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：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.