JP2021511580A - 自動化された適応型三次元ロボット現地調査 - Google Patents
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Abstract
Description
Claims (20)
- 資産の三次元モデルを生成するシステムであって、
命令を格納するメモリ、および
前記命令を実行するように構成されたプロセッサを含み、ここで前記実行された命令は、前記プロセッサに、
資産の周りで無人車両を操作するためのミッションプランの制約に対応する入力パラメータを受け取る動作、
前記資産を表す資産タイプの情報を含む前記入力パラメータに基づいて前記ミッションプランを生成することであって、前記ミッションプランは、前記無人車両の1つまたは複数の画像センサの位置および向きを識別するウェイポイントを含む、動作、
1つまたは複数の事前定義された基準を満たす前記ウェイポイントを接続する前記無人車両の飛行経路を生成する動作、
各ウェイポイントで、前記1つまたは複数の画像センサによって感知した前記資産の局所的形状を決定する動作、
前記局所的形状に基づいてオンザフライで前記ミッションプランを変更する動作、および
前記変更されたミッションプランのウェイポイントに沿って前記資産の画像をキャプチャする動作を行わせる、システム。 - 前記プロセッサは、1つのウェイポイントから次のウェイポイントへの前記飛行経路の実行中に前記無人車両の車両状態を監視するようにさらに構成される、請求項1に記載のシステム。
- 前記入力パラメータは、資産制約、三次元再構築制約、およびミッション制約のうちの少なくとも1つを含む、請求項1に記載のシステム。
- 前記入力パラメータは、ジオフェンス、カメラパラメータ、および資産寸法のうちの少なくとも1つを含む、請求項3に記載のシステム。
- 前記1つまたは複数の画像センサは、(i)カメラ、(ii)ビデオカメラ、(iii)赤外線カメラ、(iv)マイク、(v)化学検出器、(vi)光検出測距(「LIDAR」)センサ、および(vii)放射線検出器のうちの少なくとも1つに関連付けられる、請求項1に記載のシステム。
- 前記資産タイプは、プリミティブ形状およびパラメータに関して表現される、請求項1に記載のシステム。
- 前記ミッションプランを変更することは、前記1つまたは複数の画像センサの前記向きを変更すること、ウェイポイントを追加すること、および前記ウェイポイントを変更することのうちの少なくとも1つを含む、請求項1に記載のシステム。
- 前記1つまたは複数の事前定義された基準は、環境制約、車両制約、およびタスク制約を含む、請求項1に記載のシステム。
- 資産の三次元モデルを生成する方法であって、
資産の周りで無人車両を操作するためのミッションプランの制約に対応する入力パラメータを受け取るステップ、
前記資産を表す資産タイプの情報を含む前記入力パラメータに基づいて前記ミッションプランを生成するステップであって、前記ミッションプランは、前記無人車両の1つまたは複数の画像センサの位置および向きを識別するウェイポイントを含む、ステップ、
1つまたは複数の事前定義された基準を満たす前記ウェイポイントを接続する前記無人車両の飛行経路を生成するステップ、
あるウェイポイントから次のウェイポイントへの前記飛行経路の実行中に前記無人車両の車両状態を監視するステップ、
各ウェイポイントで、前記1つまたは複数の画像センサによって感知した前記資産の局所的形状を決定するステップ、
前記局所的形状に基づいてオンザフライで前記ミッションプランを変更するステップ、および
前記変更されたミッションプランのウェイポイントに沿って前記資産の画像をキャプチャするステップを含む、方法。 - 1つのウェイポイントから次のウェイポイントへの前記飛行経路の実行中に前記無人車両の車両状態を監視するステップをさらに含む、請求項9に記載の方法。
- 前記入力パラメータは、資産制約、三次元再構築制約、およびミッション制約のうちの少なくとも1つを含む、請求項9に記載の方法。
- 前記入力パラメータは、ジオフェンス、カメラパラメータ、および資産寸法のうちの少なくとも1つを含む、請求項11に記載の方法。
- 前記1つまたは複数の画像センサは、(i)カメラ、(ii)ビデオカメラ、(iii)赤外線カメラ、(iv)マイク、(v)化学検出器、(vi)光検出測距(「LIDAR」)センサ、および(vii)放射線検出器のうちの少なくとも1つに関連付けられる、請求項9に記載の方法。
- 前記資産タイプは、プリミティブ形状およびパラメータに関して表現される、請求項9に記載の方法。
- 前記ミッションプランを変更するステップは、前記1つまたは複数の画像センサの前記向きを変更するステップ、ウェイポイントを追加するステップ、および前記ウェイポイントを変更するステップのうちの少なくとも1つを含む、請求項9に記載の方法。
- 前記1つまたは複数の事前定義された基準は、環境制約、車両制約、およびタスク制約を含む、請求項9に記載の方法。
- 実行時にコンピュータに資産の三次元モデルを生成する方法を実行させる命令を格納した非一時的なコンピュータ可読媒体であって、前記方法は、
資産の周りで無人車両を操作するためのミッションプランの制約に対応する入力パラメータを受け取るステップ、
前記資産を表す資産タイプの情報を含む前記入力パラメータに基づいて前記ミッションプランを生成するステップであって、前記ミッションプランは、前記無人車両の1つまたは複数の画像センサの位置および向きを識別するウェイポイントを含む、ステップ、
1つまたは複数の事前定義された基準を満たす前記ウェイポイントを接続する前記無人車両の飛行経路を生成するステップ、
あるウェイポイントから次のウェイポイントへの前記飛行経路の実行中に前記無人車両の車両状態を監視するステップ、
各ウェイポイントで、前記1つまたは複数の画像センサによって感知した前記資産の局所的形状を決定するステップ、
前記局所的形状に基づいてオンザフライで前記ミッションプランを変更するステップ、および
前記変更されたミッションプランのウェイポイントに沿って前記資産の画像をキャプチャするステップを含む、非一時的なコンピュータ可読媒体。 - 前記方法は、1つのウェイポイントから次のウェイポイントへの前記飛行経路の実行中に前記無人車両の車両状態を監視するステップをさらに含む、請求項17に記載の非一時的なコンピュータ可読媒体。
- 前記入力パラメータは、資産制約、三次元再構築制約、およびミッション制約のうちの少なくとも1つを含む、請求項17に記載の非一時的なコンピュータ可読媒体。
- 前記1つまたは複数の事前定義された基準は、環境制約、車両制約、およびタスク制約を含む、請求項17に記載の非一時的なコンピュータ可読媒体。
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US20220165162A1 (en) * | 2019-04-05 | 2022-05-26 | Seekops Inc. | Route optimization for energy industry infrastructure inspection |
WO2020206006A1 (en) | 2019-04-05 | 2020-10-08 | Seekops Inc. | Analog signal processing for a lightweight and compact laser-based trace gas sensor |
WO2021029065A1 (ja) * | 2019-08-15 | 2021-02-18 | 株式会社センシンロボティクス | 飛行体の管理サーバ及び管理システム |
US11958183B2 (en) | 2019-09-19 | 2024-04-16 | The Research Foundation For The State University Of New York | Negotiation-based human-robot collaboration via augmented reality |
CN112650156B (zh) * | 2019-10-12 | 2022-09-30 | 北京京东乾石科技有限公司 | 展示无人设备运行情况的方法和装置 |
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