Methods, systems, and apparatus, including computer programs encoded on computer storage media, for an unmanned aerial system inspection system. One of the methods is performed by a UAV and includes obtaining, from a user device, flight operation information describing an inspection of a vertical st
Methods, systems, and apparatus, including computer programs encoded on computer storage media, for an unmanned aerial system inspection system. One of the methods is performed by a UAV and includes obtaining, from a user device, flight operation information describing an inspection of a vertical structure to be performed, the flight operation information including locations of one or more safe locations for vertical inspection. A location of the UAV is determined to correspond to a first safe location for vertical inspection. A first inspection of the structure is performed is performed at the first safe location, the first inspection including activating cameras. A second safe location is traveled to, and a second inspection of the structure is performed. Information associated with the inspection is provided to the user device.
대표청구항▼
1. A system comprising one or more processors and a computer storage media storing instructions, that when executed by the one or more processors, cause the one or more processors to perform operations associated with inspecting vertical structures, the operations performed prior to inspections of t
1. A system comprising one or more processors and a computer storage media storing instructions, that when executed by the one or more processors, cause the one or more processors to perform operations associated with inspecting vertical structures, the operations performed prior to inspections of the vertical structures, and the operations comprising: displaying, in a user interface, a representation of a vertical structure to be inspected by an unmanned aerial vehicle (UAV);determining an inspection perimeter around the vertical structure to be inspected, the user interface being configured to receive adjustment of the inspection perimeter to increase or decrease a size of the inspection perimeter around the vertical structure, and the inspection perimeter being associated with positions about the vertical structure at which the UAV is to obtain sensor information;generating a flight pattern based on the inspection perimeter, the flight pattern, upon implementation by the UAV, causing the UAV to navigate around the vertical structure to a plurality of positions and orient one or more sensors of the UAV towards the vertical structure and obtain sensor information describing the vertical structure; andtransmitting, to the UAV for implementation, flight information including the flight pattern via a wireless or wired connection. 2. The system of claim 1, wherein generating the flight pattern comprises: determining vertical inspection locations about the inspection perimeter, the vertical inspection locations being set around the vertical structure at the plurality of positions. 3. The system of claim 2, wherein the vertical inspection locations are placed equidistant from a centroid of the vertical structure. 4. The system of claim 2, wherein the flight pattern comprises waypoints for the vertical inspection locations and a landing waypoint, wherein the waypoints have an associated geospatial location indicating a horizontal position, and wherein the flight pattern indicates that the UAV is to perform an inspection for each vertical inspection location that comprises the UAV navigating to an associated horizontal position at a first altitude, and while navigating along a vertical direction between the first altitude and a second altitude at the associated horizontal position, obtaining sensor information describing the vertical structure. 5. The system of claim 1, wherein the operations further comprise determining a geofence envelope boundary, the boundary surrounding the inspection perimeter, wherein the geofence envelope boundary describes a volume of space within which the UAV can be located, wherein the volume of space is constrained below a particular altitude, and wherein the representation of the vertical structure includes a representation of the volume of space. 6. The system of claim 1, wherein the flight pattern indicates the UAV is to navigate to an altitude, fly a pattern around the vertical structure, and while flying the pattern, obtain sensor information describing the vertical structure from the positions about the vertical structure. 7. The system of claim 6, wherein the operations further comprise: determining a centroid of the vertical structure, wherein the pattern around the vertical structure is set at a predetermined distance from the centroid of the vertical structure. 8. The system of claim 1, wherein the operations further comprise determining a centroid of the vertical structure, wherein the inspection perimeter has a radius ranging from 3-20 meters from the centroid of the vertical structure. 9. The system of claim 1, wherein the operations further comprise: receiving input associated with adjusting the size of the inspection perimeter, wherein upon an increase of the size of the inspection perimeter, including one or more positions in the plurality of positions, and updating placements of the plurality of positions,wherein upon a decrease of the size of the inspection perimeter, removing one or more positions in the plurality of positions, and updating placements of the plurality of positions. 10. The system of claim 1, wherein the user interface is configured to display a representation of the inspection perimeter around the representation of the vertical structure. 11. A method implemented by a system comprising one or more processors, the method comprising: displaying, by the system and in a user interface, a representation of a vertical structure to be inspected by an unmanned aerial vehicle (UAV);determining, by the system, an inspection perimeter around the vertical structure to be inspected, the user interface being configured to receive adjustment of the inspection perimeter to increase or decrease a size of the inspection perimeter around the vertical structure, and the inspection perimeter being associated with positions about the vertical structure at which the UAV is to obtain sensor information;generating, by the system, a flight pattern based on the inspection perimeter, the flight pattern, upon implementation by the UAV, causing the UAV to navigate around the vertical structure to a plurality of positions and orient one or more sensors of the UAV towards the vertical structure and obtain sensor information describing the vertical structure; andtransmitting, by the system and to the UAV for implementation, flight information including the flight pattern via a wireless or wired connection. 12. The method of claim 11, wherein generating the flight pattern comprises: determining vertical inspection locations about the inspection perimeter, the vertical inspection locations being set around the vertical structure at the plurality of positions. 13. The method of claim 12, wherein the vertical inspection locations are placed equidistant from a centroid of the vertical structure. 14. The method of claim 12, wherein the flight pattern comprises waypoints for the vertical inspection locations and a landing waypoint, wherein the waypoints have an associated geospatial location indicating a horizontal position, and wherein the flight pattern indicates that the UAV is to perform an inspection for each vertical inspection location that comprises the UAV navigating to an associated horizontal position at a first altitude, and while navigating along a vertical direction between the first altitude and a second altitude at the associated horizontal position, obtaining sensor information describing the vertical structure. 15. The method of claim 11, further comprising determining a geofence envelope boundary, the boundary surrounding the inspection perimeter, wherein the UAV is configured to perform a contingency operation if the UAV determines the geofence envelope boundary has been crossed by the UAV. 16. The method of claim 15, wherein the geofence envelope boundary describes a volume of space within which the UAV can be located, wherein the volume of space is constrained below a particular altitude, and wherein the representation of the vertical structure includes a representation of the volume of space. 17. The method of claim 11, wherein the flight pattern indicates the UAV is to navigate to an altitude, fly a pattern around the vertical structure, and while flying the pattern, obtain sensor information describing the vertical structure from the positions about the vertical structure. 18. The method of claim 17, further comprising: determining a centroid of the vertical structure, wherein the pattern around the vertical structure is set at a predetermined distance from the centroid of the vertical structure. 19. The method of claim 11, further comprising determining a centroid of the vertical structure, wherein the inspection perimeter has a radius ranging from 3-20 meters from the centroid of the vertical structure. 20. The method of claim 11, further comprising: receiving input associated with adjusting the size of the inspection perimeter, wherein upon an increase of the size of the inspection perimeter, including one or more positions in the plurality of positions, and updating placements of the plurality of positions,wherein upon a decrease of the size of the inspection perimeter, removing one or more positions in the plurality of positions, and updating placements of the plurality of positions. 21. A non-transitory computer storage medium storing instructions that when executed by a system of one or more processors cause the system to perform operations comprising: displaying, in a user interface, a representation of a vertical structure to be inspected by an unmanned aerial vehicle (UAV);determining an inspection perimeter around the vertical structure to be inspected, the user interface being configured to receive adjustment of the inspection perimeter to increase or decrease a size of the inspection perimeter around the vertical structure, and the inspection perimeter being associated with positions about the vertical structure at which the UAV is to obtain sensor information;generating a flight pattern based on the inspection perimeter, the flight pattern, upon implementation by the UAV, causing the UAV to navigate around the vertical structure to the plurality of positions and orient one or more sensors of the UAV towards the vertical structure and obtain sensor information describing the vertical structure; andtransmitting, to the UAV for implementation, flight information including the flight pattern via a wireless or wired connection. 22. The computer storage medium of claim 21, wherein generating the flight pattern comprises: determining vertical inspection locations about the inspection perimeter, the vertical inspection locations being set around the vertical structure at the plurality of positions. 23. The computer storage medium of claim 22, wherein the vertical inspection locations are placed equidistant from a centroid of the vertical structure. 24. The computer storage medium of claim 22, wherein the flight pattern comprises waypoints for the vertical inspection locations and a landing waypoint, wherein the waypoints have an associated geospatial location indicating a horizontal position, and wherein the flight pattern indicates that the UAV is to perform an inspection for each vertical inspection location that comprises the UAV navigating to an associated horizontal position at a first altitude, and while navigating along a vertical direction between the first altitude and a second altitude at the associated horizontal position, obtaining sensor information describing the vertical structure. 25. The computer storage medium of claim 21, wherein the operations further comprise determining a geofence envelope boundary, the boundary surrounding the inspection perimeter, wherein the UAV is configured to perform a contingency operation if the UAV determines the geofence envelope boundary has been crossed by the UAV. 26. The computer storage medium of claim 25, wherein the geofence envelope boundary describes a volume of space within which the UAV can be located, wherein the volume of space is constrained below a particular altitude, and wherein the representation of the vertical structure includes a representation of the volume of space. 27. The computer storage medium of claim 21, wherein the flight pattern indicates the UAV is to navigate to an altitude, fly a pattern around the vertical structure, and while flying the pattern, obtain sensor information describing the vertical structure from the positions about the vertical structure. 28. The computer storage medium of claim 27, wherein the operations further comprise: determining a centroid of the vertical structure, wherein the pattern around the vertical structure is set at a predetermined distance from the centroid of the vertical structure. 29. The computer storage medium of claim 21, wherein the operations further comprise determining a centroid of the vertical structure, wherein the inspection perimeter has a radius ranging from 3-20 meters from the centroid of the vertical structure. 30. The computer storage medium of claim 21, wherein the operations further comprise: receiving input associated with adjusting the size of the inspection perimeter, wherein upon an increase of the size of the inspection perimeter, including one or more positions in the plurality of positions, and updating placements of the plurality of positions,wherein upon a decrease of the size of the inspection perimeter, removing one or more positions in the plurality of positions, and updating placements of the plurality of positions.
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