UAV Pipe Localization for Autonomous Landing on Curved Surfaces
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Solution Overview
Problem
The inspection and maintenance of complex structures like pipes and vessels are challenging due to their non-flat surfaces, requiring innovative solutions for safe and cost-effective access, as traditional methods like scaffolding pose safety hazards and are expensive.
Innovation Solution
A perching unmanned aerial vehicle (UAV) equipped with a releasable crawler and advanced sensors, including a 3D depth camera and deep learning neural networks, allows autonomous landing and inspection on curved surfaces without human intervention, using environment awareness sensors to navigate and identify targets.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Ease of operation
If scaffolding is used to access elevated assets for inspection, then inspector access is enabled, but safety hazards (falling and tripping) and high costs are introduced
Solution Approach 1:
The patent replaces the mechanical scaffolding system with an autonomous UAV equipped with sensors and inspection equipment. The UAV flies autonomously to elevated assets using aerial navigation, eliminating the need for physical scaffolding structures and the safety hazards they introduce while maintaining inspection capability.
Solution Approach 2:
The UAV acts as an intermediary between the inspector and the elevated asset. Instead of the inspector directly accessing the asset through hazardous scaffolding, the UAV captures images and data from the asset and transmits them to the inspector, who can then analyze the data remotely without physical exposure to hazards.
2Ease of operation
If scaffolding is erected for manual inspection, then asset inspection is enabled, but significant cost barriers are introduced
Solution Approach 1:
The patent replaces the expensive mechanical scaffolding system with an autonomous UAV. The UAV requires no erection or disassembly, has minimal operational costs (primarily battery and data transmission), and can perform repeated inspections without the recurring costs associated with scaffolding setup and teardown.
Solution Approach 2:
The UAV represents a relatively low-cost, disposable inspection platform compared to expensive scaffolding. While the UAV has limited flight time per battery charge, this short operational cycle is sufficient for completing inspection tasks without requiring long-term structural infrastructure.
3Object-affected harmful factors
If a UAV hovers at a distance from the asset, then safety is maintained, but inspection quality deteriorates compared to direct contact
Solution Approach 1:
The patent divides the inspection system into two functional segments: the UAV for safe aerial approach and data capture, and the releasable crawler for close-contact inspection. The crawler detaches from the UAV, travels to the asset surface, and performs detailed measurements, combining the safety advantages of remote operation with the precision of direct contact inspection.
Solution Approach 2:
The crawler acts as an intermediary between the UAV and the asset surface. It carries specialized inspection equipment (such as ultrasonic testing sensors) that require close proximity to the asset, while the UAV maintains safe distance and controls the crawler's deployment and retrieval, thus achieving both safety and inspection quality.
4Measurement precision
If a UAV attempts to land on curved surfaces like pipes, then direct contact inspection is enabled, but landing difficulty increases
Solution Approach 1:
The patent segments the landing function from the inspection function. The UAV performs the challenging task of approaching and positioning near the curved asset from the air, then releases the crawler which is specifically designed to traverse and adhere to curved surfaces. This division allows each component to be optimized for its specific function without compromising the other.
Solution Approach 2:
The crawler serves as an intermediary that handles the complex interaction with curved surfaces. It is equipped with specialized mechanisms (such as adjustable legs, adhesives, or mechanical grippers) that enable it to securely attach to and move along curved pipe surfaces, while the UAV maintains a simpler aerial platform design focused on navigation and payload delivery.
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 safe, efficient, and cost-effective inspection and maintenance of hard-to-reach assets by allowing the UAV to autonomously land and deploy a crawler for detailed surface scans, reducing the need for scaffolding and enhancing safety and operational efficiency.
Implementation Method 1
an environment awareness sensor device suite having a three-dimensional (3D) depth camera arranged to capture and output image data and three-dimensional (3D point cloud data of a field of view (FOV)
Data Source
AI summary
A system and methodology for launching, flying and perching on a cylindrically curved surface in an environment without human intervention. The system and methodology include an environment awareness sensor device suite having a depth camera arranged to capture and output image data and 3D point cloud data of a field of view; an asset targeting unit arranged to set an asset as a destination location for a landing; a trajectory path determiner arranged to calculate a trajectory path to the destination location; a flight controller arranged to launch and fly the autonomous aerial vehicle to the destination location according to the trajectory path; a situational status determiner arranged to, in real-time, predict a location of an object with respect to the autonomous aerial vehicle based on 3D point cloud data for the object, determine the object is the asset based on a confidence score and autonomously land on the asset.