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公开(公告)号：US20190228573A1
公开(公告)日：2019-07-25
申请号：US15879743
申请日：2018-01-25
发明人： Shiraj SEN , Steven Robert GRAY , Arpit JAIN , Huan TAN , Douglas FORMAN , Judith Ann GUZZO
IPC分类号： G06T17/10 , G01B11/24 , G01B15/04 , G01S17/89 , G01B17/06 , G01B21/20 , G06T17/05 , G06T7/70 , G05D1/10
摘要： A method for generating a three-dimensional model of an asset includes receiving input parameters corresponding to constraints of a mission plan for operating an unmanned vehicle around an asset, generating the mission plan based on the input parameters including information of a representative asset type, wherein the mission plan includes waypoints identifying locations and orientations of one or more image sensors of the unmanned vehicle, generating a flight path for the unmanned vehicle connecting the waypoints that satisfy one or more predefined criteria, monitoring a vehicle state of the unmanned vehicle during execution of the flight path from one waypoint to the next waypoint, determining, at each waypoint, a local geometry of the asset sensed by the one or more image sensors, changing the mission plan on-the-fly based on the local geometry, and capturing images of the asset along waypoints of the changed mission plan.
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公开(公告)号：US20190204123A1
公开(公告)日：2019-07-04
申请号：US15861054
申请日：2018-01-03
发明人： Yang ZHAO , Huan TAN , Steven GRAY , Ghulam BALOCH , Mauricio CASTILLO-EFFEN , Judith GUZZO , Shiraj SEN , Douglas FORMAN
IPC分类号： G01D18/00 , B64C39/02 , G01C23/00 , G01C19/5776 , G01S17/06 , G06T7/73 , G06T7/77 , G06K9/62
摘要： System and methods may evaluate and/or improve target aiming accuracy for a sensor of an Unmanned Aerial Vehicle (“UAV”). According to some embodiments, a position and orientation measuring unit may measure a position and orientation associated with the sensor. A pose estimation platform may execute a first order calculation using the measured position and orientation as the actual position and orientation to create a first order model. A geometry evaluation platform may receive planned sensor position and orientation from a targeting goal data store and calculate a standard deviation for a target aiming error utilizing: (i) location and geometry information associated with the industrial asset, (ii) a known relationship between the sensor and a center-of-gravity of the UAV, (iii) the first order model as a transfer function, and (iv) an assumption that the position and orientation of the sensor have Gaussian-distributed noises with zero mean and a pre-determined standard deviation.
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3.发明申请公开(公告)号：US20180330027A1
公开(公告)日：2018-11-15
申请号：US15591851
申请日：2017-05-10
发明人： Shiraj SEN , Steven GRAY , Nicholas ABATE , Roberto SILVA FILHO , Ching-Ling HUANG , Mauricio CASTILLO-EFFEN , Ghulam Ali BALOCH , Raju VENKATARAMANA , Douglas FORMAN
IPC分类号： G06F17/50
摘要： A three-dimensional model data store may contain a three-dimensional model of an industrial asset, including points of interest associated with the industrial asset. An inspection plan data store may contain an inspection plan for the industrial asset, including a path of movement for an autonomous inspection robot. An industrial asset inspection platform may receive sensor data from an autonomous inspection robot indicating characteristics of the industrial asset and determine a current location of the autonomous inspection robot along the path of movement in the inspection plan along with current context information. A forward simulation of movement for the autonomous inspection robot may be executed from the current location, through a pre-determined time window, to determine a difference between the path of movement in the inspection plan and the forward simulation of movement along with future context information.
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公开(公告)号：US20180329433A1
公开(公告)日：2018-11-15
申请号：US15591400
申请日：2017-05-10
IPC分类号： G05D1/10
CPC分类号： G05D1/0276 , G05D2201/0207 , Y10S901/44
摘要： Provided are systems and methods for autonomous robotic localization. In one example, the method includes receiving ranging measurements from a plurality of fixed anchor nodes that each have a fixed position and height with respect to the asset, receiving another ranging measurement from an aerial anchor node attached to an unmanned robot having a dynamically adjustable position and height different than the fixed position and height of each of the plurality of anchor nodes, and determining a location of the autonomous robot with respect to the asset based on the ranging measurements received from the fixed anchor nodes and the aerial anchor node, and autonomously moving the autonomous robot about the asset based on the determined location.
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公开(公告)号：US20180321692A1
公开(公告)日：2018-11-08
申请号：US15587950
申请日：2017-05-05
发明人： Mauricio CASTILLO-EFFEN , Ching-Ling HUANG , Raju VENKATARAMANA , Roberto SILVA FILHO , Alex TEPPER , Steven GRAY , Yakov POLISHCHUK , Viktor HOLOVASHCHENKO , Charles THEURER , Yang ZHAO , Ghulam Ali BALOCH , Douglas FORMAN , Shiraj SEN , Huan TAN , Arpit JAIN
CPC分类号： G05D1/10 , B64C39/024 , B64C2201/123 , G05D1/0088 , G05D1/0094 , Y10S901/44
摘要： Provided are systems and methods for monitoring an asset via an autonomous model-driven inspection. In an example, the method may include storing an inspection plan including a virtually created three-dimensional (3D) model of a travel path with respect to a virtual asset that is created in virtual space, converting the virtually created 3D model of the travel path about the virtual asset into a physical travel path about a physical asset corresponding to the virtual asset, autonomously controlling vertical and lateral movement of the unmanned robot in three dimensions with respect to the physical asset based on the physical travel path and capturing data at one or more regions of interest, and capturing data at one or more regions of interest, and storing information concerning the captured data about the asset.
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