Unmanned aircraft for positioning an instrument for inspection purposes and methods of inspecting a target surface

• US 9,823,664 B2
• Filed: 02/25/2016
• Issued: 11/21/2017
• Est. Priority Date: 02/25/2016
• Status: Active Grant

• Current Assignee: AMTS LLC
• Original Assignee: AMTS LLC
• Inventors: Krogh, Michael L., DeMoss, Ed
• Primary Examiner(s): LANG, MICHAEL DEAN
• Application Number:
  US15/053,455
• Publication Number:
  US 20170248967A1
• Time in Patent Office: 635 Days
• CPC Class Codes: B64C 39/024 of the remote controlled vehicle type, i.e. RPV
• 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 30/20 Rotors; Rotor supports
• CPC Class Codes: B64U 50/13 using external fans or propellers
• 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: G01C 15/002 Active optical surveying means optical plumbing G01C15/105
• CPC Class Codes: G01C 5/005 altimeters for aircraft G01C5/02, G01C5/06 take precedence
• CPC Class Codes: G01S 17/42 Simultaneous measurement of distance and other co-ordinates indirect measurement G01S17/46
• CPC Class Codes: G01S 17/88 Lidar systems specially adapted for specific applications
• CPC Class Codes: G01S 17/89 for mapping or imaging
• CPC Class Codes: G01S 19/42 Determining position
• CPC Class Codes: G05D 1/0094 involving pointing a payload, e.g. camera, weapon, sensor, towards a fixed or moving target

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.

Claims

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.

2. The method of positioning the instrument of claim 1 further comprising coupling at least one of a global positioning system and an above ground altimeter to the unmanned aircraft.

3. The method of positioning the instrument of claim 1 further comprising an altimeter to the unmanned aircraft, wherein moving the unmanned aircraft comprises moving the altimeter to measure altitude perpendicular to the target surface.

4. The method of positioning the instrument of claim 1 wherein coupling the instrument to the unmanned aircraft comprises coupling at least one of a camera, a laser, and a laser altimeter to the unmanned aircraft.

5. The method of positioning the instrument of claim 1 wherein coupling the instrument comprises removably coupling the instrument to the unmanned aircraft.

6. The method of positioning the instrument of claim 1 wherein moving the unmanned aircraft comprises moving the unmanned aircraft in a plurality of positions while maintaining the unmanned aircraft parallel to the target surface and managing the plurality of motor propulsion systems to position the unmanned aircraft such that the instrument is orientated perpendicular to the target surface.

7. The method of positioning the instrument of claim 1 wherein detecting the one or more parameters associated with the target surface comprises detecting at least one weather parameter, and wherein using the one or more parameters comprises adjusting the position of the unmanned aircraft based on the at least one weather parameter.

8. The method of positioning the instrument of claim 1 wherein conducting the measurement comprises identifying that the unmanned aircraft is stabilized, and conducting the measurement while the unmanned aircraft is stabilized.

9. The method of positioning the instrument of claim 1 wherein conducting the measurement comprises capturing an image by a camera while the unmanned aircraft is positioned such that the instrument is orientated perpendicular to the target surface.

10. The method of positioning the instrument of claim 1 wherein conducting the measurement comprises measuring a distance to the target surface using a laser.

11. The method of positioning the instrument of claim 1 where transmitting the measurement comprises transmitting the measurement to a remote memory of the receiver.

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:

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.

13. The unmanned aircraft of claim 12 wherein the first propulsion system is configured to perform at least one of a pitch maneuver and a roll maneuver to facilitate maintaining a specific attitude of the aircraft frame.

14. The unmanned aircraft of claim 12 wherein the second propulsion system is configured to perform at least one of a yaw maneuver and a vectoring maneuver to facilitate translation of the aircraft frame.

15. The unmanned aircraft of claim 12 wherein the first arm, the second arm, and the third arm are coupled to each other in a “

Y”

configuration.

16. The unmanned aircraft of claim 12 wherein the second arm and the third arm are angularly coupled to the first arm at a range from about 30 degrees to about 75 degrees relative to the first arm.

17. The unmanned aircraft of claim 12 wherein each of the first arm, the second arm, and the third arm comprise a proximal end, the instrument coupled to the aircraft frame near an intersection of the respective proximal ends.

18. The unmanned aircraft of claim 12 wherein the first motor propulsion system comprises a first motor coupled to a distal end of the first arm, a second motor coupled to the second arm and in between a proximal end and the distal end of the second arm, and a third motor coupled to the third arm and in between a proximal end and the distal end of the third arm.

19. The unmanned aircraft of claim 18 wherein the first motor, the second motor, and the third motor are coupled perpendicular to each axis of the respective first arm, the second arm, and the third arm, and the fourth one motor is coupled co-linearly relative to the axis of the second arm and the fifth other motor is coupled co-linearly relative to the axis of the third arm.

20. The unmanned aircraft of claim 12 wherein the first motor propulsion system and the second motor propulsion system are configured to move the aircraft frame in a plurality of positions while maintaining an orientation of the instrument perpendicular to the target surface.

21. The unmanned aircraft of claim 12 further comprising an airfoil coupled to the aircraft frame.

22. A system for inspecting a target surface comprising:

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.

23. 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, 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.

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:

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.

25. A system for inspecting a target surface comprising:

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.