Unmanned aircraft structure evaluation system and method

Patent metadata

Field	Value
Publication number	US-11120262-B2
Application number	US-201916721334-A
Country	US
Kind code	B2
Filing date	Dec 19, 2019
Priority date	Jan 10, 2014
Publication date	Sep 14, 2021
Grant date	Sep 14, 2021

Abstract

Computerized systems and methods are disclosed, including a computer system that executes software that may receive a geographic location having one or more coordinates of a structure, receive a validation of the structure location, and generate unmanned aircraft information based on the one or more coordinates of the validated location. The unmanned aircraft information may include an offset from the walls of the structure to direct an unmanned aircraft to fly an autonomous flight path offset from the walls, and camera control information to direct a camera of the unmanned aircraft to capture images of the walls at a predetermined time interval while the unmanned aircraft is flying the flight path. The computer system may receive images of the walls captured by the camera while the unmanned aircraft is flying the autonomous flight path and generate a structure report based at least in part on the images.

First claim

What is claimed is:

1. A computerized system, comprising:
a computer system having an input unit, a display unit, one or more processors, and one or more non-transitory computer readable medium, the one or more processors executing software to cause the one or more processors to:
receive a geographic location, the geographic location having one or more coordinates of a structure having walls;
receive, via the input unit, a validation of the location of the structure;
subsequent to receiving the validation of the location of the structure, generate unmanned aircraft information based on the one or more coordinates of the validated location, the unmanned aircraft information including an offset from the walls to direct an unmanned aircraft to fly an autonomous flight path offset from the walls, and camera control information to direct a camera of the unmanned aircraft to capture images of the walls at a predetermined time interval while the unmanned aircraft is flying the flight path, the predetermined time interval and the offset set so that the captured images overlap ensuring complete coverage of the walls;
receive the images of the walls captured by the camera while the unmanned aircraft is flying the autonomous flight path from the unmanned aircraft; and
generate a structure report for the structure having walls based at least in part on the images.

2. The computerized system of claim 1 , wherein the received images of the walls include a first image and a second image of a first wall of the walls, and wherein the first image and the second image are correlated and a three-dimensional model of the walls is generated based at least in part on the correlation between the first and second images.

3. The computerized system of claim 1 , further comprising displaying, on the display unit, one or more images depicting an aerial view of the structure, and causing the one or more processors to display a drag and drop element on the aerial view of the structure, and wherein receiving, via the input unit, an alteration of the one or more coordinates of the structure includes a user moving the drag and drop element on the display unit from the geographic location to a second geographic location.

4. The computerized system of claim 1 , wherein the computer system has a Geographic Positioning System (GPS), and wherein the geographic location is determined by the GPS.

5. The computerized system of claim 1 , wherein the geographic location is determined by scrolling on a map displayed on the display unit.

6. The computerized system of claim 1 , wherein the unmanned aircraft is provided with a gimbal and the camera control information includes gimbal control information configured to align the camera of the unmanned aircraft perpendicular to the wall.

7. An unmanned aerial vehicle, comprising:
a body;
a source of propulsion connected to the body;
a camera supported by the body and configured to capture aerial images;
a collision detection and avoidance system supported by the body, the collision detection and avoidance system comprising at least one distance detector; and
one or more processors supported by the body, and executing instructions configured to:
receive a flight path, wherein the flight path comprises instructions for the unmanned aerial vehicle to travel from its current location to at least one other location adjacent to a wall of a structure, the flight path including an offset from the wall directing the unmanned aerial vehicle to maintain the offset from the wall;
detect, with the collision detection and avoidance system, an obstacle for avoidance by the unmanned aerial vehicle based at least in part on the flight path going through the obstacle;
receive distance data generated by the collision detection and avoidance system concerning at least the obstacle;
process the distance data generated by the collision detection and avoidance system; and
execute a target path for directing the source of propulsion to cause the unmanned aerial vehicle to travel around the obstacle and to the at least one other location based at least in part on the flight path and the distance data, the target path configured to maintain at least a minimum overlap between adjacent aerial images captured by the camera to ensure complete coverage of the wall.

8. The unmanned aerial vehicle of claim 7 , wherein the target path is a first target path, and wherein if the collision detection and avoidance system determines that the minimum overlap between adjacent images cannot be maintained by moving the unmanned aerial vehicle closer to the wall, the collision detection and avoidance system is configured to steer the unmanned aerial vehicle to a second target path above both the obstacle and the wall.

9. The unmanned aerial vehicle of claim 7 , wherein the collision detection and avoidance system comprises a camera.

10. The unmanned aerial vehicle of claim 7 , wherein the collision detection and avoidance system is imaging based and the collision detection and avoidance system uses images and auto-aerial triangulation to detect the obstacle for avoidance by the unmanned aerial vehicle.

11. The unmanned aerial vehicle of claim 7 , wherein the one or more processors are configured to process distance data generated by the distance detector during execution of the target path.

12. The unmanned aerial vehicle of claim 7 , wherein the one or more processors are configured to control the camera to capture image data based at least in part on the location of the unmanned aerial vehicle.

13. The unmanned aerial vehicle of claim 7 , wherein the unmanned aerial vehicle is configured to adjust a flight path for the execution of the target path based at least in part on the detection of the obstacle.

14. The unmanned aerial vehicle of claim 7 , wherein the unmanned aerial vehicle is provided with a gimbal and the one or more processors execute instructions including camera control information including gimbal control instructions configured to align the camera of the unmanned aerial vehicle perpendicular to a first wall of the walls.

15. A method for collision detection by an unmanned aerial vehicle having a camera to conduct an evaluation of a structure having walls, the method comprising:
receiving a flight path and camera control information, wherein the flight path includes instructions for the unmanned aerial vehicle to travel from a current location to an offset from the walls of the structure, the camera control information including instructions to cause the camera to capture images of the walls at a predetermined time interval;
as the unmanned aerial vehicle is flying the flight path, detecting an obstacle for avoidance by the unmanned aerial vehicle based at least in part on the flight path and data collected from a collision detection and avoidance system, the collision detection and avoidance system having at least one sensor;
receiving data generated by the collision detection and avoidance system concerning at least the obstacle for avoidance; and
execute a target path configured to maintain at least a minimum overlap between adjacent aerial images of the walls captured by the camera to ensure complete coverage of the walls.

16. The method of claim 15 , wherein the sensor is oriented in a manner such that the collision detection and avoidance system collects data regarding the obstacle for avoidance.

17. The method of claim 15 , wherein the collision detection and avoidance system comprises a camera.

18. The method of claim 17 , wherein the collision detection and a

Assignees

• Pictometry Int Corp

Inventors

• Schultz Stephen L
• Monaco John

Classifications

• G01S19/39 Primary

  the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO · CPC title

• G06V20/176

  Urban or other man-made structures · CPC title

• B64U2201/20

  Remote controls · CPC title

• B64U2201/10

  autonomous, i.e. by navigating independently from ground or air stations, e.g. by using inertial navigation systems [INS] · CPC title

• B64U2101/30

  for imaging, photography or videography · CPC title