Processing

Please wait...

Settings

Settings

Goto Application

1. WO2020112985 - AUTOMATION METHODS FOR UAV PERCHING ON PIPES

Publication Number WO/2020/112985
Publication Date 04.06.2020
International Application No. PCT/US2019/063586
International Filing Date 27.11.2019
Chapter 2 Demand Filed 02.06.2020
IPC
G01S 17/86 2020.01
GPHYSICS
01MEASURING; TESTING
SRADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
17Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
86Combinations of lidar systems with systems other than lidar, radar or sonar, e.g. with direction finders
G05D 1/10 2006.01
GPHYSICS
05CONTROLLING; REGULATING
DSYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
1Control of position, course, altitude, or attitude of land, water, air, or space vehicles, e.g. automatic pilot
10Simultaneous control of position or course in three dimensions
G05D 1/06 2006.01
GPHYSICS
05CONTROLLING; REGULATING
DSYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
1Control of position, course, altitude, or attitude of land, water, air, or space vehicles, e.g. automatic pilot
04Control of altitude or depth
06Rate of change of altitude or depth
G08G 5/00 2006.01
GPHYSICS
08SIGNALLING
GTRAFFIC CONTROL SYSTEMS
5Traffic control systems for aircraft
G06K 9/00 2006.01
GPHYSICS
06COMPUTING; CALCULATING OR COUNTING
KRECOGNITION OF DATA; PRESENTATION OF DATA; RECORD CARRIERS; HANDLING RECORD CARRIERS
9Methods or arrangements for reading or recognising printed or written characters or for recognising patterns, e.g. fingerprints
CPC
B60B 19/006
BPERFORMING OPERATIONS; TRANSPORTING
60VEHICLES IN GENERAL
BVEHICLE WHEELS
19Wheels not otherwise provided for or having characteristics specified in one of the subgroups of this group
006Magnetic wheels
B60B 19/12
BPERFORMING OPERATIONS; TRANSPORTING
60VEHICLES IN GENERAL
BVEHICLE WHEELS
19Wheels not otherwise provided for or having characteristics specified in one of the subgroups of this group
12Roller-type wheels
B60B 2900/931
BPERFORMING OPERATIONS; TRANSPORTING
60VEHICLES IN GENERAL
BVEHICLE WHEELS
2900Purpose of invention
90Providing or changing
931Magnetic effects
B60G 11/00
BPERFORMING OPERATIONS; TRANSPORTING
60VEHICLES IN GENERAL
GVEHICLE SUSPENSION ARRANGEMENTS
11Resilient suspensions characterised by arrangement, location or kind of springs
B60G 3/01
BPERFORMING OPERATIONS; TRANSPORTING
60VEHICLES IN GENERAL
GVEHICLE SUSPENSION ARRANGEMENTS
3Resilient suspensions for a single wheel
01the wheel being mounted for sliding movement, e.g. in or on a vertical guide
B60K 1/02
BPERFORMING OPERATIONS; TRANSPORTING
60VEHICLES IN GENERAL
KARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
1Arrangement or mounting of electrical propulsion units
02comprising more than one electric motor
Applicants
  • SAUDI ARABIAN OIL COMPANY [SA]/[SA]
  • KING ABDULLAH UNIVERSITY OF SCIENCE AND TECHNOLOGY [SA]/[SA]
  • ARAMCO SERVICES COMPANY [US]/[US] (US)
Inventors
  • ABDELKADER, Mohamed
  • ABDELLATIF, Fadl
  • SHAMMA, Jeff S.
Agents
  • LEASON, David
  • ELLIS, Edward J.
  • WAGAR, Bruce
  • GABATHULER, Henry
Priority Data
16/696,08526.11.2019US
62/772,70029.11.2018US
Publication Language English (EN)
Filing Language English (EN)
Designated States
Title
(EN) AUTOMATION METHODS FOR UAV PERCHING ON PIPES
(FR) PROCÉDÉS D'AUTOMATISATION POUR LA POSE DE VASP SUR DES TUYAUX
Abstract
(EN)
An unmanned aerial vehicle (UAV) autonomously perching on a curved surface from a starting position is provided. The UAV includes: a 3D depth camera configured to capture and output 3D point clouds of scenes from the UAV including the curved surface; a 2D LIDAR system configured to capture and output 2D slices of the scenes; and a control circuit. The control circuit is configured to: control the depth camera and the LIDAR system to capture the 3D point clouds and the 2D slices, respectively, of the scenes; input the captured 3D point clouds from the depth camera and the captured 2D slices from the LIDAR system; autonomously detect and localize the curved surface using the captured 3D point clouds and 2D slices; and autonomously direct the UAV from the starting position to a landing position on the curved surface based on the autonomous detection and localization of the curved surface.
(FR)
L'invention concerne un véhicule aérien sans pilote (VASP) qui se pose de manière autonome sur une surface incurvée à partir d'une position de départ. Le VASP comprend : une caméra de profondeur 3D configurée pour capturer et délivrer en sortie des nuages de points 3D de scènes en provenance du VASP comprenant la surface incurvée ; un système LIDAR 2D configuré pour capturer et délivrer en sortie des tranches 2D des scènes ; et un circuit de commande. Le circuit de commande est configuré pour : commander à la caméra de profondeur et au système LIDAR de capturer les nuages de points 3D et les tranches 2D, respectivement, des scènes ; entrer les nuages de points 3D capturés par la caméra de profondeur et les tranches 2D capturées par le système LIDAR ; détecter et localiser de manière autonome la surface incurvée à l'aide des nuages de points 3D et des tranches 2D capturés ; et diriger de manière autonome le VASP de la position de départ à une position d'atterrissage sur la surface incurvée sur la base de la détection et de la localisation autonomes de la surface incurvée.
Also published as
Latest bibliographic data on file with the International Bureau