Unmanned aerial vehicle rooftop inspection system

• US 9,609,288 B1
• Filed: 03/11/2016
• Issued: 03/28/2017
• Est. Priority Date: 12/31/2015
• Status: Active Grant

• Current Assignee: Skydio, Inc.
• Original Assignee: Unmanned Innovation Inc (Delair SAS)
• Inventors: Richman, Brian, Bauer, Mark Patrick, Michini, Bernard J., Poole, Alan Jay
• Primary Examiner(s): Holwerda, Stephen
• Application Number:
  US15/068,327
• Time in Patent Office: 382 Days
• Field of Search: 700/257, 700/258, 700/259, 701/2, 701/3, 701/4, 701/5, 701/6, 701/7, 701/11
• US Class Current: 1/1
• CPC Class Codes: B64C 39/024 of the remote controlled vehicle type, i.e. RPV
• CPC Class Codes: B64D 47/08 Arrangements of cameras
• CPC Class Codes: B64U 10/13 Flying platforms
• CPC Class Codes: B64U 2101/00 UAVs specially adapted for particular uses or applications
• 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: B64U 2201/20 Remote controls
• CPC Class Codes: B64U 2201/202 using tethers for connecting to ground station
• CPC Class Codes: G01C 21/20 Instruments for performing navigational calculations G01C21/24, G01C21/26 take precedence
• CPC Class Codes: G05D 1/0016 characterised by the operator's input device input arrangements for computing systems in general G06F3/00
• 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: G05D 1/0044 by providing the operator with a computer generated representation of the environment of the vehicle, e.g. virtual reality, maps maps used for automatic navigation G05D1/0274; flight directors G01C23/005
• CPC Class Codes: G05D 1/0094 involving pointing a payload, e.g. camera, weapon, sensor, towards a fixed or moving target
• CPC Class Codes: G05D 1/042 specially adapted for aircraft
• CPC Class Codes: G05D 1/0653 during a phase of take-off or landing
• CPC Class Codes: G06F 18/214 Generating training patterns; Bootstrap methods, e.g. bagging or boosting
• CPC Class Codes: G06F 18/24 Classification techniques
• CPC Class Codes: G06F 3/048 Interaction techniques based on graphical user interfaces [GUI]
• CPC Class Codes: G06F 3/04815 Interaction with a metaphor-based environment or interaction object displayed as three-dimensional, e.g. changing the user viewpoint with respect to the environment or object
• CPC Class Codes: G06Q 10/063114 : Status monitoring or status determination for a person or group
• CPC Class Codes: G06Q 10/1097 : Task assignment
• CPC Class Codes: G06Q 50/16 : Real estate
• CPC Class Codes: G06T 17/05 : Geographic models
• CPC Class Codes: G06T 2215/16 : Using real world measurements to influence rendering
• CPC Class Codes: G06V 20/17 : taken from planes or by drones
• CPC Class Codes: G06V 20/176 : Urban or other man-made structures
• CPC Class Codes: G06V 20/58 : Recognition of moving objects or obstacles, e.g. vehicles or pedestrians; Recognition of traffic objects, e.g. traffic signs, traffic lights or roads
• CPC Class Codes: G06V 2201/06 : Recognition of objects for industrial automation
• CPC Class Codes: G08G 5/0013 : with a ground station
• CPC Class Codes: G08G 5/0034 : Assembly of a flight plan
• CPC Class Codes: G08G 5/0065 : for taking-off
• CPC Class Codes: G08G 5/0069 : specially adapted for an unmanned aircraft
• CPC Class Codes: G08G 5/025 : Navigation or guidance aids radar or analogous systems specially adapted for landing purposes G01S13/913
• CPC Class Codes: H04N 23/631 : Graphical user interfaces [GUI] specially adapted for controlling image capture or setting capture parameters
• CPC Class Codes: H04N 5/44504 : Circuit details of the additional information generator, e.g. details of the character or graphics signal generator, overlay mixing circuits
• CPC Class Codes: H04N 7/183 : for receiving images from a single remote source
• CPC Class Codes: H04N 7/185 : from a mobile camera, e.g. for remote control

Abstract

Methods, systems, and apparatus, including computer programs encoded on computer storage media, for an unmanned aerial system inspection system. One of the methods is performed by a UAV and includes receiving, by the UAV, flight information describing a job to perform an inspection of a rooftop. A particular altitude is ascended to, and an inspection of the rooftop is performed including obtaining sensor information describing the rooftop. Location information identifying a damaged area of the rooftop is received. The damaged area of the rooftop is traveled to. An inspection of the damaged area of the rooftop is performed including obtaining detailed sensor information describing the damaged area. A safe landing location is traveled to.

Claims

1. A device 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:

transmitting, by the device and to an unmanned aerial vehicle (UAV) via a wireless or wired connection, a first inspection flight pattern for implementation by the UAV, the first inspection flight pattern indicating that the UAV is to obtain one or more aerial view images, associated with a first level of detail, of a structure;

displaying, via an interface of the device, one or more received aerial view images obtained, by the UAV, during implementation of the first inspection flight pattern, the aerial view images depicting a rooftop of the structure;

receiving, by the device, input specifying selections of one or more portions of the displayed aerial view images, the portions being associated with inspection locations indicating, at least, positions about the rooftop for which the UAV is to obtain images of the rooftop that are associated with a second level of detail greater than the first level of detail;

determining, by the device, a second inspection flight pattern for the UAV, the second inspection flight pattern comprising inspection waypoints for the inspection locations; and

transmitting, by the device and to the UAV via a wireless or wired connection, flight information including the second inspection flight pattern for implementation.

2. The device of claim 1, wherein the operations further comprise:

determining whether an obtained aerial view image meets an image quality threshold; and

upon a positive determination, transmitting instructions to the UAV to retake the determined aerial view image.

3. The device of claim 1, wherein the first inspection flight pattern includes a takeoff position, and a landing position, the takeoff and landing positions each comprising waypoints having an associated geospatial location, and wherein the takeoff and landing positions are used for the second inspection flight pattern.

4. The device of claim 1, wherein the operations further comprise:

determining a geofence envelope boundary for the UAV, wherein the geofence envelope boundary limits allowable locations of the UAV; and

determining an ascent altitude associated with transitions, by the UAV, between inspection waypoints, wherein the ascent altitude is lower than a maximum altitude indicated by the geofence envelope boundary.

5. The device of claim 1, wherein the operations further comprise:

determining a waypoint action for a particular inspection location of the one or more inspection locations, the waypoint action comprising determining a slope of the rooftop about the particular inspection location.

6. The device of claim 1, wherein the operations further comprise:

while the UAV implements the second inspection flight pattern, transmitting, by the device, commands to the UAV to control a vertical rate of ascent or descent of the UAV, rotation of the UAV, triggering of a UAV sensor, a direction of a sensor, nudging of the UAV or resuming auto-piloted navigation of the UAV.

7. The device of claim 1, wherein the operations further comprise:

obtaining one or more digital images that include an aerial view of the rooftop of the structure; and

providing, to the UAV, the one or more obtained digital images, the digital images being usable during implementation of the second inspection flight pattern to assist navigation of the UAV to a particular inspection location of the one or more inspection locations using visual odometry in reference to the digital view images.

8. The device of claim 1, wherein the interface includes a user affordance representing a size of a portion of the rooftop that is to be captured in aerial view images obtained by the UAV, wherein the user affordance is associated with a level of detail.

9. The device of claim 1, wherein during implementation of the second inspection flight pattern, the UAV is to navigate to the positions indicated by the inspection locations, and at an inspection altitude obtain aerial view images of the rooftop of the structure.

10. The device of claim 9, wherein the inspection altitude is based on the second level of detail, and wherein the second level of detail identifies an image pixel resolution of the obtained aerial view images.

11. A non-transitory computer storage medium comprising instructions that when executed by a device of one or more processors, cause the device to perform operations comprising:

transmitting, by the device and to an unmanned aerial vehicle (UAV) via a wireless or wired connection, a first inspection flight pattern for implementation by the UAV, the first inspection flight pattern indicating that the UAV is to obtain one or more aerial view images of a structure that are associated with a first level of detail;

displaying, via an interface of the device, one or more received aerial view images obtained, by the UAV, during implementation of the first inspection flight pattern, the aerial view images depicting a rooftop of the structure;

receiving, by the device, input specifying selections of one or more portions of the displayed aerial view images, the portions being associated with inspection locations indicating, at least, positions about the rooftop for which the UAV is to obtain images of the rooftop that are associated with a second level of detail greater than the first level of detail;

determining, by the device, a second inspection flight pattern for the UAV, the second inspection flight pattern comprising inspection waypoints for the inspection locations; and

transmitting, by the device and to the UAV via a wireless or wired connection, flight information including the second inspection flight pattern for implementation.

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

determining whether an obtained aerial view image meets an image quality threshold; and

upon a positive determination, transmitting instructions to the UAV to retake the determined aerial view image digital image.

13. The computer storage medium of claim 11, wherein the first inspection flight pattern includes a takeoff position, and a landing position, the takeoff and landing positions each comprising waypoints having an associated geospatial location, and wherein the takeoff and landing positions are used for the second inspection flight pattern.

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

determining a geofence envelope boundary for the UAV, wherein the geofence envelope boundary limits allowable locations of the UAV; and

determining an ascent altitude associated with transitions, by the UAV, between inspection waypoints, wherein the ascent altitude is lower than a maximum altitude indicated by the geofence envelope boundary.

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

determining a waypoint action for a particular inspection location of the one or more inspection locations, the waypoint action comprising determining a slope of the rooftop about the particular inspection location.

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

while the UAV implements the second inspection flight pattern, transmitting, by the device, commands to the UAV to control a vertical rate of ascent or descent of the UAV, rotation of the UAV, triggering of a UAV sensor, a direction of a sensor, nudging of the UAV or resuming auto-piloted navigation of the UAV.

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

obtaining one or more digital images that include an aerial view of the rooftop of the structure; and

providing, to the UAV, the one or more obtained digital images, the digital images being usable during implementation of the second inspection flight pattern to assist navigation of the UAV to a particular inspection location of the one or more inspection locations using visual odometry in reference to the digital view images.

18. The computer storage medium of claim 11, wherein the interface includes a user affordance representing a size of a portion of the rooftop that is to be captured in aerial view images obtained by the UAV, wherein the user affordance is associated with a level of detail.

19. The computer storage medium of claim 11, wherein during implementation of the second inspection flight pattern, the UAV is to navigate to the positions indicated by the inspection locations, and at an inspection altitude obtain aerial view images of the rooftop of the structure.

20. The computer storage medium of claim 19, wherein the inspection altitude is based on the second level of detail, and wherein the second level of detail identifies an image pixel resolution of the obtained aerial view images.

21. A computerized method performed by a device comprising one or more processors, the method comprising:

transmitting, by the device and to an unmanned aerial vehicle (UAV) via a wireless or wired connection, a first inspection flight pattern for implementation by the UAV, the first inspection flight pattern indicating that the UAV is to obtain one or more aerial view images of a structure that are associated with a first level of detail;

displaying, via an interface of the device, one or more received aerial view images obtained, by the UAV, during implementation of the first inspection flight pattern, the aerial view images depicting a rooftop of the structure;

receiving, by the device, input specifying selections of one or more portions of the displayed aerial view images, the portions being associated with inspection locations indicating, at least, positions about the rooftop for which the UAV is to obtain images of the rooftop that are associated with a second level of detail greater than the first level of detail;

determining, by the device, a second inspection flight pattern for the UAV, the second inspection flight pattern comprising inspection waypoints for the inspection locations; and

transmitting, by the device and to the UAV via a wireless or wired connection, flight information including the second inspection flight pattern for implementation.

22. The computerized method of claim 21 further comprising:

determining whether an obtained aerial view image meets an image quality threshold; and

upon a positive determination, transmitting instructions to the UAV to retake the determined aerial view image.

23. The computerized method of claim 21, wherein the first inspection flight pattern includes a takeoff position, and a landing position, the takeoff and landing positions each comprising waypoints having an associated geospatial location, and wherein the takeoff and landing positions are used for the second inspection flight pattern.

24. The computerized method of claim 21 further comprising:

determining a geofence envelope boundary for the UAV, wherein the geofence envelope boundary limits allowable locations of the UAV; and

determining an ascent altitude associated with transitions, by the UAV, between inspection waypoints, wherein the ascent altitude is lower than a maximum altitude indicated by the geofence envelope boundary.

25. The computerized method of claim 21 further comprising:

determining a waypoint action for a particular inspection location of the one or more inspection locations, the waypoint action comprising determining a slope of the rooftop about the particular inspection location.

26. The computerized method of claim 21 further comprising:

while the UAV implements the second inspection flight pattern, transmitting, by the device, commands to the UAV to control a vertical rate of ascent or descent of the UAV, rotation of the UAV, triggering of a UAV sensor, a direction of a sensor, nudging of the UAV or resuming auto-piloted navigation of the UAV.

27. The computerized method of claim 21 further comprising:

obtaining one or more digital images that include an aerial view of the rooftop of the structure; and

providing, to the UAV, the one or more obtained digital images, the digital images being usable during implementation of the second inspection flight pattern to assist navigation of the UAV to a particular inspection location of the one or more inspection locations using visual odometry in reference to the digital view images.

28. The computerized method of claim 21, wherein the interface includes a user affordance representing a size of a portion of the rooftop that is to be captured in aerial view images obtained by the UAV, wherein the user affordance is associated with a level of detail.

29. The computerized method of claim 21, wherein during implementation of the second inspection flight pattern, the UAV is to navigate to the positions indicated by the inspection locations, and at an inspection altitude obtain aerial view images of the rooftop of the structure.

30. The computerized method of claim 29, wherein the inspection altitude is based on the second level of detail, and wherein the second level of detail identifies an image pixel resolution of the obtained aerial view images.