Autonomous aerial cable inspection system

Patent metadata

Field	Value
Publication number	US-9753461-B1
Application number	US-201615092824-A
Country	US
Kind code	B1
Filing date	Apr 7, 2016
Priority date	Apr 7, 2016
Publication date	Sep 5, 2017
Grant date	Sep 5, 2017

Abstract

An aerial inspection system is provided, including an unmanned aerial vehicle (UAV) having an articulated arm coupled thereto. An end effector is coupled to a second end of the articulated arm, the end effector sized and shaped to extend at least partially around an aerial cable in close proximity. One or more sensors are positioned along an inner surface of the end effector, and provide feedback to a control unit. In response, the control unit adjusts a position of at least one of the UAV, the articulated arm, and the end effector such that the end effector maintains a close, non-contact position with respect to the cable.

First claim

The invention claimed is:

1. A system, comprising:
one or more sensors;
a memory; and
one or more processors in communication with the one or more sensors and the memory, the one or more processors configured to:
receive input from the one or more sensors;
detect, based on the received input, a proximity between an end effector of an unmanned aerial vehicle and an aerial cable; and
adjust a position of the end effector with respect to the aerial cable in response to the received input, such that the end effector at least partially surrounds an outer diameter of the aerial cable, and the outer diameter of the aerial cable remains at a distance of approximately 1-100 mm from each surrounding portion of the end effector.

2. The system of claim 1 , wherein the one or more processors are further configured to:
detect a failure event, the failure event including at least one of a power failure, a communication failure, or an unexpected position change; and
cause the end effector of the aerial vehicle to latch onto the aerial cable in response to detecting the failure event.

3. The system of claim 1 , further comprising one or more image capture devices in communication with the one or more processors, the one or more image capture devices adapted to capture an image of 360 degrees around an outer perimeter of the aerial cable at any given time.

4. The system of claim 3 , wherein the one or more processors are further configured to:
store the captured image in the memory;
receive input from a remote device, the input corresponding to an object in the stored captured image;
store the received input in association with the stored captured image;
compare the stored captured image to one or more subsequently captured images;
access the received input corresponding to the stored captured image; and
take an action with respect to the one or more subsequently captured images based on the accessed received input.

5. The system of claim 1 , wherein the adjusting the position of the end effector comprises adjusting a position of the unmanned aerial vehicle.

6. The system of claim 1 , wherein the adjusting the position of the end effector comprises manipulating an articulated arm coupled between the end effector and the unmanned aerial vehicle, the articulated arm having at least seven degrees of freedom.

7. A method, comprising:
continually receiving input from one or more sensors positioned on an end effector coupled to an unmanned aerial vehicle, the input corresponding to an aerial cable;
detecting, with one or more processors, based on the received input, a proximity between the end effector and the aerial cable; and
continually adjusting, with the one or more processors, a position of the end effector with respect to the aerial cable in response to the received input, such that the end effector at least partially surrounds an outer diameter of the aerial cable, and the outer diameter of the aerial cable remains at a distance of approximately 1-100 mm from each surrounding portion of the end effector.

8. The method of claim 7 , further comprising:
detecting a failure event, the failure event including at least one of a power failure, a communication failure, or an unexpected position change; and
causing the end effector of the aerial vehicle to latch onto the aerial cable in response to detecting the failure event.

9. The method of claim 7 , further comprising capturing, using one or more image capture devices in communication with the one or more processors, an image of 360 degrees around an outer perimeter of the aerial cable.

10. The method of claim 9 , further comprising:
storing the captured image in a memory;
receiving input from a remote device, the input corresponding to an object in the stored captured image;
storing the received input in association with the stored captured image;
comparing the stored captured image to one or more subsequently captured images;
accessing the received input corresponding to the stored captured image; and
taking an action with respect to the one or more subsequently captured images based on the accessed received input.

11. The method of claim 7 , wherein the adjusting the position of the end effector comprises adjusting a position of the unmanned aerial vehicle.

12. The method of claim 7 , wherein the adjusting the position of the end effector comprises manipulating an articulated arm coupled between the end effector and the unmanned aerial vehicle, the articulated arm having at least seven degrees of freedom.

Assignees

• Google Inc

Inventors

• Johnson David Wesley
• Freund Martin Brandt

Classifications

• H02G1/02 Primary

  for overhead lines or cables · CPC title

• B25J9/1684 Primary

  Tracking a line or surface by means of sensors · CPC title

• G01R31/085

  in power transmission or distribution lines, e.g. overhead · CPC title

• H02G1/04

  for mounting or stretching · CPC title

• B64D45/0005

  Devices specially adapted to indicate the position of a movable element of the aircraft, e.g. landing gear · CPC title