Perching UAV with Releasable Crawler for Ferromagnetic Surface Inspection
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Solution Overview
Problem
The inspection and maintenance of exposed metallic assets, such as pipes and storage tanks, are challenging for humans due to accessibility issues, and existing UAV technologies are limited in performing direct contact inspections or circumferential scans effectively.
Innovation Solution
A perching UAV with a releasable and re-dockable magnetic crawler that autonomously attaches to ferromagnetic surfaces, allowing for circumferential scans and inspections, and can detach and reattach for efficient movement and data communication.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If a UAV hovers at a distance from the asset to perform inspection, then safety risks are reduced, but inspection effectiveness and ability to perform direct contact scans deteriorates
Solution Approach 1:
The system is divided into two functional components: a flying UAV that provides safe positioning and a crawling device that performs direct contact inspection. The UAV hovers at a safe distance while the crawler detaches to move along the asset surface, enabling both safety and effective inspection.
Solution Approach 2:
The crawler acts as an intermediary between the UAV and the asset. It transfers the inspection function from the hovering UAV to the asset surface, allowing the UAV to maintain safety while the crawler performs direct contact scans and measurements.
2Productivity
If a UAV maneuvers directly on the asset surface, then inspection capability improves, but stability and energy consumption deteriorate
Solution Approach 1:
The system separates the high-energy hovering function (performed by the UAV) from the low-energy crawling function (performed by the crawler). The UAV hovers at a stable position while the crawler uses passive magnetic attachment to move along the asset, reducing overall energy consumption.
Solution Approach 2:
The active mechanical propulsion of the UAV is replaced by passive magnetic attachment for the crawler. The crawler uses magnetic wheels to attach to and move along the ferromagnetic asset surface without requiring active propulsion, significantly reducing energy consumption.
3Reliability
If a complete circumferential scan is performed using a hovering UAV, then safety is maintained, but scan completeness and measurement precision deteriorate
Solution Approach 1:
The crawler serves as an intermediary that enables complete circumferential scanning by physically contacting the asset surface. It can navigate around corners and follow the asset geometry closely, providing comprehensive scan coverage that hovering cannot achieve.
Solution Approach 2:
The inspection transitions from a three-dimensional hovering space to a two-dimensional surface following path. The crawler moves along the asset surface in contact mode, enabling complete circumferential scans and detailed measurement of the asset geometry and condition.
Applied Scientific Principles
This section explains which scientific principles are used to turn an abstract innovation direction into a practical engineering solution.
Function Achieved in This Case
Enables efficient and stable inspection and maintenance of curved ferromagnetic surfaces like pipes, reducing energy consumption and safety risks while allowing for complete scans and precise data collection.
Implementation Method 1
magnetically attaching the articulated legs of the UAV to the ferromagnetic surface using the corresponding magnets
Implementation Method 2
maneuvering the detached crawler on the ferromagnetic surface while magnetically attaching the crawler to the ferromagnetic surface using magnetic wheels of the crawler
Data Source
AI summary
A method of inspection or maintenance of a curved ferromagnetic surface using an unmanned aerial vehicle (UAV) having a releasable crawler is provided. The method includes: flying the UAV from an initial position to a pre-perching position in a vicinity of the ferromagnetic surface; autonomously perching the UAV on the ferromagnetic surface; maintaining magnetic attachment of the perched UAV to the ferromagnetic surface; releasing the crawler from the magnetically attached UAV onto the ferromagnetic surface; moving the crawler over the curved ferromagnetic surface while maintaining magnetic attachment of the released crawler to the ferromagnetic surface; inspecting or maintaining the ferromagnetic surface using the magnetically attached crawler; and re-docking the released crawler with the perched UAV.