Structural displacement measurement using unmanned aerial vehicles equipped with lasers
First Claim
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1. A method to measure displacements of structures using unmanned aerial vehicles (UAVs) equipped with laser generators, the method comprising:
- flying a UAV equipped with a laser generator proximal to a structure;
during said flying the UAV, directing a laser generated by the laser generator at the structure;
during said flying the UAV, receiving, at the UAV, reflected laser light which is reflected off of the structure;
during said receiving reflected laser light, measuring individual movement of the UAV with an onboard vehicle motion sensor;
analyzing Doppler shifts in the reflected laser light in order to calculate relative movement of the UAV and the structure; and
subtracting at least one component of the individual movement of the UAV, measured by the onboard vehicle motion sensor, from at least one component of the relative movement of the UAV and the structure, in order to calculate at least one displacement of the structure.
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Abstract
An unmanned aerial vehicle (UAV) and laser generator may be used to measure structural displacements. The system may measure relative movement of the UAV and the structure, as well as individual movement of the UAV. The individual movement of the UAV may then be subtracted from the relative movement of the UAV and the structure, in order to accurately calculate structural displacements.
8 Citations
20 Claims
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1. A method to measure displacements of structures using unmanned aerial vehicles (UAVs) equipped with laser generators, the method comprising:
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flying a UAV equipped with a laser generator proximal to a structure; during said flying the UAV, directing a laser generated by the laser generator at the structure; during said flying the UAV, receiving, at the UAV, reflected laser light which is reflected off of the structure; during said receiving reflected laser light, measuring individual movement of the UAV with an onboard vehicle motion sensor; analyzing Doppler shifts in the reflected laser light in order to calculate relative movement of the UAV and the structure; and subtracting at least one component of the individual movement of the UAV, measured by the onboard vehicle motion sensor, from at least one component of the relative movement of the UAV and the structure, in order to calculate at least one displacement of the structure. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11)
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12. A system to measure displacements of structures, the system comprising:
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an unmanned aerial vehicle (UAV) equipped with at least one laser Doppler vibrometer and an onboard vehicle motion sensor; wherein the laser Doppler vibrometer comprises; a laser generator that generates a laser directable at a structure during flight of the UAV; and an optical sensor adapted to receive, at the UAV, reflected laser light which is reflected off of the structure; wherein the onboard vehicle motion sensor is adapted to measure individual movement of the UAV during operation of the laser Doppler vibrometer; a processing unit adapted to; analyze Doppler shifts in the reflected laser light in order to calculate relative movement of the UAV and the structure; and subtract at least one component of the individual movement of the UAV, measured by the onboard vehicle motion sensor, from at least one component of the relative movement of the UAV and the structure, in order to calculate at least one displacement of the structure. - View Dependent Claims (13, 14, 15, 16, 17, 18, 19, 20)
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Specification