Drone for inspection of enclosed space and method thereof

• US 8,874,283 B1
• Filed: 12/04/2012
• Issued: 10/28/2014
• Est. Priority Date: 12/04/2012
• Status: Expired due to Fees

• Current Assignee: United Dynamics Advanced Technologies Corporation
• Original Assignee: United Dynamics Advanced Technologies Corporation
• Inventors: Cavote, John M.
• Primary Examiner(s): ARTHUR JEANGLAUDE, GERTRUDE
• Application Number:
  US13/693,319
• Time in Patent Office: 693 Days
• Field of Search: 701/1, 701/2, 701/36, 701/31.4, 701/11, 701/13, 701/28, 701/117, 901/1
• US Class Current: 701/2
• CPC Class Codes: B64C 39/024 of the remote controlled vehicle type, i.e. RPV
• CPC Class Codes: B64D 31/06 actuated automatically
• CPC Class Codes: B64D 47/08 Arrangements of cameras
• CPC Class Codes: B64U 10/13 Flying platforms
• CPC Class Codes: B64U 20/65 Composite materials
• CPC Class Codes: B64U 20/87 Mounting of imaging devices, e.g. mounting of gimbals
• CPC Class Codes: B64U 2101/30 for imaging, photography or videography
• CPC Class Codes: B64U 2201/20 Remote controls
• CPC Class Codes: B64U 30/20 Rotors; Rotor supports
• CPC Class Codes: B64U 50/19 using electrically powered motors
• CPC Class Codes: B64U 60/30 detachable from the body
• CPC Class Codes: B64U 60/50 with landing legs
• CPC Class Codes: F22B 21/00 Water-tube boilers of vertical or steeply-inclined type, i.e. the water-tube sets being arranged vertically or substantially vertically
• CPC Class Codes: F22B 37/00 Component parts or details of steam boilers venting devices F16K24/00; steam traps or like apparatus F16T
• CPC Class Codes: G05D 1/0038 by providing the operator with simple or augmented images from one or more cameras located onboard the vehicle, e.g. tele-operation images analyzed by a computer and used for automatic navigation G05D1/0246
• CPC Class Codes: H04N 23/555 for picking-up images in sites, inaccessible due to their dimensions or hazardous conditions, e.g. endoscopes or borescopes
• CPC Class Codes: H04N 23/66 Remote control of cameras or camera parts, e.g. by remote control devices
• CPC Class Codes: H04N 5/76 Television signal recording
• CPC Class Codes: H04N 7/185 from a mobile camera, e.g. for remote control

Abstract

Embodiments of a drone for inspection and a method of use are depicted wherein the drone is utilized in an enclosed space and is capable of being controlled with or without line of sight to the aircraft. The drone may land on generally horizontal or vertical surfaces. A method of use is taught as well.

Claims

1. An unmanned remote control inspection vehicle, comprising:

an airframe including at least one propulsion assembly;

a video camera allowing for pivotal movement;

a video transmitter;

a controller with flight avionics to control said at least one propulsion assembly;

a transceiver in communication with said controller and a remote control;

a landing assembly connected to said airframe, said landing assembly having at least one support structure for landing in a first orientation and at least one second support structure for landing in a second orientation;

a detaching mechanism to release the landing assembly from a surface in one of said first and second orientations.

2. The unmanned remote control inspection vehicle of claim 1, said landing assembly having said at least one support structure being generally horizontal in orientation.

3. The unmanned remote control inspection vehicle of claim 1, said landing assembly having said at least one second support structure being generally vertical in orientation.

4. The unmanned remote control inspection vehicle of claim 1, said landing assembly including a landing frame having a first strut and a second strut.

5. The unmanned remote control inspection vehicle of claim 4, said landing assembly including a third and a fourth strut.

6. The unmanned remote control inspection vehicle of claim 1 further comprising a retaining mechanism one of said at least one first and second support mechanism for landing in a vertical orientation.

7. The unmanned remote control inspection vehicle of claim 6, said retaining mechanism being magnetic landing feet.

8. The unmanned remote control inspection vehicle of claim 6, said magnetic feet being pivotable about a vertical axis.

9. The unmanned remote control inspection vehicle of claim 6, said magnetic feet being movable to change width between said landing feet.

10. An unmanned remote control inspection vehicle, comprising:

an airframe including a plurality of propulsion assemblies;

a controller in communication with said plurality of propulsion assemblies;

a remote control in wireless communication with said controller to control flight of said vehicle;

a landing structure connected to said airframe, said landing structure allowing landing on a surface parallel to a gravity force;

said landing structure allowing landing on a surface perpendicular to a gravity force;

a retaining mechanism on said landing structure and a detachment mechanism;

a video camera onboard said vehicle for inspection.

11. The unmanned remote control inspection vehicle of claim 10, said retaining mechanism being magnetic.

12. The unmanned remote control inspection vehicle of claim 10, said detachment mechanism being a linear actuator.

13. The unmanned remote control inspection vehicle of claim 10, said landing structure having at least one strut in vertical orientation and at least one strut in a horizontal direction.

14. The unmanned remote control inspection vehicle of claim 10 further comprising a receiver for electronic communication between said remote control and said controller.

15. The unmanned remote control inspection vehicle of claim 10, said video camera mounted on a gimbal allowing at least one degree of pivot.

16. An unmanned remote control inspection vehicle, comprising:

an airframe having at least one propulsion assembly;

a controller in electrical communication with said at least one propulsion assembly;

a receiver in communication with said controller, said receiver in wireless communication with a remote control;

at least one camera for video inspection and non-line-of-flight of said vehicle;

a landing structure connected to said airframe, said landing structure having a first portion defining a first outer boundary of said vehicle along a first dimensional axis and a second portion defining a second outer boundary of said vehicle along a second dimensional axis.

17. The vehicle of claim 16 further comprising a rechargeable battery.

18. The vehicle of claim 16 wherein said propulsion assembly includes an electric motor.

19. The vehicle of claim 16, said at least one camera being an inspection camera.

20. The vehicle of claim 16, said at least one camera including a pilot camera.

21. A method of inspecting a boiler, comprising:

positioning a remote control unmanned aircraft adjacent an enclosed space within said boiler;

flying said aircraft within said enclosed space;

flying to a first position;

landing said aircraft on a vertical surface within said boiler;

scanning an area of said enclosed space with a video camera;

powering up a propulsion assembly;

detaching said vehicle from said vertical surface within said boiler;

flying said aircraft to a second position.

22. The method of claim 21 further comprising flying by line of sight.

23. The method of claim 21 further comprising flying by video from said video camera.

24. The method of claim 21 further comprising a sending an acoustic signal toward a wall of said enclosed space to locate said aircraft.

25. The method of claim 21 further wherein said vertical surface comprises one of a vertical sidewall or vertical steam piping with a magnet on a landing assembly.

26. The method of claim 21 further comprising recording video on said aircraft.

27. The method of claim 21 further comprising wirelessly transmitting a video signal from said camera to a control station.

28. The method of claim 27 further comprising recording a video signal at a control station.

29. The method of claim 27 further comprising viewing video in real-time at a control station.

30. A method of boiler inspection with an unmanned remote control aircraft, comprising:

establishing a control area for flying said aircraft;

flying said aircraft within said boiler;

transmitting video of said flight to said control area for guiding said aircraft;

guiding said aircraft to a generally vertical landing position;

landing said aircraft at said generally vertical landing position;

powering down at least one propulsion assembly;

scanning an area of said boiler with a camera;

recording video of said scanning;

detaching said aircraft from said generally vertical landing position;

flying to a second landing position; and

,

landing at said second landing position.

31. The method of claim 30 further comprising powering up said at least one propulsion assembly.

32. The method of claim 30, said recording occurring on-board said aircraft.

33. The method of claim 30, said recording occurring at said control area.

34. The method of claim 30 further comprising powering up said at least one propulsion assembly.

35. The method of claim 30 further comprising scanning an area at said second landing area of said boiler.

36. The method of claim 30 further comprising actuating an actuator to perform said detaching.

37. The method of claim 30 further comprising depowering magnets to perform said detaching.

38. The method of claim 30 further comprising adjusting feet for said landing.

39. The method of claim 38 further comprising adjusting at least one of width, pivot about a vertical axis and pivot about a horizontal axis.

40. A method of inspecting an enclosed space with an unmanned remote control aircraft with at least one camera, comprising:

establishing a control area for flying said aircraft;

flying said aircraft to a first inspection area within said enclosed space;

capturing images of a condition of at least one of said first inspection area and said flight;

transmitting said images of a condition of at least one of said first inspection area and said flight to said control area;

recording said images at one of said aircraft and said control area.

41. The method of claim 40 further comprising:

flying said aircraft to a second inspection area within said enclosed;

transmitting second images of a condition of at least one condition of said second inspection area and said flight to said control area;

recording said second images at one of said aircraft and said control area.

42. The method of claim 40 further comprising hovering said aircraft at said first inspection area within said enclosed space.

43. The method of claim 40 further comprising landing said aircraft on a vertical landing area, said vertical landing area being one of at or adjacent to said first inspection area.

44. The method of claim 40 wherein said flying and said capturing occur with a single camera.

45. The method of claim 40 wherein said flying and capturing occur with separate cameras.

46. The method of claim 40 wherein said images are still images.

47. The method of claim 40 wherein said images are video images.

48. The method of claim 40 further comprising creating a report of at said first inspection area.