Automation methods for UAV perching on pipes

US11235823B2 · kind B2 · utility

Assignees

• SAUDI ARABIAN OIL COMPANY · SA
• King Abdullah University of Science and Technology · SA

Inventors

• Mohamed Abdelkader · Thuwal, SA
• Fadl Abdellatif · Thuwal, SA
• Jeff S. Shamma · Thuwal, SA

Key dates

• Filing date: Nov 26, 2019
• Grant date: Feb 1, 2022
• Expiry date: Jul 31, 2040

Classification

• Technology area (CPC G): Physics
• CPC primary: G08G5/57
• WIPO field: Measurement
• WIPO sector: Instruments

Abstract

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.