Granted Patent B2

US 10,083,616 · App. 15/068,272 · Granted Sep 25, 2018

Abstract

Claims (98)

1. A computerized method performed by an unmanned aerial vehicle (UAV) comprising one or more processors, the method comprising:

receiving, by the UAV, a flight plan comprising a plurality of inspection locations for a structure, wherein the plurality of inspection locations each comprise a waypoint having a geospatial reference;

navigating the UAV to ascend to a clearance altitude above a height of the structure;

conducting an inspection for an inspection location of the plurality of inspection locations according to the received flight plan, the inspection comprising:

navigating the UAV to a position above a surface of the structure associated with the inspection location, and descending, from the position, to within a particular distance from the surface of the structure based on monitoring an onboard distance measuring device,

the onboard distance measuring device measuring distances to locations on the surface, and

the particular distance above the surface being determined based on a ground sampling distance, such that at least a particular level of detail is included in obtained sensor information; and obtaining, while the UAV is within the particular distance from the surface of the structure, information from one or more sensors describing the structure, such that the obtained information includes at least the particular level of detail;

navigating the UAV to another inspection location of the plurality of inspection locations; and

navigating the UAV to a landing location,

wherein a first inspection location is associated with a first ground sampling distance, and wherein a second inspection location is associated with a second different ground sampling distance, such that sensor information associated with the first inspection location and second inspection location include different levels of detail.

2. The method of claim 1 , wherein descending comprises:

accessing one or more digital images obtained by the UAV during a prior inspection of the structure, the one or more digital images including less than the particular level of detail and obtained while the UAV was at greater than the particular distance from the surface of the structure;

performing, based on portions of the accessed digital images associated with the inspection location, visual odometry using sensor information obtained while descending; and

correcting a position of the UAV, along a horizontal direction, while descending based on the performed visual odometry, such that the UAV descends along a vertical direction to the surface of the structure associated with the inspection location.

3. The method of claim 1 , wherein conducting an inspection further comprises triggering the one or more sensors to obtain sensor information, and wherein triggering comprises one or more of: periodically triggering the sensors while the UAV is within the particular distance from the surface of the structure, triggering the sensors in response to an event.

4. The method of claim 3 , wherein triggering the sensors in response to an event comprises:

determining a value from accelerometers or rotational rate gyros of the UAV while the UAV is obtaining sensor information; and

determining whether the value exceeds a threshold value, and in response to a positive determination, triggering the sensors to again obtain the sensor information.

5. The method of claim 3 , wherein triggering the sensors in response to an event comprises:

evaluating obtained sensor information to determine whether the sensor information passes a quality criteria; and

determining whether the sensor information passes the quality criteria, and in response to a negative determination, triggering the sensor again to obtain the sensor information.

6. The method of claim 1 , wherein the onboard distance measuring device comprises an optical ranging device or a sonar device.

7. The method of claim 1 further comprising:

obtaining, from a user device, a 3D model of the structure;

while navigating, obtaining geospatial location information of the UAV;

determining based on the 3D model, a position of the UAV in relation to the 3D model; and

adjusting a location of the UAV based on the determined position.

8. The method of claim 1 , wherein navigating the UAV to a position comprises:

navigating the UAV at a speed to the inspection location based on a waypoint transition speed value, wherein the waypoint transition speed value is set at different values for travel to different inspection locations.

9. The method of claim 1 further comprising:

transmitting the obtained sensor information to a user device, the sensor information comprising one or more digital images, the one or more digital images having associated geospatial references.

10. The method of claim 1 , wherein conducting an inspection further comprises:

allowing limited control of the UAV by a user device, the limited control comprising one or more of: controlling a vertical rate of ascent or descent of the UAV, controlling rotation of the UAV, triggering of one or more sensors, controlling a direction of one or more sensors, nudging of the UAV or resuming auto-piloted navigation of the UAV.

11. A computer storage medium comprising instructions that when executed by one or more processors included in a Unmanned Aerial Vehicle (UAV), cause the UAV to perform operations comprising:

receiving, by the UAV, a flight plan comprising a plurality of inspection locations for a structure, wherein the plurality of inspection locations each comprise a waypoint having a geospatial reference;

navigating the UAV to ascend to a clearance altitude above a height of the structure;

conducting an inspection for an inspection location of the plurality of inspection locations, the inspection comprising:

navigating the UAV to a position above a surface of the structure associated with the inspection location, and descending, from the position, to within a particular distance from the surface of the structure based on monitoring an onboard distance measuring device,

the onboard distance measuring device measuring distances to locations on the surface, and

the particular distance above the surface being determined to obtain at least a particular level of detail in sensor information; and obtaining, while the UAV is within the particular distance from the surface of the structure, information from one or more sensors describing the structure, such that the obtained sensor information includes at least the particular level of detail;

navigating the UAV to another inspection location of the plurality of inspection locations; and

navigating the UAV to a landing location,

wherein a first inspection location is associated with a first ground sampling distance, and wherein a second inspection location is associated with a second different ground sampling distance, such that sensor information associated with the first inspection location and second inspection location include different levels of detail.

12. The computer storage medium of claim 11 , wherein descending comprises:

accessing one or more digital images obtained by the UAV during a prior inspection of the structure, the one or more digital images including less than the particular level of detail and obtained while the UAV was at greater than the particular distance from the surface of the structure;

performing, based on portions of the accessed digital images associated with the inspection location, visual odometry using sensor information obtained while descending; and

correcting a position of the UAV, along a horizontal direction, while descending based on the performed visual odometry, such that the UAV descends along a vertical direction to the surface of the structure associated with the inspection location.

13. The computer storage medium of claim 11 , wherein conducting an inspection further comprises triggering the one or more sensors to obtain sensor information, and wherein triggering comprises one or more of: periodically triggering the sensors while the UAV is within the particular distance from the surface of the structure, triggering the sensors in response to an event.

14. The computer storage medium of claim 13 , wherein triggering the sensors in response to an event comprises:

determining a value from accelerometers or rotational rate gyros of the UAV while the UAV is obtaining sensor information; and

determining whether the value exceeds a threshold value, and in response to a positive determination, triggering the sensors to again obtain the sensor information.

15. The computer storage medium of claim 13 , wherein triggering the sensors in response to an event comprises:

evaluating obtained sensor information to determine whether the sensor information passes a quality criteria; and

determining whether the sensor information passes the quality criteria, and in response to a negative determination, triggering the sensor again to obtain the sensor information.

16. The computer storage medium of claim 11 , wherein the particular level of detail indicates an acceptable image pixel resolution of digital images included in the obtained sensor information.

17. The computer storage medium of claim 11 , wherein the operations further comprise:

obtaining, from a user device, a 3D model of the structure;

while navigating, obtaining geospatial location information of the UAV;

determining based on the 3D model, a position of the UAV in relation to the 3D model; and

adjusting a location of the UAV based on the determined position.

18. The computer storage medium of claim 11 , wherein navigating the UAV to a position comprises:

navigating the UAV at a speed to the inspection location based on a waypoint transition speed value, wherein the waypoint transition speed value is set at different values for travel to different inspection locations.

19. The computer storage medium of claim 11 , wherein the operations further comprise:

transmitting the obtained sensor information to a user device, the sensor information comprising one or more digital images, the one or more digital images having associated geospatial references.

20. The computer storage medium of claim 11 , wherein conducting an inspection further comprises:

allowing limited control of the UAV by a user device, the limited control comprising one or more of: controlling a vertical rate of ascent or descent of the UAV, controlling rotation of the UAV, triggering of one or more sensors, controlling a direction of one or more sensors, nudging of the UAV or resuming auto-piloted navigation of the UAV.

21. An unmanned aerial vehicle (UAV) system comprising one or more processors, and a computer storage media storing instructions, that when executed by the one or more processors, cause the one or more processors to perform operations comprising:

receiving, by the UAV, a flight plan comprising a plurality of inspection locations for a structure, wherein the plurality of inspection locations each comprise a waypoint having a geospatial reference;

navigating the UAV to ascend to a clearance altitude above a height of the structure;

conducting an inspection for an inspection location of the plurality of inspection locations, the inspection comprising:

navigating the UAV to a position above a surface of the structure associated with the inspection location, and descending, from the position, to within a particular distance from the surface of the structure based on monitoring an onboard distance measuring device,

the onboard distance measuring device measuring distances to locations on the surface, and

the particular distance above the surface being determined to obtain at least a particular level of detail in sensor information; and

while the UAV is within the particular distance from the surface of the structure, obtaining information from one or more sensors describing the structure, such that the obtained information includes at least the particular level of detail;

navigating the UAV to another inspection location of the plurality of inspection locations; and

navigating the UAV to a landing location,

wherein a first inspection location is associated with a first ground sampling distance, and wherein a second inspection location is associated with a second different ground sampling distance, such that sensor information associated with the first inspection location and second inspection location include different levels of detail.

22. The system of claim 21 , wherein descending comprises:

accessing one or more digital images obtained by the UAV during a prior inspection of the structure, the one or more digital images including less than the particular level of detail and obtained while the UAV was at greater than the particular distance from the surface of the structure;

performing, based on portions of the accessed digital images associated with the inspection location, visual odometry using sensor information obtained while descending; and

correcting a position of the UAV, along a horizontal direction, while descending based on the performed visual odometry, such that the UAV descends along a vertical direction to the surface of the structure associated with the inspection location.

23. The system of claim 21 , wherein conducting an inspection further comprises triggering the one or more sensors to obtain sensor information, and wherein triggering comprises one or more of: periodically triggering the sensors while the UAV is within the particular distance from the surface of the structure, triggering the sensors in response to an event.

24. The system of claim 23 , wherein triggering the sensors in response to an event comprises:

determining a value from accelerometers or rotational rate gyros of the UAV while the UAV is obtaining sensor information; and

determining whether the value exceeds a threshold value, and in response to a positive determination, triggering the sensors to again obtain the sensor information.

25. The system of claim 23 , wherein triggering the sensors in response to an event comprises:

evaluating obtained sensor information to determine whether the sensor information passes a quality criteria; and

determining whether the sensor information passes the quality criteria, and in response to a negative determination, triggering the sensor again to obtain the sensor information.

26. The system of claim 21 , wherein the particular level of detail indicates an acceptable image pixel resolution of digital images included in the obtained sensor information.

27. The system of claim 21 , wherein the operations further comprise:

obtaining, from a user device, a 3D model of the structure;

while navigating, obtaining geospatial location information of the UAV;

determining based on the 3D model, a position of the UAV in relation to the 3D model; and

adjusting a location of the UAV based on the determined position.

28. The system of claim 21 , wherein the operations further comprise:

transmitting the obtained sensor information to a user device, the sensor information comprising one or more digital images, the one or more digital images having associated geospatial references.

29. The system of claim 21 , wherein conducting an inspection further comprises:

allowing limited control of the UAV by a user device, the limited control comprising one or more of: controlling a vertical rate of ascent or descent of the UAV, controlling rotation of the UAV, triggering of one or more sensors, controlling a direction of one or more sensors, nudging of the UAV or resuming auto-piloted navigation of the UAV.

Assignments (11)

Cited By (6)

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