaviors exhibited by the target object. The UAV can be configured to locate the target object and to recognize actions and behaviors exhibited by the target object. The target object may be an animal such as a pet owned by a user.",
  "cpc": [
    "A01K 15/021",
    "A01K 15/023",
    "A01K 15/027",
    "A01K 15/04",
    "A01K 27/00",
    "B25J 11/0085",
    "B64C 2201/12",
    "B64C 39/024",
    "B64D 47/08",
    "B64U 10/10",
    "B64U 2101/30",
    "G01S 13/88",
    "G01S 13/91",
    "G01S 13/93",
    "G05D 1/0094",
    "G05D 1/106",
    "G05D 1/12",
    "G06K 9/00369",
    "G06K 9/0063",
    "G06V 40/103",
    "H04N 7/15",
    "Y10S 901/01"
  ],
  "ipc": [
    "A01K 15/00",
    "A01K 15/02",
    "A01K 15/04",
    "A01K 27/00",
    "B25J 11/00",
    "B64C 39/02",
    "B64D 47/08",
    "G01S 13/88",
    "G01S 13/91",
    "G01S 13/93",
    "G05D 1/00",
    "G05D 1/12",
    "G06K 9/00",
    "H04N 7/15"
  ],
  "assignees": [
    "SZ DJI Technology Co Ltd"
  ],
  "inventors": [
    "Yu Shen",
    "Ang Liu",
    "Guyue ZHOU"
  ],
  "filing_date": "2017-11-30",
  "publication_date": "2018-12-25",
  "grant_date": "2018-12-25",
  "priority_date": "2014-10-31",
  "application_number": "US-201715827787-A",
  "family_id": "55856440",
  "cited_by_count": 4,
  "citations": [
    "US3716029A",
    "JPH0536383A",
    "US5255629A",
    "US6072173A",
    "JP2000157089A",
    "US6213056B1",
    "US7937042B2",
    "US20020046713A1",
    "US6904868B2",
    "US20050005876A1",
    "US6782847B1",
    "JP2005289307A",
    "US7156054B1",
    "US20060011144A1",
    "US7479884B1",
    "US20090146793A1",
    "US20060106496A1",
    "US7620493B2",
    "JP2008061640A",
    "US20080262669A1",
    "US8006643B2",
    "US20100042269A1",
    "US20150025708A1",
    "US8392065B2",
    "US8028662B2",
    "US20120210853A1",
    "US8890871B2",
    "US8253572B2",
    "CN102809969A",
    "US20120312250A1",
    "US8744666B2",
    "US20140037278A1",
    "US20140020635A1",
    "US20140062754A1",
    "US8805008B1",
    "US8922363B2",
    "US20140222246A1",
    "US9031714B1",
    "US20140018979A1",
    "US8807089B2",
    "US20150350614A1",
    "US8707900B1",
    "US8800488B2",
    "US20140100773A1",
    "JP2014119828A",
    "US8930044B1",
    "US9538725B2",
    "US9131664B2",
    "US8908573B1",
    "US20150175276A1",
    "CN103941750A",
    "US20160070265A1",
    "US20160116915A1",
    "US9661827B1",
    "US20160171303A1"
  ]
}

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