Method and apparatus for representing an aerial delivery path

• US 9,818,304 B2
• Filed: 10/28/2015
• Issued: 11/14/2017
• Est. Priority Date: 10/28/2015
• Status: Active Grant

• Current Assignee: HERE Global B.V. (Nokia Corporation)
• Original Assignee: HERE Global B.V. (Nokia Corporation)
• Inventors: Modica, Leo, Stenneth, Leon
• Primary Examiner(s): CAMBY, RICHARD M
• Application Number:
  US14/925,565
• Publication Number:
  US 20170124883A1
• Time in Patent Office: 748 Days
• CPC Class Codes: G01S 17/02 Systems using the reflection of electromagnetic waves other than radio waves G01S17/66 takes precedence
• CPC Class Codes: G05D 1/0676 specially adapted for landing
• CPC Class Codes: G06Q 10/083 Shipping
• CPC Class Codes: G08G 5/0034 Assembly of a flight plan
• CPC Class Codes: G08G 5/0069 specially adapted for an unmanned aircraft
• CPC Class Codes: G08G 5/025 Navigation or guidance aids radar or analogous systems specially adapted for landing purposes G01S13/913

Abstract

An approach is provided for constructing a delivery path that enables a UAV to safely access a delivery surface and avoids restricted access surfaces from the open sky. The approach involves determining at least one delivery path to at least one delivery surface, wherein the delivery path represents at least one three-dimensional variable width path along which an aerial delivery vehicle can access the at least one delivery surface. The approach also involves transecting the delivery path with one or more planar surfaces. The approach further involves determining one or more shapes on the one or more planar surfaces, wherein the one or more shapes represent one or more intersections of the delivery path and the one or more planar surfaces. The approach also involves constructing at least one delivery path data object comprising at least one ordered list of the one or more shapes to represent the delivery path.

Claims

1. A method comprising:

determining at least one delivery path to at least one delivery surface, wherein the at least one delivery path represents at least one three-dimensional variable width path along which at least one aerial delivery vehicle can access the at least one delivery surface;

transecting the at least one delivery path with one or more planar surfaces at one or more distance intervals on the at least one delivery path;

determining one or more shapes on the one or more planar surfaces, wherein the one or more shapes represent one or more intersections of the at least one delivery path and the one or more planar surfaces; and

constructing at least one delivery path data object comprising at least one ordered list of the one or more shapes to represent the at least one delivery path.

2. A method of claim 1, further comprising:

determining one or more parameters for describing the one or more shapes; and

encoding the one or more parameters in the at least one delivery path data object.

3. A method of claim 2, wherein the one or more parameters include, at least in part, one or more geometric points describing position information of the one or more intersections with respect to the one or more planar surfaces.

4. A method of claim 3, further comprising:

determining the one or more geometric points based, at least in part, on at least one centroid of the one or more shapes, the at least one delivery path, or a combination thereof.

5. A method of claim 1, further comprising:

determining the at least one delivery path based, at least in part, on one or more obstructions, one or more restricted paths, or a combination thereof associated with the at least one delivery surface, one or more geographic areas proximate to the at least one delivery surface, or a combination thereof.

6. A method of claim 1, wherein the one or more planar surfaces transect the at least one delivery path horizontally, vertically, or a combination thereof further comprising:

determining the one or more distance intervals so that the one or more distance intervals span a first distance associated with the at least one delivery surface to a second distance associated with at least one open area.

7. A method of claim 1, further comprising:

determining the at least one delivery path based, at least in part, on two-dimensional data, three-dimensional data, or a combination thereof associated with the at least one delivery surface, one or more geographic areas proximate to the at least one delivery surface, or a combination thereof,

wherein the two-dimensional data include, at least in part, aerial image data, and the three-dimensional data include, at least in part, Light Detection and Ranging (LIDAR) data.

8. A method of claim 7, wherein the two-dimensional data, the three-dimensional data, or a combination thereof are collected by at least one street-level sensor, at least one aerial sensor, or a combination thereof.

9. A method of claim 7, further comprising:

validating the at least one delivery path data object using the two-dimensional data, the three-dimensional data, other two-dimensional data, other three-dimensional data, or a combination thereof associated with the at least one delivery surface, one or more geographic areas proximate to the at least one delivery surface, or a combination thereof.

10. A method of claim 1, further comprising:

determining at least one common section between the at least one delivery path and at least one other delivery path;

determining at least one portion of at least one other delivery path data object representing the at least one other delivery path; and

sharing the at least one portion between the at least one delivery path data object and the at least one other delivery path data object.

11. An apparatus comprising:

at least one processor; and

at least one memory including computer program code for one or more programs,

the at least one memory and the computer program code configured to, with the at least one processor, cause the apparatus to perform at least the following;

determine at least one delivery path to at least one delivery surface, wherein the at least one delivery path represents at least one three-dimensional variable width path along which at least one aerial delivery vehicle can access the at least one delivery surface;

transect the at least one delivery path with one or more planar surfaces at one or more distance intervals on the at least one delivery path;

determine one or more shapes on the one or more planar surfaces, wherein the one or more shapes represent one or more intersections of the at least one delivery path and the one or more planar surfaces; and

construct at least one delivery path data object comprising at least one ordered list of the one or more shapes to represent the at least one delivery path.

12. An apparatus of claim 11, wherein the apparatus is further caused to:

determine one or more parameters for describing the one or more shapes; and

encode the one or more parameters in the at least one delivery path data object.

13. An apparatus of claim 12, wherein the one or more parameters include, at least in part, one or more geometric points describing position information of the one or more intersections with respect to the one or more planar surfaces.

14. An apparatus of claim 13, wherein the apparatus is further caused to:

determine the one or more geometric points based, at least in part, on at least one centroid of the one or more shapes, the at least one delivery path, or a combination thereof.

15. An apparatus of claim 11, wherein the apparatus is further caused to:

determine the at least one delivery path based, at least in part, on one or more obstructions, one or more restricted paths, or a combination thereof associated with the at least one delivery surface, one or more geographic areas proximate to the at least one delivery surface, or a combination thereof.

16. An apparatus of claim 11, wherein the one or more planar surfaces transect the at least one delivery path horizontally, vertically, or a combination thereof the apparatus is further caused to:

determine the one or more distance intervals so that the one or more distance intervals span a first distance associated with the at least one delivery surface to a second distance associated with at least one open area.

17. An apparatus of claim 11, wherein the apparatus is further caused to:

determine the at least one delivery path based, at least in part, on two-dimensional data, three-dimensional data, or a combination thereof associated with the at least one delivery surface, one or more geographic areas proximate to the at least one delivery surface, or a combination thereof,

wherein the two-dimensional data include, at least in part, aerial image data, and the three-dimensional data include, at least in part, Light Detection and Ranging (LIDAR) data.

18. An apparatus of claim 17, wherein the two-dimensional data, the three-dimensional data, or a combination thereof are collected by at least one street-level sensor, at least one aerial sensor, or a combination thereof.

19. An apparatus of claim 17, wherein the apparatus is further caused to:

validating the at least one delivery path data object using the two-dimensional data, the three-dimensional data, other two-dimensional data, other three-dimensional data, or a combination thereof associated with the at least one delivery surface, one or more geographic areas proximate to the at least one delivery surface, or a combination thereof.

20. An apparatus of claim 11, wherein the apparatus is further caused to:

determine at least one common section between the at least one delivery path and at least one other delivery path;

determine at least one portion of at least one other delivery path data object representing the at least one other delivery path; and

share the at least one portion between the at least one delivery path data object and the at least one other delivery path data object.