FLIGHT PLANNING FOR UNMANNED AERIAL TOWER INSPECTION

• US 20180032088A1
• Filed: 03/01/2016
• Published: 02/01/2018
• Est. Priority Date: 03/02/2015
• Status: Active Grant

• Current Assignee: Izak Jan Van Cruyningen
• Original Assignee: Izak Jan Van Cruyningen
• Inventors: van Cruyningen, Izak Jan
• Granted Patent: US 10,564,649 B2
• Time in Patent Office: Days
• CPC Class Codes: B64U 2101/26 for manufacturing, inspections or repairs
• CPC Class Codes: B64U 2101/30 for imaging, photography or videography
• CPC Class Codes: B64U 2201/10 autonomous, i.e. by navigating independently from ground or air stations, e.g. by using inertial navigation systems [INS]
• CPC Class Codes: G01C 11/08 the pictures not being supported in the same relative position as when they were taken
• CPC Class Codes: G05D 1/0094 involving pointing a payload, e.g. camera, weapon, sensor, towards a fixed or moving target
• CPC Class Codes: G06T 17/05 Geographic models
• CPC Class Codes: G06V 20/10 Terrestrial scenes scenes under surveillance with static cameras G06V20/52; scenes perceived from the exterior of a vehicle G06V20/56; scenes perceived from the interior of a vehicle G06V20/59
• CPC Class Codes: G06V 20/13 Satellite images
• CPC Class Codes: G06V 20/17 taken from planes or by drones
• CPC Class Codes: H02G 1/04 for mounting or stretching

Abstract

FIG. 1 is a perspective view of transmission tower 10, phase conductors 12, insulators 14, and shield wires 16. They are to be inspected by unmanned aerial vehicle UAV 20 with embedded processor and memory 22, radio 24, location rover 26, and camera 28. Base station 30 has processor and memory 32, radio 34, and location base 36. The relative location between UAV 20 and base station 30 can be accurately calculated by location base 36 and location rover 26 communicating over radios 24 and 34. Camera 28 on UAV 20 is first used to capture two or more orientation images 38 and 39 of tower 10; lines 12 and 16; and insulators 14 from different vantage points. Terrestrial or close-range photogrammetry techniques are used create a three dimensional model of tower 10; lines 12 and 16; and insulators 14. Based on inspection resolution and safety objectives, a standoff distance 50 is determined. Then a flight path with segments for ascent 40, one or more loops 42, 44, 46, and a descent 48 is designed to ensure full inspection coverage via inspection images like 52 and 54.

Claims

1. A method to plan a flight to inspect a tower with an unmanned aerial vehicle comprising

providing a base station,

positioning said base station laterally near base of said tower within an approximate tower height of said tower,

scanning said tower in three dimensions to create a three dimensional model of said tower relative to said base station,

determining a standoff distance for said flight,

generating a plurality of flight segments from said three dimensional model maintaining said standoff distance, positioned relative to said base station to inspect said tower.

2. The method of claim 1 wherein said scanning uses light detection and ranging.

3. The method of claim 1 wherein said scanning comprises

acquiring more than one orientation image of said tower,

creating said three dimensional model of said tower from said more than one orientation image.

17. The method of claim 1, wherein said base station comprises a processor and memory, a radio, and a location base.

18. The method of claim 1, wherein said standoff distance is determined from stability of said unmanned aerial vehicle and strength of wind.

19. The method of claim 1, wherein said flight segment generation includes

segments to fly to an adjacent tower and

inspection segments maintaining said standoff distance for said adjacent tower.

4. A flight planning system for inspection of a tower using an unmanned aerial vehicle comprising

a base station,

a non-contact three-dimensional scanner to create a three dimensional model of said tower relative to said base station,

standoff means to determine a standoff distance for said inspection,

flight segment generation means to generate a plurality of flight segments for said unmanned aerial vehicle relative to said base station, each flight segment maintaining said standoff distance.

5. The apparatus of claim 4 wherein said non-contact three dimensional scanner is a light detection and ranging scanner.

6. The apparatus of claim 4 further comprising

a camera to acquire orientation images,

a processor and memory to create said three dimensional model from said orientation images.

7. A method to inspect a tower with a flight of an unmanned aerial vehicle comprising

providing a base station,

positioning said base station laterally near base of said tower within an approximate tower height of said tower,

scanning said tower in three dimensions to create a three dimensional model of said tower relative to said base station,

determining a standoff distance for said flight,

generating a plurality of flight segments from said three dimensional model maintaining said standoff distance, positioned relative to said base station to inspect said tower,

communicating said flight segments to said unmanned aerial vehicle,

providing one or more inspection sensors on said unmanned aerial vehicle,

locating said unmanned aerial vehicle relative to said base station in near realtime,

flying said flight segments with said unmanned aerial vehicle while gathering inspection data with said one or more inspection sensors.

8. The method of claim 7 wherein said scanning uses light detection and ranging.

9. The method of claim 7 wherein said scanning comprises

acquiring more than one orientation image of said tower,

creating said three dimensional model of said tower from said more than one orientation image.

10. The method of claim 7 wherein said locating uses light detection and ranging.

11. The method of claim 7 wherein said locating uses a real-time kinematic global positioning system.

12. A tower inspection system comprising

a base station,

a non-contact three--dimensional scanner to create a three dimensional model of said tower relative to said base station,

standoff means to determine a standoff distance for said inspection,

an unmanned aerial vehicle

flight segment generation means to generate a plurality of flight segments for said unmanned aerial vehicle relative to said base station, each flight segment maintaining said standoff distance,

one or more inspection sensors mounted on said unmanned aerial vehicle,

locating means to determine location during flight of said unmanned aerial vehicle relative to said base station in near real time.

13. The apparatus of claim 12 wherein said non-contact three dimensional scanner is a light detection and ranging scanner.

14. The apparatus of claim 12 further comprising

a camera to acquire orientation images,

a processor and memory to create said three dimensional model from said orientation images.

15. The apparatus of claim 12 wherein said locating means is a light detection and ranging scanner.

16. The apparatus of claim 12 wherein said locating means comprises

a real-time kinematic global positioning base mounted on said base station,

a real-time kinematic global positioning rover mounted on said unmanned vehicle,

communication means for said base to communicate connection messages to said rover so said rover accurately determines its location relative to said base in near real-time.