FIG. 1 is a perspective view of transmission tower 10, phase conductors 12, insulators 14, and shield wires 16. They are to be inspected by unmanned aerial vehicle UAV 20 with embedded processor and memory 22, radio 24, location rover 26, and camera 28. Base station 30 has processor and memory 32, radio 34, and location base 36. The relative location between UAV 20 and base station 30 can be accurately calculated by location base 36 and location rover 26 communicating over radios 24 and 34. Camera 28 on UAV 20 is first used to capture two or more orientation images 38 and 39 of tower 10; lines 12 and 16; and insulators 14 from different vantage points. Terrestrial or close-range photogrammetry techniques are used create a three dimensional model of tower 10; lines 12 and 16; and insulators 14. Based on inspection resolution and safety objectives, a standoff distance 50 is determined. Then a flight path with segments for ascent 40, one or more loops 42, 44, 46, and a descent 48 is designed to ensure full inspection coverage via inspection images like 52 and 54.
Flight planning for unmanned aerial tower inspection
2020-02-18
Patent
Electronic Resource
English
IPC: | G01B MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS , Messen der Länge, der Dicke oder ähnlicher linearer Abmessungen / B64C AEROPLANES , Flugzeuge / B64D Ausrüstung für Flugzeuge , EQUIPMENT FOR FITTING IN OR TO AIRCRAFT / G01S RADIO DIRECTION-FINDING , Funkpeilung / G05D SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES , Systeme zum Steuern oder Regeln nichtelektrischer veränderlicher Größen / G06T Bilddatenverarbeitung oder Bilddatenerzeugung allgemein , IMAGE DATA PROCESSING OR GENERATION, IN GENERAL / G06V |
Power grid inspection unmanned aerial vehicle flight path planning management system
European Patent Office | 2021
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