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    AUTOMATION METHODS FOR UAV PERCHING ON PIPES
    1.
    发明申请
    AUTOMATION METHODS FOR UAV PERCHING ON PIPES 审中-公开

    公开(公告)号：US20200174129A1

    公开(公告)日：2020-06-04

    申请号：US16696085

    申请日：2019-11-26

    Applicant: Saudi Arabian Oil Company ,  KING ABDULLAH UNIVERSITY OF SCIENCE AND TECHNOLOGY

    Inventor： Mohamed Abdelkader ,  Fadl Abdellatif ,  Jeff S. Shamma

    IPC: G01S17/86 ,  B64C39/02 ,  G05D1/00 ,  G01S17/89 ,  G06T7/50 ,  H04N5/222 ,  G06K9/00

    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.

    TWO-WHEEL COMPACT INSPECTION CRAWLER WITH AUTOMATIC PROBE NORMALIZATION
    2.
    发明申请
    TWO-WHEEL COMPACT INSPECTION CRAWLER WITH AUTOMATIC PROBE NORMALIZATION 有权

    公开(公告)号：US20220176736A1

    公开(公告)日：2022-06-09

    申请号：US17111320

    申请日：2020-12-03

    Applicant: Saudi Arabian Oil Company ,  KING ABDULLAH UNIVERSITY OF SCIENCE AND TECHNOLOGY

    Inventor： Fadl Abdellatif ,  Abdoulelah Al-Hannabi ,  Sahejad Patel ,  Mohamed Abdelkader ,  Jeff S. Shamma

    IPC: B60B19/00 ,  B62D57/024 ,  B25J5/00 ,  G01N29/22

    Abstract: A two-wheel compact magnetic crawler vehicle for traversing and inspecting surfaces is disclosed. The crawler comprises a chassis. Two independently actuated magnetic drive wheels are spaced apart in a lateral direction and mounted to the chassis by a hinged joint enabling each wheel to tilt in response to the surface curvature. A probe wheel is provided at the midpoint between the two drive wheels and laterally in line therewith. A spring-assisted probe carrier passively moves the probe wheel vertically relative to the chassis in response to changes in the surface curvature. Additionally, the vehicle includes a probe angle normalization mechanism comprising spring-loaded, vertically moveable, ball casters positioned symmetrically about the probe wheel. The combined utilization of the probe carrier and the caster carrier passively maintain the probe contacting the surface, the chassis level, and the probe normal to the surface irrespective of changes in the surface curvature with vehicle movement.

    ARTICULATED MAGNET-BEARING LEGS FOR UAV LANDING ON CURVED SURFACES
    7.
    发明申请
    ARTICULATED MAGNET-BEARING LEGS FOR UAV LANDING ON CURVED SURFACES 审中-公开

    公开(公告)号：US20200172231A1

    公开(公告)日：2020-06-04

    申请号：US16688706

    申请日：2019-11-19

    Applicant: SAUDI ARABIAN OIL COMPANY ,  KING ABDULLAH UNIVERSITY OF SCIENCE AND TECHNOLOGY

    Inventor： Fadl Abdellatif ,  Mohamed Abdelkader ,  Jeff S. Shamma

    IPC: B64C25/32 ,  B64C39/02

    Abstract: An unmanned aerial vehicle (UAV) for landing and perching on a curved ferromagnetic surface is provided. The UAV includes a plurality of articulated legs. Each articulated leg includes: a magnet configured to magnetically attach to the curved ferromagnetic surface; and a magnetic foot for housing the magnet and configured to magnetically articulate towards and attach to the curved ferromagnetic surface using the magnet in a perpendicular orientation with respect to the curved ferromagnetic surface, in response to the UAV approaching the curved ferromagnetic surface, in order to land the UAV on the curved ferromagnetic surface and for the UAV to perch on the curved ferromagnetic surface after the landing. The magnetic foot is configured to remain magnetically attached to the curved ferromagnetic surface while the UAV is perched on the curved ferromagnetic surface.

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