Unmanned aircraft for positioning an instrument for inspection purposes and methods of inspecting a target surface
First Claim
1. A method of positioning an instrument by an unmanned aircraft for measurement purposes relating to a target surface, the method comprising:
- coupling the instrument to an aircraft frame of the unmanned aircraft, the aircraft frame including a first arm, a second arm, and a third arm coupled to each other;
moving the unmanned aircraft to position the instrument away from the target surface;
detecting one or more parameters associated with the target surface;
using the one or more parameters to determine one or more controls for maintaining a constant altitude and a level attitude relative to the target surface;
using the one or more controls to manage a plurality of motor propulsion systems coupled to the aircraft frame to position the unmanned aircraft such that the instrument is orientated perpendicular to the target surface, the plurality of motor propulsion systems including a first motor propulsion system configured to facilitate lift/altitude and attitude control for the aircraft frame and a second motor propulsion system configured to facilitate translation and drift control for the aircraft frame, the second motor propulsion system including one motor coupled to a distal end of the second arm and an other motor coupled to a distal end of the third arm;
conducting a measurement by the instrument while the unmanned aircraft is positioned such that the instrument is orientated perpendicular to the target surface; and
transmitting the measurement to a receiver.
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Abstract
A method of positioning an instrument by an unmanned aircraft for measurement purposes relating to a target surface is provided. The method includes coupling the instrument to the unmanned aircraft and moving the unmanned aircraft to position the instrument away from the target surface. The method further includes stabilizing the unmanned aircraft to maintain a constant altitude and a level attitude relative to the target surface and orientating the instrument perpendicular to the target surface. A measurement is conducted by the instrument while the instrument is orientated perpendicular to the target surface. The method also includes transmitting the measurement to a receiver.
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Citations
25 Claims
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1. A method of positioning an instrument by an unmanned aircraft for measurement purposes relating to a target surface, the method comprising:
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coupling the instrument to an aircraft frame of the unmanned aircraft, the aircraft frame including a first arm, a second arm, and a third arm coupled to each other; moving the unmanned aircraft to position the instrument away from the target surface; detecting one or more parameters associated with the target surface; using the one or more parameters to determine one or more controls for maintaining a constant altitude and a level attitude relative to the target surface; using the one or more controls to manage a plurality of motor propulsion systems coupled to the aircraft frame to position the unmanned aircraft such that the instrument is orientated perpendicular to the target surface, the plurality of motor propulsion systems including a first motor propulsion system configured to facilitate lift/altitude and attitude control for the aircraft frame and a second motor propulsion system configured to facilitate translation and drift control for the aircraft frame, the second motor propulsion system including one motor coupled to a distal end of the second arm and an other motor coupled to a distal end of the third arm; conducting a measurement by the instrument while the unmanned aircraft is positioned such that the instrument is orientated perpendicular to the target surface; and transmitting the measurement to a receiver. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11)
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12. An unmanned aircraft for positioning an instrument for measurement purposes relative to a target surface during flight operations of the unmanned aircraft, the unmanned aircraft comprising:
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an aircraft frame comprising a first arm, a second arm, and a third arm coupled to each other, the aircraft frame is configured to couple to the instrument; a first motor propulsion system coupled to the aircraft frame and configured to facilitate lift/altitude and attitude control for the aircraft frame; and a second motor propulsion system coupled to the aircraft frame and configured to facilitate translation and drift control for the aircraft frame, the second motor propulsion system comprising one motor coupled to a distal end of the second arm and an other motor coupled to a distal end of the third arm, wherein the first motor propulsion system and the second motor propulsion system are configured to stabilize the aircraft frame and to orientate the unmanned aircraft such that the instrument is perpendicular to the target surface during the flight operations. - View Dependent Claims (13, 14, 15, 16, 17, 18, 19, 20, 21)
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22. A system for inspecting a target surface comprising:
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an unmanned aircraft configured to inspect the target surface during flight operations of the unmanned aircraft, the unmanned aircraft comprising; an aircraft frame comprising a first arm, a second arm, and a third arm coupled to each other; a first motor propulsion system coupled to the aircraft frame and configured to facilitate lift/altitude and attitude control for the aircraft frame, the second motor propulsion system comprising one motor coupled to a distal end of the second arm and an other motor coupled to a distal end of the third arm; and a second motor propulsion system coupled to the aircraft frame configured to facilitate translation and drift control for the aircraft frame; an instrument coupled to the aircraft frame and configured to take a measurement relative to the target surface and transmit the measurement, wherein the first motor propulsion system and the second motor propulsion system are configured to stabilize the aircraft frame and to orientate the unmanned aircraft such that the instrument is perpendicular to the target surface during the flight operations; and a centralized inspection station communicatively coupled to the instrument and configured to receive the measurement and analyze the measurement to facilitate generating a virtual model of the target surface.
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23. A method of positioning an instrument by an unmanned aircraft for measurement purposes relating to a target surface, the method comprising:
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coupling the instrument to an aircraft frame of the unmanned aircraft, the aircraft frame including a first arm, a second arm, and a third arm coupled to each other, the first arm having a first axis, the second arm having a second axis, and the third arm having a third axis; moving the unmanned aircraft to position the instrument away from the target surface; detecting one or more parameters associated with the target surface; using the one or more parameters to determine one or more controls for maintaining a constant altitude and a level attitude relative to the target surface; using the one or more controls to manage a plurality of motor propulsion systems coupled to the aircraft frame to position the unmanned aircraft such that the instrument is orientated perpendicular to the target surface, the plurality of motor propulsion systems including a first motor propulsion system configured to facilitate lift/altitude and attitude control for the aircraft frame and a second motor propulsion system configured to facilitate translation and drift control for the aircraft frame, the first motor propulsion system including a first motor coupled to the first arm perpendicular to the first axis, a second motor coupled to the second arm perpendicular to the second axis, and a third motor coupled to the third arm perpendicular to the third axis, the second motor propulsion system including a fourth motor coupled co-linearly relative to the second axis and a fifth motor coupled co-linearly relative to the third axis; conducting a measurement by the instrument while the unmanned aircraft is positioned such that the instrument is orientated perpendicular to the target surface; and transmitting the measurement to a receiver.
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24. An unmanned aircraft for positioning an instrument for measurement purposes relative to a target surface during flight operations of the unmanned aircraft, the unmanned aircraft comprising:
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an aircraft frame coupleable to the instrument, the aircraft frame comprising a first arm, a second arm, and a third arm coupled to each other, the first arm having a first axis, the second arm having a second axis, and the third arm having a third axis; a first motor propulsion system coupled to the aircraft frame and configured to facilitate lift/altitude and attitude control for the aircraft frame, the first motor propulsion system comprising a first motor coupled to the first arm perpendicular to the first axis, a second motor coupled to the second arm perpendicular to the second axis, and a third motor coupled to the third arm perpendicular to the third axis; and a second motor propulsion system coupled to the aircraft frame and configured to facilitate translation and drift control for the aircraft frame, the second motor propulsion system comprising a fourth motor coupled co-linearly relative to the second axis and a fifth motor coupled co-linearly relative to the third axis, wherein the first motor propulsion system and the second motor propulsion system are configured to stabilize the aircraft frame and to orientate the unmanned aircraft such that the instrument is perpendicular to the target surface during the flight operations.
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25. A system for inspecting a target surface comprising:
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an unmanned aircraft configured to inspect the target surface during flight operations of the unmanned aircraft, the unmanned aircraft comprising; an aircraft frame comprising a first arm, a second arm, and a third arm coupled to each other, the first arm having a first axis, the second arm having a second axis, and the third arm having a third axis; a first motor propulsion system coupled to the aircraft frame and configured to facilitate lift/altitude and attitude control for the aircraft frame, the first motor propulsion system comprising a first motor coupled to the first arm perpendicular to the first axis, a second motor coupled to the second arm perpendicular to the second axis, and a third motor coupled to the third arm perpendicular to the third axis; and a second motor propulsion system coupled to the aircraft frame configured to facilitate translation and drift control for the aircraft frame, the second motor propulsion system comprising a fourth motor coupled co-linearly relative to the second axis and a fifth motor coupled co-linearly relative to the third axis; an instrument coupled to the aircraft frame and configured to take a measurement relative to the target surface and transmit the measurement, wherein the first motor propulsion system and the second motor propulsion system are configured to stabilize the aircraft frame and to orientate the unmanned aircraft such that the instrument is perpendicular to the target surface during the flight operations; and a centralized inspection station communicatively coupled to the instrument and configured to receive the measurement and analyze the measurement to facilitate generating a virtual model of the target surface.
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Specification