JP7444884B2 - パイプにuavがパーチする自動化方法 - Google Patents
パイプにuavがパーチする自動化方法 Download PDFInfo
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- JP7444884B2 JP7444884B2 JP2021531006A JP2021531006A JP7444884B2 JP 7444884 B2 JP7444884 B2 JP 7444884B2 JP 2021531006 A JP2021531006 A JP 2021531006A JP 2021531006 A JP2021531006 A JP 2021531006A JP 7444884 B2 JP7444884 B2 JP 7444884B2
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- 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
-
- 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
- B64U2101/00—UAVs specially adapted for particular uses or applications
- B64U2101/60—UAVs specially adapted for particular uses or applications for transporting passengers; for transporting goods other than weapons
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U2201/00—UAVs characterised by their flight controls
- B64U2201/10—UAVs characterised by their flight controls autonomous, i.e. by navigating independently from ground or air stations, e.g. by using inertial navigation systems [INS]
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F17—STORING OR DISTRIBUTING GASES OR LIQUIDS
- F17D—PIPE-LINE SYSTEMS; PIPE-LINES
- F17D5/00—Protection or supervision of installations
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N2291/00—Indexing codes associated with group G01N29/00
- G01N2291/02—Indexing codes associated with the analysed material
- G01N2291/028—Material parameters
- G01N2291/02854—Length, thickness
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N2291/00—Indexing codes associated with group G01N29/00
- G01N2291/02—Indexing codes associated with the analysed material
- G01N2291/028—Material parameters
- G01N2291/0289—Internal structure, e.g. defects, grain size, texture
-
- 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
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- Investigating Or Analyzing Materials By The Use Of Ultrasonic Waves (AREA)
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Description
本出願は、米国特許法第119条(e)の下、2018年11月29日に出願された「PERCHING UAV WITH RELEASABLE CRAWLER」と題する米国特許仮出願第62/772,700号の利益を主張し、かつ、米国特許法第120条の下、2019年11月26日に出願された「AUTOMATION METHODS FOR UAV PERCHING ON PIPES」と題する米国出願第16/696,085号の利益を主張するものであり、参照によりそれぞれの全体を本明細書に引用する。
100、300 ・・・UAV
110 ・・・レーザスキャナ
120 ・・・関節式磁石
130 ・・・クローラ
140 ・・・ホイール
250 ・・・着陸軌道
Claims (20)
- 円筒状の曲面から離れた開始位置から、前記円筒状の曲面に自律的にパーチするための無人航空機(UAV)であって、前記UAVは、
前記円筒状の曲面を含む前記UAVからのシーンの3次元(3D)の点群をキャプチャおよび出力するように構成されている、3D深度カメラと、
前記シーンの2次元(2D)スライスをキャプチャおよび出力するように構成されている、2D FOVを有する3DのLIDARシステムとは対照的に、1次元(1D)視野(FOV)を有する、2Dの光検出および測距(LIDAR)システムと、
前記円筒状の曲面上に前記UAVを機械的にパーチするように構成されているパーチ機構と、
制御回路であって、
前記深度カメラおよび前記2DのLIDARシステムを制御して、前記シーンの前記3D点群および前記2Dスライスをそれぞれキャプチャすることと、
前記深度カメラから前記キャプチャされた3D点群および前記2DのLIDARシステムから前記キャプチャされた2Dスライスを入力することと、
前記キャプチャされた3D点群および前記キャプチャされた2Dスライスを使用して、前記円筒状の曲面を自律的に検出および位置特定することと、
前記円筒状の曲面の前記自律的な検出および位置特定に基づいて、前記UAVを前記開始位置から前記円筒状の曲面上の着陸位置へ自律的に誘導することと、
前記パーチ機構を使用して、前記UAVを自律的に制御し、前記着陸位置の前記円筒状の曲面に前記UAVをパーチすることと、を行うように構成されている、制御回路と、を備える、UAV。 - 前記制御回路が、
前記UAVが前記円筒状の曲面付近に到達するまで、前記キャプチャされた3D点群を使用して、前記UAVを前記着陸位置へと自律的に誘導しながら、前記開始位置からの前記自律的な検出および位置特定を実行することと、
前記UAVが前記円筒状の曲面付近に到達すると、前記3D点群を使用することから、前記キャプチャされた2Dスライスを使用することに切り替えて、前記自律的な検出および位置特定を実行することと、を行うようにさらに構成されている、請求項1に記載のUAV。 - 前記制御回路が、
前記パーチに先立って、前記UAVを前記円筒状の曲面付近の整合位置へ自律的に誘導することであって、前記整合位置は、前記UAVが前記着陸位置に対して整合される位置であることと、
前記キャプチャされた2Dスライスを使用して、前記UAVを自律的に誘導して、前記整合位置から前記着陸位置に直接移動させることと、を行うようにさらに構成されている、請求項2に記載のUAV。 - 前記制御回路が、前記3D点群および前記2Dスライスを融合することによって、前記円筒状の曲面を自律的に検出および位置特定するようにさらに構成されており、前記融合が、
前記キャプチャされた3D点群のうちの1つを使用して、前記円筒状の曲面の前記自律的な検出および位置特定の第1のパスを実行することと、
前記第1のパスからの前記検出および位置特定された円筒状の曲面を使用して、前記2Dスライスのうちの対応する1つをキャプチャすることと、
前記2Dスライスのうちの前記対応する1つを使用して、前記円筒状の曲面の前記自律的な検出および位置特定の第2のパスを実行することと、を含む、請求項1に記載のUAV。 - 前記深度カメラのポーズを推定するように構成された慣性測定ユニット(IMU)をさらに備え、前記制御回路が、前記3D点群の第1のものにおける前記検出および位置特定された前記円筒状の曲面から、前記3D点群のうちの第2のものにおける前記円筒状の曲面の場所を予測するために、前記3D点群のうちの前記第1のものをキャプチャすることと、前記3D点群のうちの前記第2のものをキャプチャすることと、の間で、前記深度カメラの前記推定されたポーズを使用するようにさらに構成されている、請求項1に記載のUAV。
- 前記制御回路が、
前記キャプチャされた3D点群を使用して、前記円筒状の曲面を自律的に検出および位置特定することと、
前記2DのLIDARシステムを制御して、前記検出および位置特定された円筒状の曲面に垂直な前記2Dスライスをキャプチャすることと、を行うようにさらに構成されている、請求項1に記載のUAV。 - 前記円筒状の曲面が、円筒の一部であり、前記制御回路は、前記2DのLIDARシステムを制御して、前記円筒の中心軸に垂直な前記2Dスライスをキャプチャするようにさらに構成されている、請求項6に記載のUAV。
- 前記制御回路が、ランダムサンプルコンセンサス(RANSAC)アプローチを使用して、前記円筒状の曲面を自律的に検出および位置特定するようにさらに構成されている、請求項1に記載のUAV。
- 前記制御回路が、
前記キャプチャされた3D点群、または前記キャプチャされた2Dスライス、または前記キャプチャされた3D点群および前記キャプチャされた2Dスライスの両方を使用して、前記開始位置から前記着陸位置までの前記UAVの飛行経路上の1つ以上の障害物を検出することと、
前記飛行経路上の前記1つ以上の障害物を回避するように、前記UAVを自律的に再誘導することと、を行うようにさらに構成されている、請求項1に記載のUAV。 - 前記円筒状の曲面が、強磁性であり、前記パーチ機構が、パーチ中に前記強磁性の円筒状の曲面に磁着するように、かつパーチ後に前記強磁性の円筒状の曲面に磁着されたままであるように構成されている、磁気脚を備える、請求項1に記載のUAV。
- 無人航空機(UAV)を円筒状の曲面から離れた開始位置から前記円筒状の曲面上に自律的にパーチさせる方法であって、
前記UAVに取り付けられた3次元(3D)深度カメラを使用して、前記円筒状の曲面を含む前記UAVからのシーンの3D点群をキャプチャおよび出力することと、
前記UAVに取り付けられた2次元(2D)の光検出および測距(LIDAR)システムを使用して、前記シーンの2Dスライスをキャプチャおよび出力することであって、前記2DのLIDARシステムは、2D FOVを有する3DのLIDARシステムとは対照的に、1次元(1D)視野(FOV)を有する、キャプチャおよび出力することと、
前記UAVに取り付けられたパーチ機構を使用して、前記円筒状の曲面に前記UAVを機械的にパーチすることと、
前記深度カメラおよび前記2DのLIDARシステムを制御して、前記シーンの前記3D点群と前記2Dスライスをそれぞれにキャプチャすることと、
前記深度カメラから前記キャプチャされた3D点群と前記2DのLIDARシステムから前記キャプチャされた2Dスライスを入力することと、
前記キャプチャされた3D点群および前記キャプチャされた2Dスライスを使用して、前記円筒状の曲面を自律的に検出および位置特定することと、
前記円筒状の曲面の前記自律的な検出および位置特定に基づいて、前記UAVを前記開始位置から前記円筒状の曲面上の着陸位置へ自律的に誘導することと、
前記パーチ機構を使用して、前記UAVを自律的に制御し、前記着陸位置の前記円筒状の曲面に前記UAVをパーチすることと、を含む、方法。 - 前記UAVが前記曲面付近に到達するまで、前記キャプチャされた3D点群を使用して、前記UAVを前記着陸位置へと自律的に誘導しながら、前記開始位置からの前記自律的な検出および位置特定を実行することと、
前記UAVが前記円筒状の曲面付近に到達すると、前記3D点群を使用することから、前記キャプチャされた2Dスライスの使用することに切り替えて、前記自律的な検出および位置特定を実行することと、をさらに含む、請求項11に記載の方法。 - 前記パーチに先立って、前記UAVを前記円筒状の曲面付近の整合位置へ自律的に誘導し、そこで前記UAVが前記着陸位置に対して整合されることと、
前記キャプチャされた2Dスライスを使用して、前記UAVを自律的に誘導して、前記整合位置から前記着陸位置に直接移動させることと、をさらに含む、請求項12に記載の方法。 - 前記3D点群と前記2Dスライスを融合することによって、前記円筒状の曲面を自律的に検出および位置特定することをさらに含み、前記融合が、
前記キャプチャされた3D点群の1つを使用して、前記円筒状の曲面の前記自律的な検出および位置特定の第1のパスを実行することと、
前記第1のパスからの前記検出および位置特定された曲面を使用して、前記2Dスライスのうちの対応する1つをキャプチャすることと、
前記2Dスライスのうちの前記対応する1つを使用して、前記曲面の前記自律的な検出および位置特定をする第2のパスを実行することと、を含む、請求項11に記載の方法。 - 前記UAVが、前記UAVに取り付けられた慣性測定ユニット(IMU)をさらに備え、前記方法が、
前記IMUを使用して前記深度カメラのポーズを推定することと、
前記3D点群の第1のものにおける前記検出および位置特定された前記円筒状の曲面から、前記3D点群のうちの第2のものにおける前記円筒状の曲面の場所を予測するために、前記3D点群のうちの前記第1のものをキャプチャすることと、前記3D点群のうちの前記第2のものをキャプチャすることと、の間で、前記深度カメラの前記推定されたポーズを使用することと、をさらに含む、請求項11に記載の方法。 - 前記キャプチャされた3D点群を使用して、前記円筒状の曲面を自律的に検出および位置特定することと、
前記2DのLIDARシステムを制御して、前記検出および位置特定された円筒状の曲面に垂直な2Dスライスをキャプチャすることと、をさらに含む、請求項11に記載の方法。 - 前記円筒状の曲面が円筒の一部であり、前記方法が、前記2DのLIDARシステムを制御して、前記円筒の中心軸に垂直な前記2Dスライスをキャプチャすることをさらに含む、請求項16に記載の方法。
- ランダムサンプルコンセンサス(RANSAC)アプローチを使用して、前記円筒状の曲面を自律的に検出および位置特定することをさらに含む、請求項11に記載の方法。
- 前記キャプチャされた3D点群、または前記キャプチャされた2Dスライス、または前記キャプチャされた3D点群および前記キャプチャされた2Dスライスの両方を使用して、前記開始位置から前記着陸位置までのUAVの飛行経路上の1つ以上の障害物を検出することと、
前記飛行経路上の前記1つ以上の障害物を回避するために、前記UAVを自律的に再誘導すること、をさらに含む、請求項11に記載の方法。 - 前記円筒状の曲面が強磁性であり、前記パーチ機構が磁気脚を備え、前記方法が、パーチ中に前記磁気脚を前記強磁性の円筒状の曲面に磁着させ、パーチ後に前記強磁性の円筒状の曲面に前記磁気脚が磁着されたままにすることをさらに含む、請求項11に記載の方法。
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