公开(公告)号：JPD1619219S

公开(公告)日：2018-11-26

申请号：JPD2017501646

Applicant: DONECLE

Designer： M. Matthieu Claybrough

公开(公告)号：US11964763B2

公开(公告)日：2024-04-23

申请号：US17256648

申请日：2019-07-22

Applicant: DONECLE

Inventor： Matthieu Claybrough ,  Alban Deruaz-Pepin ,  Josselin Bequet

IPC: B64C39/02 ,  B64U10/13 ,  B64U101/30 ,  G01S17/89 ,  G05D1/00

CPC classification number: B64C39/024 ,  G01S17/89 ,  G05D1/0094 ,  B64U10/13 ,  B64U2101/30

Abstract: The invention relates to a motorized flying craft (10) for measuring the contour of a plurality of regions of interest (12a, 12b, 12c) of a surface of a predetermined object (9) to be inspected, said flying craft (10) comprising a carrier frame (20) and motorized means (11, 13) for lifting and moving said carrier frame (20). The flying craft is characterized in that it further comprises an apparatus (14) for three-dimensional measurement of a region of interest (12a, 12b, 12c) targeted by said apparatus (14), and a management system (34, 35) of said craft configured to be able to switch said craft from a navigation mode, in which the craft can be moved from one region of interest to a subsequent region of interest, to a stabilized mode, in which said motorized lifting and movement means (11, 13) are controlled so as to be able to keep at least one kinematic parameter of said craft constant, making it possible to minimize the vibration of said craft, and in which said measurement apparatus (14) can acquire a three-dimensional measurement of a region of interest.

公开(公告)号：US20180170540A1

公开(公告)日：2018-06-21

申请号：US15736952

申请日：2016-06-15

Applicant: DONECLE

Inventor： Matthieu CLAYBROUGH

IPC: B64C39/02 ,  B64F5/60 ,  G05D1/00 ,  G05D1/10

CPC classification number: B64C39/024 ,  B64C2201/12 ,  B64C2201/123 ,  B64C2201/143 ,  B64F5/60 ,  G05D1/0094 ,  G05D1/104

Abstract: The invention relates to a system for automatically inspecting a surface of an object such as an aircraft (54), a transport vehicle, a building or an engineering structure, said surface being liable to contain a defect.The system is characterised in that it comprises a fleet comprising at least one flying robot (14a, 14b, 14c), each flying robot comprising a module for acquiring images of at least one portion of the surface to be inspected, and a module for processing the acquired images, which module is suitable for providing information representative of the state of each inspected surface portion, which information is called the processing result.

公开(公告)号：US10377485B2

公开(公告)日：2019-08-13

申请号：US15736952

申请日：2016-06-15

Applicant: DONECLE

Inventor： Matthieu Claybrough

IPC: G05D1/00 ,  B64C39/02 ,  G05D1/10 ,  B64F5/60

Abstract: The invention relates to a system for automatically inspecting a surface of an object such as an aircraft (54), a transport vehicle, a building or an engineering structure, said surface being liable to contain a defect.The system is characterized in that it comprises a fleet comprising at least one flying robot (14a, 14b, 14c), each flying robot comprising a module for acquiring images of at least one portion of the surface to be inspected, and a module for processing the acquired images, which module is suitable for providing information representative of the state of each inspected surface portion, which information is called the processing result.

公开(公告)号：WO2020021191A1

公开(公告)日：2020-01-30

申请号：PCT/FR2019/051822

申请日：2019-07-22

Applicant: DONECLE

Inventor： CLAYBROUGH, Matthieu ,  DERUAZ-PEPIN, Alban ,  BEQUET, Josselin

IPC: G05D1/00

Abstract: L'invention concerne un engin volant (10) motorisé de mesure du relief d'une pluralité de zones d'intérêts (12a, 12b, 12c) d'une surface d'un objet (9) prédéterminé à inspecter, ledit engin volant (10) comprenant un cadre (20) porteur et des moyens motorisés (11, 13) de sustentation et de déplacement dudit cadre (20) porteur. L'engin volant est caractérisé en ce qu'il comprend en outre un équipement (14) de mesure tridimensionnelle d'une zone d'intérêt (12a, 12b, 12c) visée par ledit équipement (14), et un système de pilotage (34, 35) dudit engin configuré pour pouvoir passer ledit engin d'un mode de navigation, dans lequel l'engin peut être déplacé d'une zone d'intérêt à une zone d'intérêt subséquente, à un mode stabilisé, dans lequel lesdits moyens motorisés (11, 13) de sustentation et de déplacement sont commandés pour pouvoir maintenir constant au moins un paramètre cinématique dudit engin permettant de minimiser les vibrations dudit engin et dans lequel ledit équipement (14) de mesure peut faire l'acquisition d'une mesure tridimensionnelle d'une zone d'intérêt.

公开(公告)号：WO2017121936A1

公开(公告)日：2017-07-20

申请号：PCT/FR2016/053546

申请日：2016-12-19

Applicant: DONECLE

Inventor： DERUAZ-PEPIN, Alban

IPC: G01S5/16 ,  G01S17/42 ,  G01S17/89 ,  G01S7/48

CPC classification number: G01S17/42 ,  G01S5/16 ,  G01S7/4808 ,  G01S17/89 ,  G06K9/00201 ,  G06K9/0063 ,  G06K2209/40

Abstract: L'invention concerne un procédé de détermination de la position relative d'un engin mobile par rapport à un environnement modélisé par un ensemble de surfaces géométriques formant une modélisation 3D selon un repère de l'environnement, comprenant une étape (10) de mesure d'une pluralité de distances de l'engin à l'environnement dans au moins une direction, de sorte à obtenir un ensemble de points définis dans un repère de l'engin mobile, une étape d'évaluation d'un écart entre ledit ensemble de points et le maillage 3D de l'environnement, et une étape (20) de détermination de la position relative de l'engin mobile dans le repère de l'environnement à partir dudit écart.

Abstract translation:

本发明涉及一种方法 确定移动机器相对于的相对位置 温和的环境＆oacute; 通过根据环境存储库形成3D模型的一组几何表面，包括测量多次的步骤（10） 距机器距离的距离; 至少在一个方向上的环境，所以 以获得在移动机器调查中定义的一组点，评估所述一组点和环境的3D网格之间的间隙的步骤，以及 步骤（20），用于确定移动机器在环境中的相对位置表示＆nbsp;＆nbsp;＆nbsp;＆nbsp; 从那张地图。

公开(公告)号：BR112017026528A2

公开(公告)日：2018-08-14

申请号：BR112017026528

申请日：2016-06-15

Applicant: DONECLE

Inventor： MATTHIEU CLAYBROUGH

IPC: B25J19/02 ,  G01C11/02 ,  G05D1/00

Abstract: a invenção se refere a um sistema para inspecionar automaticamente uma superfície de um objeto, como uma aeronave (54), um veículo de transporte, uma construção ou uma estrutura de engenharia, sendo a referida superfície susceptível de conter um defeito. o sistema é caracterizado por compreender uma frota compreendendo pelo menos um robô voador (14a, 14b, 14c), cada robô voador compreendendo um módulo para adquirir imagens de pelo menos uma porção da superfície a ser inspecionada e um módulo para processamento das imagens adquiridas, cujo módulo é adequado para fornecer informações representativas do estado de cada porção de superfície inspecionada, que é chamada de resultado de processamento.

公开(公告)号：US20210261251A1

公开(公告)日：2021-08-26

申请号：US17256648

申请日：2019-07-22

Applicant: DONECLE

Inventor： Matthieu CLAYBROUGH ,  Alban DERUAZ-PEPIN ,  Josselin BEQUET

IPC: B64C39/02 ,  G05D1/00 ,  G01S17/89

Abstract: The invention relates to a motorized flying craft (10) for measuring the contour of a plurality of regions of interest (12a, 12b, 12c) of a surface of a predetermined object (9) to be inspected, said flying craft (10) comprising a carrier frame (20) and motorized means (11, 13) for lifting and moving said carrier frame (20). The flying craft is characterized in that it further comprises an apparatus (14) for three-dimensional measurement of a region of interest (12a, 12b, 12c) targeted by said apparatus (14), and a management system (34, 35) of said craft configured to be able to switch said craft from a navigation mode, in which the craft can be moved from one region of interest to a subsequent region of interest, to a stabilized mode, in which said motorized lifting and movement means (11, 13) are controlled so as to be able to keep at least one kinematic parameter of said craft constant, making it possible to minimize the vibration of said craft, and in which said measurement apparatus (14) can acquire a three-dimensional measurement of a region of interest.

公开(公告)号：US20210200246A1

公开(公告)日：2021-07-01

申请号：US16070502

申请日：2016-12-19

Applicant: DONECLE

Inventor： Alban DERUAZ-PEPIN

IPC: G05D1/10 ,  G01S17/89 ,  G01S7/481 ,  G06K9/00

Abstract: The invention relates to a method for determining the relative position of a moving object in relation to an environment modelled by a set of geometric surfaces that form a 3D model in accordance with a frame of reference in the environment, comprising a step (10) of measuring a plurality of distances from the object to the environment in at least one direction, so as to obtain a set of defined points in a frame of reference of the moving object, a step of evaluating a difference between said set of points and the 3D mesh of the environment, and a step (20) of determining the relative position of the moving object in the frame of reference of the environment from said difference.

公开(公告)号：WO2018229391A1

公开(公告)日：2018-12-20

申请号：PCT/FR2018/051294

申请日：2018-06-05

Applicant: DONECLE

Inventor： CLAYBROUGH, Matthieu ,  DERUAZ-PEPIN, Alban ,  BOULET, Jean-Marie

IPC: B64F5/60

CPC classification number: B64F5/60

Abstract: L'invention concerne une plateforme délocalisée de commande et de suivi des inspections de surfaces d'objets prédéterminés par des robots (31a, 31b) d'inspection comprenant une base de référence (11) desdits objets prédéterminés; un module de paramétrage (14) desdits robots (31a, 31b) d'inspection; un module de collecte (17) dans une base d'inspections (13) des données de surface fournies par lesdits robots (31a, 31b) d'inspection; un module de traitement (16) desdites données de surface de ladite base d'inspections (13) configuré pour pouvoir détecter des défauts de surface desdits objets inspectés, les sauvegarder dans une base de défauts (12), et pour fournir audit module de paramétrage (15), à partir de ladite base d'inspections (13) et de ladite base des défauts (12), un paramétrage optimisé desdits robots (31a, 31b) d'inspection; et un système de communication (18) sans fil avec lesdits robots (31a, 31b) d'inspection.