Systems and methods for UAV property assessment, data capture and reporting

• US 9,639,960 B1
• Filed: 11/23/2016
• Issued: 05/02/2017
• Est. Priority Date: 11/04/2016
• Status: Active Grant

• Current Assignee: Loveland Innovations, Inc.
• Original Assignee: Loveland Innovations, LLC
• Inventors: Loveland, Jim, Larson, Leif, Christiansen, Dan, Christiansen, Tad, Christiansen, Cam
• Primary Examiner(s): AYNALEM, NATHNAEL B
• Application Number:
  US15/360,641
• Time in Patent Office: 160 Days
• Field of Search: 348143, 348144
• 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 2101/30 for imaging, photography or videography
• CPC Class Codes: G01C 11/02 Picture taking arrangements specially adapted for photogrammetry or photographic surveying, e.g. controlling overlapping of pictures
• 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 1/0088 characterized by the autonomous decision making process, e.g. artificial intelligence, predefined behaviours using knowledge based models G06N5/00
• CPC Class Codes: G05D 1/0094 involving pointing a payload, e.g. camera, weapon, sensor, towards a fixed or moving target
• CPC Class Codes: G06F 18/22 Matching criteria, e.g. proximity measures
• CPC Class Codes: G06T 2207/10032 Satellite or aerial image; Remote sensing
• CPC Class Codes: G06T 2207/20101 Interactive definition of point of interest, landmark or seed
• CPC Class Codes: G06T 2207/20104 Interactive definition of region of interest [ROI]
• CPC Class Codes: G06T 2207/30108 Industrial image inspection
• CPC Class Codes: G06T 2207/30184 Infrastructure
• CPC Class Codes: G06T 7/0004 Industrial image inspection
• CPC Class Codes: G06T 7/30 Determination of transform parameters for the alignment of images, i.e. image registration
• CPC Class Codes: G06T 7/38 Registration of image sequences
• CPC Class Codes: G06V 20/176 Urban or other man-made structures
• CPC Class Codes: H04N 1/00204 with a digital computer or a digital computer system, e.g. an internet server programmed control between transmitter and receiver or between image input and image output device H04N1/32561
• CPC Class Codes: H04N 23/45 for generating image signals from two or more image sensors being of different type or operating in different modes, e.g. with a CMOS sensor for moving images in combination with a charge-coupled device [CCD] for still images
• CPC Class Codes: H04N 23/62 : Control of parameters via user interfaces
• CPC Class Codes: H04N 23/66 : Remote control of cameras or camera parts, e.g. by remote control devices
• CPC Class Codes: H04N 7/185 : from a mobile camera, e.g. for remote control

Abstract

An unmanned aerial vehicle (UAV) assessment and reporting system may utilize one or more scanning techniques to provide useful assessments and/or reports for structures and other objects. The scanning techniques may be performed in sequence and optionally used to further fine tune each subsequent scan. A first image may be a nadir image in some embodiments. A boustrophedonic scan of the area may include images captured during a boustrophedonic flight pattern within a first altitude range. Distances to an underlying surface (e.g., ground or structure) may also be determined. A loop scan of the structure may be performed at a second flight pattern in which the UAV travels around the perimeter of the structure. A micro scan of the structure in a third flight pattern may include vertical approaches proximate the structure to capture detail images of the structure.

Claims

1. An unmanned aerial vehicle (UAV) assessment and reporting system for analyzing a structure, comprising:

(a) a site selection interface to receive an electronic input identifying a location of a structure;

(b) a boundary identification interface to receive electronic input identifying geographic boundaries of an area that includes the structure;

(c) a UAV to receive the geographic boundaries and the location of the structure from the site selection interface, the UAV comprising;

a camera to capture images of the structure;

a camera adjustment component to adjust an angle of the camera relative to the UAV;

a processor in communication with the camera; and

a non-transitory computer-readable medium for receiving and storing instructions that,

when executed by the processor, cause the UAV to conduct a structural assessment, the operations comprising a plurality of assessments including;

a boustrophedonic scan of the area in a first boustrophedonic flight pattern defined by the identified geographic boundaries that include the structure, the boustrophedonic scan including;

image capture during the first boustrophedonic flight pattern within a first altitude range, and

a determination of distances to a surface for each of a plurality of potential vertical approaches within the area defined by the identified geographic boundaries that include the structure;

identifying a structure on the site based on at least one of the identified geographic boundaries and the boustrophedonic scan of the area;

a loop scan of the structure, the loop scan including a second flight pattern for the UAV to travel around a perimeter of the structure at a second altitude range lower than the first altitude range, and

a micro scan of the structure in a third flight pattern that includes vertical approaches proximate the structure to capture detail images of the structure.

2. The UAV assessment and reporting system of claim 1, wherein the boundary identification interface is configured to receive electronic input identifying geographic boundaries corresponding to at least one of:

boundaries of a lot that includes the structure, and

boundaries of the structure itself.

3. The UAV assessment and reporting system of claim 1, further comprising a hazard identification interface to receive an input from a user identifying at least one obstacle proximate the structure that is within the geographic boundaries.

4. The UAV assessment and reporting system of claim 1, wherein the operations further comprise an assessment that include a calculation of a pitch of a roof of the structure.

5. The UAV assessment and reporting system of claim 4, wherein the pitch is calculated using a pitch calculation algorithm utilizing the images captured by the camera in combination with image metadata.

6. The UAV assessment and reporting system of claim 4, further comprising a sonar transceiver, and wherein the pitch is calculated using a pitch calculation algorithm utilizing the images captured by the camera, captured sonar data, and image metadata.

7. The UAV assessment and reporting system of claim 1, further comprising an interface for a user to identify a portion of interest on the structure, and wherein the micro scan includes capturing detail images of the portion of interest on the structure.

8. The UAV assessment and reporting system of claim 7, wherein the portion of interest on the structure comprises a damaged location on the structure.

9. The UAV assessment and reporting system of claim 7, wherein the portion of interest on the structure comprises a location for solar panel installation, and wherein the operations further comprise a solar panel installation assessment.

10. The UAV assessment and reporting system of claim 7, wherein the portion of interest is identified by the processor of the UAV based on at least one of the boustrophedonic scan and the loop scan.

11. The UAV assessment and reporting system of claim 10, wherein the portion of interest is broadly identified by the processor of the UAV based on the boustrophedonic scan and then more specifically identified based on the loop scan.

12. The UAV assessment and reporting system of claim 1, wherein the operations further comprise capturing an aerial image of the entire site and adjusting the first, second and third flight patterns based on the aerial image.

13. A method for generating a damage assessment report, comprising:

receiving, via an electronic site selection user interface,

an electronic input identifying a geographic location of a site containing a structure, and

geographic boundaries of an area that includes the structure;

transmitting the location of the site containing the structure to an unmanned aerial vehicle;

transmitting at least a portion of the geographic boundaries of the area that includes the structure to the unmanned aerial vehicle;

transmitting instructions to the unmanned aerial vehicle to execute a structural damage assessment of the structure via at least one camera and associated camera adjustment component, the structural damage assessment comprising;

a boustrophedonic scan of the area in a first boustrophedonic flight pattern defined by the identified geographic boundaries that include the structure, the boustrophedonic scan including;

image capture during the first boustrophedonic flight pattern within a first altitude range, and

a determination of distances to a surface for each of a plurality of potential vertical approaches within the area defined by the identified geographic boundaries that include the structure;

identifying a structure on the site based on at least one of the identified geographic boundaries and the boustrophedonic scan of the area;

a loop scan of the structure, the loop scan including a second flight pattern for the UAV to travel around a perimeter of the structure at a second altitude range lower than the first altitude range, and

a micro scan of the structure in a third flight pattern that includes vertical approaches proximate the structure to capture detail images of the structure.

14. The method of claim 13, wherein the structural damage assessment further comprises a nadir image of the structure.

15. The method of claim 14, wherein the nadir image is used to align the boustrophedonic scan, wherein the boustrophedonic scan is used to align the loop scan, and wherein the loop scan is used to align the micro scan.