Unmanned aerial vehicle for monitoring infrastructure assets

• US 9,162,753 B1
• Filed: 12/31/2013
• Issued: 10/20/2015
• Est. Priority Date: 12/31/2012
• Status: Expired due to Fees

• Current Assignee: Southern Electrical Equipment Co., Inc. (Southwestern Energy Company)
• Original Assignee: Southern Electrical Equipment Co., Inc. (Southwestern Energy Company)
• Inventors: Panto, Andrew S., Thomas, Barry Wyeth, Thomas, Barry Craig
• Primary Examiner(s): Cheung, Mary
• Assistant Examiner(s): Sweeney, Brian P
• Application Number:
  US14/145,545
• Time in Patent Office: 658 Days
• Field of Search: 701/3, 701/11, 701/16
• US Class Current: 1/1
• CPC Class Codes: B64C 19/00 Aircraft control not otherwise provided for
• CPC Class Codes: B64C 27/08 with two or more rotors
• CPC Class Codes: B64C 39/02 characterised by special use
• CPC Class Codes: B64C 39/024 of the remote controlled vehicle type, i.e. RPV
• CPC Class Codes: B64D 43/00 Arrangements or adaptations of instruments arrangements of cameras B64D47/08; aeronautical measuring instruments per se G01C
• CPC Class Codes: B64D 47/08 Arrangements of cameras
• CPC Class Codes: B64U 10/10 Rotorcrafts
• CPC Class Codes: B64U 10/13 Flying platforms
• 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 2201/10 autonomous, i.e. by navigating independently from ground or air stations, e.g. by using inertial navigation systems [INS]
• CPC Class Codes: G05D 1/0094 involving pointing a payload, e.g. camera, weapon, sensor, towards a fixed or moving target
• CPC Class Codes: G08G 5/0069 specially adapted for an unmanned aircraft
• CPC Class Codes: G08G 5/04 Anti-collision systems
• CPC Class Codes: H02G 1/02 for overhead lines or cables

Abstract

An unmanned aerial vehicle and associated methods for inspecting infrastructure assets includes a multirotor, electrically driven helicopter apparatus and power supply; a flight computer; positioning and collision avoidance equipment; and at least one sensor such as a camera. The flight computer is programmed for automated travel to and inspection of selected waypoints, at which condition data is collected for further analysis. The method also includes protocols for segmenting the flight path to accomplish sequential inspection of a linear asset such as a power line using limited-range equipment.

Claims

1. An unmanned aerial vehicle apparatus for conducting an inspection of selected points of interest within an infrastructure asset, comprising:

A multirotor helicopter comprising an electric drive apparatus and at least one battery for supplying electric power thereto;

A flight computer adapted to control the helicopter;

A collision avoidance protocol for generating first input to the flight computer;

A global positioning system receiver for generating second input to the flight computer; and

A sensor and associated memory for acquiring and storing data from said sensor as part of the inspection, said memory receiving said second input from said global positioning system receiver and associating said second input with said data;

Wherein the flight computer is programmed to direct the helicopter autonomously according to the inputs through a substantially predetermined flight path comprising a series of waypoints, the locations of which and maneuvering instructions are stored in said flight computer, said helicopter proceeding from each waypoint of said plural waypoints to a next waypoint of said plural waypoints in turn, then executing at said each waypoint said maneuvering instructions before proceeding to said next waypoint, to complete the inspection.

2. An apparatus according to claim 1, wherein the helicopter further comprises a range extended for extending operational range of the helicopter.

3. An apparatus according to claim 1, wherein the collision avoidance protocol includes one or more obstacle-detecting systems and predetermined maneuvering subroutines for generating the first input to the flight computer in order to override the predetermined flight plan and avoid a detected obstacle.

4. An apparatus according to claim 1, wherein the helicopter is capable of conducting hovering and rotational operations while providing a stable platform for the sensor.

5. An apparatus according to claim 1, wherein the sensor comprises a high-resolution video camera.

6. An apparatus according to claim 5, wherein the camera is configured to capture optical, infrared, and ultraviolet data.

7. An apparatus according to claim 5, wherein the camera is configured to acquire and record sound.

8. A multirotor helicopter for conducting an inspection of selected points of interest within an infrastructure asset, comprising:

(a) an electric drive apparatus including rotors;

(b) a battery in electrical connection with said electric drive apparatus;

(c) a programmable flight computer adapted to operate and control said electric drive apparatus pursuant to a software program, wherein said software program includes a flight path including a series of waypoints and directions between each waypoint in said series of waypoints and a next waypoint in said series of waypoints, and a maneuver to be conducted at each waypoint, said flight computer configured to fly said computer in accordance with said flight path;

(d) a global positioning system receiver having an output related to the position of said global positioning system receiver, said flight computer being configured to receive said output and to use said output in flying said helicopter in accordance with said flight path; and

(e) sensors carried by said helicopter, said sensors configured for acquiring data, said data including video images; and

(f) a memory in operational connection with said sensors and said flight computer, said flight computer configured for receiving and associating said data from said sensors with said output from said global positioning system receiver and storing said data and said output in said memory so that said memory contains said data and said output corresponding to said data,

wherein said flight computer flies said electric drive apparatus autonomously according to said flight path proceeding from said each waypoint of said plural waypoints to said next waypoint of said plural waypoints in turn, then executing at said each waypoint said maneuver before proceeding to said next waypoint, until said inspection is complete.

9. The multirotor helicopter of claim 8, wherein said sensors include sound sensors.

10. The multirotor helicopter of claim 8, wherein said sensors include camera and wherein said cameras have filters thereon.

11. The multirotor helicopter of claim 8, wherein said flight computer is programmed to contain global satellite position locations of said waypoints, equipment, and obstructions along the flight path.

12. The multirotor helicopter of claim 8, wherein said maneuvers include raising and lowering to a given elevation, flying in a circle with a given radius, rotating through a given angular sweep, and adjusting said sensors with respect to said electric drive mechanism.

13. The multirotor helicopter of claim 8, further comprising a fuel cell to extend the range of said electric drive mechanism.

14. The multirotor helicopter of claim 8, further comprising a global satellite positioning transponder configured to send position location signals by which it can be located.