FR3116806B1 - Drone volant pour l’inspection de surfaces et procédé d’inspection de surfaces au moyen d’un tel drone volant - Google Patents

Drone volant pour l’inspection de surfaces et procédé d’inspection de surfaces au moyen d’un tel drone volant Download PDF

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Publication number
FR3116806B1
FR3116806B1 FR2012246A FR2012246A FR3116806B1 FR 3116806 B1 FR3116806 B1 FR 3116806B1 FR 2012246 A FR2012246 A FR 2012246A FR 2012246 A FR2012246 A FR 2012246A FR 3116806 B1 FR3116806 B1 FR 3116806B1
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FR
France
Prior art keywords
image acquisition
flying drone
inspection
light
acquisition devices
Prior art date
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Active
Application number
FR2012246A
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English (en)
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FR3116806A1 (fr
Inventor
Jérome Fayolet
Florent Montet
Albaret François Lefebvre
Nicolas Dominguez
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Airbus Operations SAS
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Airbus Operations SAS
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Publication date
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Priority to FR2012246A priority Critical patent/FR3116806B1/fr
Priority to US17/535,052 priority patent/US11783465B2/en
Priority to CN202111423697.XA priority patent/CN114563407A/zh
Publication of FR3116806A1 publication Critical patent/FR3116806A1/fr
Application granted granted Critical
Publication of FR3116806B1 publication Critical patent/FR3116806B1/fr
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Classifications

    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
    • G01N21/00—Investigating or analysing materials by the use of optical means, i.e. using sub-millimetre waves, infrared, visible or ultraviolet light
    • G01N21/84—Systems specially adapted for particular applications
    • G01N21/88—Investigating the presence of flaws or contamination
    • G01N21/8806—Specially adapted optical and illumination features
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T7/00—Image analysis
    • G06T7/0002—Inspection of images, e.g. flaw detection
    • G06T7/0004—Industrial image inspection
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64C—AEROPLANES; HELICOPTERS
    • B64C39/00—Aircraft not otherwise provided for
    • B64C39/02—Aircraft not otherwise provided for characterised by special use
    • B64C39/024—Aircraft not otherwise provided for characterised by special use of the remote controlled vehicle type, i.e. RPV
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64D—EQUIPMENT FOR FITTING IN OR TO AIRCRAFT; FLIGHT SUITS; PARACHUTES; ARRANGEMENT OR MOUNTING OF POWER PLANTS OR PROPULSION TRANSMISSIONS IN AIRCRAFT
    • B64D47/00—Equipment not otherwise provided for
    • B64D47/02—Arrangements or adaptations of signal or lighting devices
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64D—EQUIPMENT FOR FITTING IN OR TO AIRCRAFT; FLIGHT SUITS; PARACHUTES; ARRANGEMENT OR MOUNTING OF POWER PLANTS OR PROPULSION TRANSMISSIONS IN AIRCRAFT
    • B64D47/00—Equipment not otherwise provided for
    • B64D47/08—Arrangements of cameras
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64F—GROUND OR AIRCRAFT-CARRIER-DECK INSTALLATIONS SPECIALLY ADAPTED FOR USE IN CONNECTION WITH AIRCRAFT; DESIGNING, MANUFACTURING, ASSEMBLING, CLEANING, MAINTAINING OR REPAIRING AIRCRAFT, NOT OTHERWISE PROVIDED FOR; HANDLING, TRANSPORTING, TESTING OR INSPECTING AIRCRAFT COMPONENTS, NOT OTHERWISE PROVIDED FOR
    • B64F5/00—Designing, manufacturing, assembling, cleaning, maintaining or repairing aircraft, not otherwise provided for; Handling, transporting, testing or inspecting aircraft components, not otherwise provided for
    • B64F5/60—Testing or inspecting aircraft components or systems
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U20/00—Constructional aspects of UAVs
    • B64U20/70—Constructional aspects of the UAV body
    • B64U20/77—Constructional aspects of the UAV body the body being formed integrally with wings or rotor supports
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F21—LIGHTING
    • F21V—FUNCTIONAL FEATURES OR DETAILS OF LIGHTING DEVICES OR SYSTEMS THEREOF; STRUCTURAL COMBINATIONS OF LIGHTING DEVICES WITH OTHER ARTICLES, NOT OTHERWISE PROVIDED FOR
    • F21V21/00—Supporting, suspending, or attaching arrangements for lighting devices; Hand grips
    • F21V21/14—Adjustable mountings
    • F21V21/30—Pivoted housings or frames
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
    • G01N21/00—Investigating or analysing materials by the use of optical means, i.e. using sub-millimetre waves, infrared, visible or ultraviolet light
    • G01N21/17—Systems in which incident light is modified in accordance with the properties of the material investigated
    • G01N21/55—Specular reflectivity
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
    • G01N21/00—Investigating or analysing materials by the use of optical means, i.e. using sub-millimetre waves, infrared, visible or ultraviolet light
    • G01N21/84—Systems specially adapted for particular applications
    • G01N21/88—Investigating the presence of flaws or contamination
    • G01N21/8851—Scan or image signal processing specially adapted therefor, e.g. for scan signal adjustment, for detecting different kinds of defects, for compensating for structures, markings, edges
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
    • G01N21/00—Investigating or analysing materials by the use of optical means, i.e. using sub-millimetre waves, infrared, visible or ultraviolet light
    • G01N21/84—Systems specially adapted for particular applications
    • G01N21/88—Investigating the presence of flaws or contamination
    • G01N21/95—Investigating the presence of flaws or contamination characterised by the material or shape of the object to be examined
    • G01N21/952—Inspecting the exterior surface of cylindrical bodies or wires
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T7/00—Image analysis
    • G06T7/40—Analysis of texture
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T7/00—Image analysis
    • G06T7/50—Depth or shape recovery
    • G06T7/514—Depth or shape recovery from specularities
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T7/00—Image analysis
    • G06T7/50—Depth or shape recovery
    • G06T7/55—Depth or shape recovery from multiple images
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T7/00—Image analysis
    • G06T7/70—Determining position or orientation of objects or cameras
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
    • H04N23/56—Cameras or camera modules comprising electronic image sensors; Control thereof provided with illuminating means
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
    • H04N23/57—Mechanical or electrical details of cameras or camera modules specially adapted for being embedded in other devices
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
    • H04N23/60—Control of cameras or camera modules
    • H04N23/695—Control of camera direction for changing a field of view, e.g. pan, tilt or based on tracking of objects
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
    • H04N23/90—Arrangement of cameras or camera modules, e.g. multiple cameras in TV studios or sports stadiums
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64D—EQUIPMENT FOR FITTING IN OR TO AIRCRAFT; FLIGHT SUITS; PARACHUTES; ARRANGEMENT OR MOUNTING OF POWER PLANTS OR PROPULSION TRANSMISSIONS IN AIRCRAFT
    • B64D2203/00—Aircraft or airfield lights using LEDs
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U10/00—Type of UAV
    • B64U10/10—Rotorcrafts
    • B64U10/13—Flying platforms
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U2101/00—UAVs specially adapted for particular uses or applications
    • B64U2101/30—UAVs specially adapted for particular uses or applications for imaging, photography or videography
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U30/00—Means for producing lift; Empennages; Arrangements thereof
    • B64U30/20—Rotors; Rotor supports
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
    • G01N21/00—Investigating or analysing materials by the use of optical means, i.e. using sub-millimetre waves, infrared, visible or ultraviolet light
    • G01N21/84—Systems specially adapted for particular applications
    • G01N21/88—Investigating the presence of flaws or contamination
    • G01N21/8806—Specially adapted optical and illumination features
    • G01N2021/8845—Multiple wavelengths of illumination or detection
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
    • G01N2201/00—Features of devices classified in G01N21/00
    • G01N2201/02—Mechanical
    • G01N2201/021—Special mounting in general
    • G01N2201/0214—Airborne
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T2207/00—Indexing scheme for image analysis or image enhancement
    • G06T2207/10—Image acquisition modality
    • G06T2207/10032—Satellite or aerial image; Remote sensing
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T2207/00—Indexing scheme for image analysis or image enhancement
    • G06T2207/30—Subject of image; Context of image processing
    • G06T2207/30108—Industrial image inspection

Landscapes

  • Engineering & Computer Science (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Computer Vision & Pattern Recognition (AREA)
  • Theoretical Computer Science (AREA)
  • Remote Sensing (AREA)
  • Mechanical Engineering (AREA)
  • Signal Processing (AREA)
  • Multimedia (AREA)
  • Chemical & Material Sciences (AREA)
  • Pathology (AREA)
  • Health & Medical Sciences (AREA)
  • Analytical Chemistry (AREA)
  • Biochemistry (AREA)
  • General Health & Medical Sciences (AREA)
  • Immunology (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • General Engineering & Computer Science (AREA)
  • Quality & Reliability (AREA)
  • Manufacturing & Machinery (AREA)
  • Transportation (AREA)
  • Investigating Materials By The Use Of Optical Means Adapted For Particular Applications (AREA)
  • Length Measuring Devices By Optical Means (AREA)

Abstract

Un drone volant (12) pour l’inspection de surfaces aptes à réfléchir la lumière, comprend un dispositif lumineux (16) formé de deux sources de lumière (16A, 16B) ayant chacune une forme allongée selon une direction longitudinale (D) de chacune des sources de lumière ; deux premiers dispositifs d’acquisition d’images (14A, 14B) ; et un deuxième dispositif d’acquisition d’images (15) agencé entre les deux premiers dispositifs d’acquisition d’images. Les deux sources de lumière sont agencées respectivement entre le deuxième dispositif d’acquisition d’images et chacun des premiers dispositifs d’acquisition d’images. Le drone volant permet une détection efficace d’enfoncements sur des surfaces par analyse de reflets spéculaires, au moyen du dispositif lumineux et des premiers dispositifs d’acquisition d’images, et une détection efficace de défauts superficiels sur des surfaces au moyen du deuxième dispositif d’acquisition d’images, le dispositif lumineux étant éteint. Figure pour l’abrégé : Figure 1
FR2012246A 2020-11-27 2020-11-27 Drone volant pour l’inspection de surfaces et procédé d’inspection de surfaces au moyen d’un tel drone volant Active FR3116806B1 (fr)

Priority Applications (3)

Application Number Priority Date Filing Date Title
FR2012246A FR3116806B1 (fr) 2020-11-27 2020-11-27 Drone volant pour l’inspection de surfaces et procédé d’inspection de surfaces au moyen d’un tel drone volant
US17/535,052 US11783465B2 (en) 2020-11-27 2021-11-24 Flying drone for inspecting surfaces, and method for inspecting surfaces by such a flying drone
CN202111423697.XA CN114563407A (zh) 2020-11-27 2021-11-26 飞行无人机和检查能够反射光的表面的方法和系统

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
FR2012246 2020-11-27
FR2012246A FR3116806B1 (fr) 2020-11-27 2020-11-27 Drone volant pour l’inspection de surfaces et procédé d’inspection de surfaces au moyen d’un tel drone volant

Publications (2)

Publication Number Publication Date
FR3116806A1 FR3116806A1 (fr) 2022-06-03
FR3116806B1 true FR3116806B1 (fr) 2022-11-11

Family

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Family Applications (1)

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FR2012246A Active FR3116806B1 (fr) 2020-11-27 2020-11-27 Drone volant pour l’inspection de surfaces et procédé d’inspection de surfaces au moyen d’un tel drone volant

Country Status (3)

Country Link
US (1) US11783465B2 (fr)
CN (1) CN114563407A (fr)
FR (1) FR3116806B1 (fr)

Families Citing this family (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
FR3084485B1 (fr) * 2018-07-26 2022-08-05 Donecle Engin volant motorise de mesure du relief de surfaces d'un objet predetermine et procede de commande d'un tel engin
EP4095035A1 (fr) * 2021-05-25 2022-11-30 Valmet Technologies Oy Aéronef sans pilote

Family Cites Families (10)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
FR3038109B1 (fr) 2015-06-29 2018-07-27 Airbus Operations (S.A.S.) Systeme et procede de localisation d'impacts sur une surface externe
US20190002093A1 (en) * 2015-07-31 2019-01-03 Panasonic Intellectual Property Management Co., Ltd. Aircraft
DE102016206982B4 (de) * 2016-04-25 2022-02-10 Siemens Aktiengesellschaft Flugmobil zum Scannen eines Objekts und System zur Schadensanalyse des Objekts
US20180035606A1 (en) * 2016-08-05 2018-02-08 Romello Burdoucci Smart Interactive and Autonomous Robotic Property Maintenance Apparatus, System, and Method
BR102016028266A2 (pt) * 2016-12-01 2018-06-19 Autaza Tecnologia Ltda - Epp Método e sistema para a inspeção automática de qualidade de materiais
DE102017102338A1 (de) * 2017-02-07 2018-08-09 Rheinisch-Westfälische Technische Hochschule (Rwth) Aachen Verfahren und Vorrichtung zum Auffinden oder Untersuchen von Oberflächendefekten in einer mehrschichtigen Oberfläche
EP3450310A1 (fr) * 2017-09-05 2019-03-06 Flyability SA Véhicule aérien sans pilote équipé de cage extérieure de protection
CN110382357A (zh) * 2018-03-30 2019-10-25 深圳市大疆创新科技有限公司 无人机和透镜的设计方法
US10988241B2 (en) * 2018-04-20 2021-04-27 Skypersonic, Llc Removable cage for drone
US11460866B2 (en) * 2019-04-18 2022-10-04 Pearls Of Wisdom Advanced Technologies Ltd UAV carrier

Also Published As

Publication number Publication date
US11783465B2 (en) 2023-10-10
US20220172344A1 (en) 2022-06-02
FR3116806A1 (fr) 2022-06-03
CN114563407A (zh) 2022-05-31

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