Unmanned aerial vehicle inspection system

Patent metadata

Field	Value
Publication number	US-12428147-B2
Application number	US-202318471864-A
Country	US
Kind code	B2
Filing date	Sep 21, 2023
Priority date	Jun 30, 2016
Publication date	Sep 30, 2025
Grant date	Sep 30, 2025

Abstract

A portion of a vertical structure is determined for inspection by an unmanned aerial vehicle. A flight plan including safe locations around the vertical structure is determined. Each of the safe locations is associated with a respective column of waypoints. The unmanned aerial vehicle navigates according to the flight plan by navigating to a first safe location of the safe locations, navigating vertically along a first column associated with the first safe location, activating sensors to obtain respective sensor information at at least some of the waypoints associated with the first safe location, navigating to a second safe location of the safe locations, navigating vertically along a second column associated with the second safe location, and activating the sensors to obtain respective sensor information at at least some of the waypoints associated with the second safe location.

First claim

What is claimed is:

1. A method of inspecting a vertical structure using an unmanned aerial vehicle, the method comprising:
determining a flight plan including safe locations around the vertical structure; and
executing the flight plan by:
navigating the unmanned aerial vehicle to a first safe location identified in a flight plan;
navigating vertically along a first column associated with the first safe location;
activating sensors of the unmanned aerial vehicle to obtain respective sensor information at waypoints along the first column;
navigating to a second safe location identified in the flight plan;
navigating vertically along a second column associated with the second safe location; and
activating the sensors of the unmanned aerial vehicle to obtain respective sensor information at waypoints along the second column.

2. The method of claim 1 , wherein activating the sensors of the unmanned aerial vehicle to obtain respective sensor information at the waypoints along the first column or the waypoints along the second column comprises capturing oblique images of the structure by angling one or more of the sensors of the unmanned aerial vehicle upwards or downwards during ascent or decent.

3. The method of claim 1 , wherein activating the sensors of the unmanned aerial vehicle to obtain respective sensor information at the waypoints along the first column or the waypoints along the second column comprises activating the sensors responsive to a trigger event to capture data at different stages of the inspection.

4. The method of claim 3 , wherein the trigger event comprises a time interval.

5. The method of claim 3 , wherein the trigger event comprises a distance descended or ascended to capture data at different stages of the inspection.

6. The method of claim 1 , wherein one or more of the sensors of the unmanned aerial vehicle are mounted on a gimbal to allow for different viewing angles.

7. The method of claim 1 , wherein the unmanned aerial vehicle or one or more sensors of the unmanned aerial vehicle maintain focus on a centroid of the structure during the inspection.

8. The method of claim 1 , further comprising:
determining a global minimum safe altitude for safer traversal over the structure during the inspection.

9. The method of claim 8 , wherein the global minimum safe altitude is determined based on one or more of an environment surrounding the structure and potential obstructions within the environment.

10. The method of claim 1 , further comprising:
identifying a predefined geofence surrounding the structure; and
executing the flight plan within predefined geofence surrounding the structure.

11. The method of claim 1 , further comprising:
collecting environmental information during the inspection; and
dynamically adapting the flight path based on this environmental information.

12. The method of claim 11 , wherein the environmental information comprises one or more of information about the structure and information about obstacles encountered during the inspection.

13. An apparatus, comprising:
one or more non-transitory computer readable storage media; and
program instructions stored on the one or more non-transitory computer readable storage media that, when executed by one or more processors of an unmanned aerial vehicle, direct the unmanned aerial vehicle to:
navigate to a first safe location identified in a flight plan;
navigate vertically along a first column associated with the first safe location;
activate sensors of the unmanned aerial vehicle to obtain respective sensor information at waypoints along the first column;
navigate to a second safe location identified in the flight plan;
navigate vertically along a second column associated with the second safe location; and
activate the sensors of the unmanned aerial vehicle to obtain respective sensor information at waypoints along the second column.

14. The apparatus of claim 13 , wherein to activate the sensors of the unmanned aerial vehicle to obtain respective sensor information at the waypoints along the first column or the waypoints along the second column, the program instructions, when executed by the one or more processors of the unmanned aerial vehicle, direct the unmanned aerial vehicle to capture oblique images of the structure by angling one or more of the sensors of the unmanned aerial vehicle upwards or downwards during ascent or decent.

15. The apparatus of claim 13 , wherein to activate the sensors of the unmanned aerial vehicle to obtain respective sensor information at the waypoints along the first column or the waypoints along the second column, the program instructions, when executed by the one or more processors of the unmanned aerial vehicle, direct the unmanned aerial vehicle to activate the sensors responsive to a trigger event to capture data at different stages of the inspection.

16. The apparatus of claim 13 , wherein the unmanned aerial vehicle or one or more sensors of the unmanned aerial vehicle maintain focus on a centroid of the structure during the inspection.

17. The apparatus of claim 13 , wherein the program instructions, when executed by the one or more processors of the unmanned aerial vehicle, further direct the unmanned aerial vehicle to:
identify predefined geofence surrounding the structure; and
execute the flight plan within predefined geofence surrounding the structure.

18. The apparatus of claim 13 , wherein the program instructions, when executed by the one or more processors of the unmanned aerial vehicle, further direct the unmanned aerial vehicle to:
collect environmental information during the inspection, the environmental information comprising one or more of information about the structure and information about obstacles encountered during the inspection; and
dynamically adapting the flight path based on this environmental information.

19. An unmanned aerial vehicle, comprising:
a flight control engine configured to at least:
navigate the unmanned aerial vehicle to a first safe location identified in a flight plan;
navigate vertically along a first column associated with the first safe location;
navigate to a second safe location identified in the flight plan; and
navigate vertically along a second column associated with the second safe location; and

an application engine configured to:
activate sensors of the unmanned aerial vehicle to obtain respective sensor information at waypoints along the first column; and
active the sensors of the unmanned aerial vehicle to obtain respective sensor information at waypoints along the second column.

20. The unmanned aerial vehicle of claim 19 , wherein the application engine is configured to obtain respective sensor information at the waypoints along the first column or the waypoints along the second column by capturing oblique images of the structure by angling one or more of the sensors of the unmanned aerial vehicle upwards or downwards during ascent or decent.

Assignees

• Skydio Inc

Inventors

• Bauer Mark Patrick
• Michini Bernard J
• Bethke Brett Michael

Classifications

• G08G5/74

  for monitoring terrain · CPC title

• G08G5/57

  for unmanned aircraft · CPC title

• G08G5/55 Primary

  for a single aircraft · CPC title

• G08G5/52

  for take-off · CPC title

• G08G5/32

  for flight plan preparation · CPC title