U.S. patent application number 16/027843 was filed with the patent office on 2020-01-09 for autonomous aerial vehicle for lighting inspection and replacement and methods for use therewith.
The applicant listed for this patent is Marc Lipton, Bruce E. Stuckman. Invention is credited to Marc Lipton, Bruce E. Stuckman.
Application Number | 20200012278 16/027843 |
Document ID | / |
Family ID | 69102031 |
Filed Date | 2020-01-09 |
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United States Patent
Application |
20200012278 |
Kind Code |
A1 |
Lipton; Marc ; et
al. |
January 9, 2020 |
AUTONOMOUS AERIAL VEHICLE FOR LIGHTING INSPECTION AND REPLACEMENT
AND METHODS FOR USE THEREWITH
Abstract
An autonomous aerial vehicle (AAV) includes a plurality of
lightbulb changers and an actuator for controlling the plurality of
lightbulb changers. A structure database stores structure data
corresponding to a structure, the structure data including
coordinate data corresponding to three-dimensional coordinates of a
location that facilitates an unobstructed view of a plurality of
exterior lights of the structure, the structure data further
including schematic data that indicates positions on the structure
of the plurality of exterior lights. A flight control system
controls a position of the AAV, based on the coordinate data, to
the location that facilitates the unobstructed view of the
plurality of exterior lights of the structure. A camera captures
image data corresponding to the unobstructed view of the plurality
of exterior lights of the structure. A processor controls the AAV
to perform a lighting inspection procedure and/or a lightbulb
replacement process.
Inventors: |
Lipton; Marc; (Ann Arbor,
MI) ; Stuckman; Bruce E.; (Austin, TX) |
|
Applicant: |
Name |
City |
State |
Country |
Type |
Lipton; Marc
Stuckman; Bruce E. |
Ann Arbor
Austin |
MI
TX |
US
US |
|
|
Family ID: |
69102031 |
Appl. No.: |
16/027843 |
Filed: |
July 5, 2018 |
Current U.S.
Class: |
1/1 |
Current CPC
Class: |
G05D 1/101 20130101;
H01J 9/003 20130101; G05D 1/0088 20130101; B64C 2201/127 20130101;
G05D 1/0094 20130101; B64C 2201/145 20130101 |
International
Class: |
G05D 1/00 20060101
G05D001/00; G05D 1/10 20060101 G05D001/10; H01J 9/00 20060101
H01J009/00 |
Claims
1. An autonomous aerial vehicle (AAV) comprising: a plurality of
lightbulb changers; an actuator for controlling the plurality of
lightbulb changers; a structure database configured to store
structure data corresponding to a structure, the structure data
including coordinate data corresponding to three-dimensional
coordinates of a location that facilitates an unobstructed view of
a plurality of exterior lights of the structure, the structure data
further including schematic data that indicates positions on the
structure of the plurality of exterior lights; a flight control
system configured to control a position of the AAV, based on the
coordinate data, to the location that facilitates the unobstructed
view of the plurality of exterior lights of the structure; a camera
configured to capture first image data corresponding to the
unobstructed view of the plurality of exterior lights of the
structure; and a processor configured to perform a lighting
inspection procedure that includes: superimposing the schematic
data on the first image data; identifying, based on the schematic
data, regions in the first image data corresponding to the
positions on the structure of the plurality of exterior lights;
analyzing the first image data within the regions to determine if
each of the plurality of exterior lights is operating properly;
generate fault data when one of the plurality of exterior lights is
not operating properly; wherein, when one of the plurality of
exterior lights is not operating properly, the processor implements
a lightbulb replacement process that includes: commanding the
flight control system to control the position of the AAV to a
location adjacent to the one of the plurality of exterior lights
that is not operating properly; commanding the flight control
system to control the position and an orientation of the AAV to
engage a first of the plurality of the lightbulb changers with the
one of the plurality of exterior lights that is not operating
properly; commanding the actuator to control the first of the
plurality of the lightbulb changers to remove the one of the
plurality of exterior lights that is not operating properly from a
corresponding socket; commanding the flight control system to
control the position and the orientation of the AAV to engage a
replacement lightbulb in a second of the plurality of the lightbulb
changers with the corresponding socket; and commanding the actuator
to control the second of the plurality of the lightbulb changers to
install the replacement lightbulb in the corresponding socket.
2. The AAV of claim 1, wherein the processor is further configured
to: receive, from the flight control system, hover control data
indicating that a stable hover state of the AAV cannot be
maintained; and aborting, based on the hover control data, the
lightbulb replacement process.
3. The AAV of claim 1, wherein the processor is further configured
to: receive, from the camera, second image data captured during the
lightbulb replacement process; analyzing the second image date to
determine that a stable hover state of the AAV cannot be
maintained; and when the stable hover state of the AAV cannot be
maintained, aborting the lightbulb replacement process.
4. The AAV of claim 1, wherein the processor is further configured
to: receive, from the camera, second image data captured during the
lightbulb replacement process; and analyze the second image data;
wherein the commanding the flight control system to control the
position and the orientation of the AAV to engage the first of the
plurality of the lightbulb changers with the one of the plurality
of exterior lights that is not operating properly is based on the
analyzing of the second image data.
5. The AAV of claim 4, wherein the commanding the flight control
system to control the position and the orientation of the AAV to
engage the replacement lightbulb in the second of the plurality of
the lightbulb changers with the corresponding socket is based on
the analyzing of the second image data.
6. The AAV of claim 1, wherein the flight control system is further
configured to maintain the position of the AAV in a stable hover
state at the location that facilitates the unobstructed view of the
plurality of exterior lights of the structure, to enable the camera
to capture the first image data corresponding to the unobstructed
view of the plurality of exterior lights of the structure.
7. The AAV of claim 1, wherein the flight control system is further
configured to maintain the position and the orientation of the AAV
in a stable hover state to enable the AAV to engage the first of
the plurality of the lightbulb changers with the one of the
plurality of exterior lights that is not operating properly.
8. The AAV of claim 1, wherein the flight control system is further
configured to maintain the position and the orientation of the AAV
in a hover state to enable the AAV to engage the replacement
lightbulb in the second of the plurality of the lightbulb changers
with the corresponding socket.
9. The AAV of claim 1, wherein the processor is further configured
to: receive, from the camera, second image data captured after the
replacement lightbulb is installed in the corresponding socket;
analyze the second image data captured after the replacement bulb
is installed in the corresponding socket to determine when the
replacement lightbulb is not operating properly; and implement a
reinstallation procedure to remove and reinstall the replacement
bulb, when the replacement lightbulb is not operating properly.
10. The AAV of claim 1, wherein the processor is further configured
to: receive, from the camera, second image data captured after the
replacement lightbulb is installed in the corresponding socket;
analyze the second image data captured after the replacement bulb
is installed in the corresponding socket to determine when the
replacement lightbulb is operating properly; and when the
replacement lightbulb is operating properly, command the flight
control system to control the position of the AAV to a location
corresponding to an AAV base.
11. A method comprising: storing structure data corresponding to a
structure, the structure data including coordinate data
corresponding to three-dimensional coordinates of a location that
facilitates an unobstructed view of a plurality of exterior lights
of the structure, the structure data further including schematic
data that indicates positions on the structure of the plurality of
exterior lights; controlling, via a flight control system, a
position of an AAV, based on the coordinate data, to the location
that facilitates the unobstructed view of the plurality of exterior
lights of the structure; capturing, via a camera, first image data
corresponding to the unobstructed view of the plurality of exterior
lights of the structure; superimposing the schematic data on the
first image data; identifying, based on the schematic data, regions
in the first image data corresponding to the positions on the
structure of the plurality of exterior lights; analyzing the first
image data within the regions to determine if each of the plurality
of exterior lights is operating properly; generating fault data
when one of the plurality of exterior lights is not operating
properly; when one of the plurality of exterior lights is not
operating properly, implementing a lightbulb replacement process
that includes: commanding the flight control system to control the
position of the AAV to a location adjacent to the one of the
plurality of exterior lights that is not operating properly;
commanding the flight control system to control the position and an
orientation of the AAV to engage a first of the plurality of the
lightbulb changers with the one of the plurality of exterior lights
that is not operating properly; commanding an actuator to control a
first of a plurality of the lightbulb changers to remove the one of
the plurality of exterior lights that is not operating properly
from a corresponding socket; commanding the flight control system
to control the position and the orientation of the AAV to engage a
replacement lightbulb in a second of the plurality of the lightbulb
changers with the corresponding socket; and commanding the actuator
to control the second of the plurality of the lightbulb changers to
install the replacement lightbulb in the corresponding socket.
12. The method of claim 11, further comprising: receiving, from the
flight control system, hover control data indicating that a stable
hover state of the AAV cannot be maintained; and aborting, based on
the hover control data, the lightbulb replacement process.
13. The method of claim 11, further comprising: receiving, from the
camera, second image data captured during the lightbulb replacement
process; analyzing the second image date to determine that a stable
hover state of the AAV cannot be maintained; and when the stable
hover state of the AAV cannot be maintained, aborting the lightbulb
replacement process.
14. The method of claim 11, further comprising: receiving, from the
camera, second image data captured during the lightbulb replacement
process; and analyzing the second image data; wherein the
commanding the flight control system to control the position and
the orientation of the AAV to engage the first of the plurality of
the lightbulb changers with the one of the plurality of exterior
lights that is not operating properly is based on the analyzing of
the second image data.
15. The method of claim 14, wherein commanding the flight control
system to control the position and the orientation of the AAV to
engage the replacement lightbulb in the second of the plurality of
the lightbulb changers with the corresponding socket is based on
the analyzing of the second image data.
16. The method of claim 11, further comprising: maintaining the
position of the AAV in a stable hover state at the location that
facilitates the unobstructed view of the plurality of exterior
lights of the structure, to enable the camera to capture the first
image data corresponding to the unobstructed view of the plurality
of exterior lights of the structure.
17. The method of claim 11, further comprising: maintaining the
position and the orientation of the AAV in a stable hover state to
enable the AAV to engage the first of the plurality of the
lightbulb changers with the one of the plurality of exterior lights
that is not operating properly.
18. The method of claim 11, further comprising: maintaining the
position and the orientation of the AAV in a stable hover state to
enable the AAV to engage the replacement lightbulb in the second of
the plurality of the lightbulb changers with the corresponding
socket.
19. The method of claim 11, further comprising: receiving, from the
camera, second image data captured after the replacement lightbulb
is installed in the corresponding socket; analyzing the second
image data captured after the replacement bulb is installed in the
corresponding socket to determine when the replacement lightbulb is
not operating properly; and implementing a reinstallation procedure
to remove and reinstall the replacement bulb, when the replacement
lightbulb is not operating properly.
20. The method of claim 11, further comprising: receiving, from the
camera, second image data captured after the replacement lightbulb
is installed in the corresponding socket; analyzing the second
image data captured after the replacement bulb is installed in the
corresponding socket to determine when the replacement lightbulb is
operating properly; and commanding the flight control system to
control the position of the AAV to a location corresponding to an
AAV base, when the replacement lightbulb is operating properly.
Description
BACKGROUND OF THE INVENTION
[0001] This disclosure relates generally to autonomous aerial
vehicles such as multi-copters or other unmanned aircraft.
BRIEF SUMMARY OF THE INVENTION
[0002] The present disclosure is directed to apparatus and methods
of operation that are further described in the following Brief
Description of the Drawings, the Detailed Description, and the
claims. Other features and advantages of the present disclosure
will become apparent from the following detailed description made
with reference to the accompanying drawings.
BRIEF DESCRIPTION OF THE SEVERAL VIEWS OF THE DRAWING(S)
[0003] FIG. 1 is a pictorial diagram representation of an
autonomous aerial vehicle 100 in accordance with an embodiment of
the present disclosure.
[0004] FIGS. 2A-2I are pictorial/block diagram representations that
illustrate lightbulb changing mechanism 106 in accordance with an
embodiment of the present disclosure.
[0005] FIG. 3 is a block diagram representation of an autonomous
aerial vehicle 100 in accordance with an embodiment of the present
disclosure.
[0006] FIG. 4 is a schematic/graphical representation that
illustrates locations about a structure in accordance with an
embodiment of the present disclosure.
[0007] FIG. 5 is a pictorial representation that illustrates a view
of a structure in accordance with an embodiment of the present
disclosure.
[0008] FIG. 6 is a graphical diagram of schematic data 152 in
accordance with an embodiment of the present disclosure.
[0009] FIG. 7 is a graphical representation of schematic data 152
superimposed on image data of a structure 142 in accordance with an
embodiment of the present disclosure.
[0010] FIG. 8 is a flowchart representation of a method in
accordance with an embodiment of the present disclosure.
[0011] FIG. 9 is a flowchart representation of a method in
accordance with an embodiment of the present disclosure.
DETAILED DESCRIPTION
[0012] FIG. 1 is a pictorial diagram representation of an
autonomous aerial vehicle (AAV) 100 in accordance with an
embodiment of the present disclosure. In particular, the AAV 100
includes an aircraft body 102 having a flight control system that
controls the position of the AAV 100, a camera 104 and a lightbulb
changing mechanism 106 that includes a plurality of lightbulb
changers that are controlled via an actuator.
[0013] In operation, a structure database stores structure data
corresponding to a structure such as a building, a tower, a bridge,
or other fixed architectural or physical structure having one or
more exterior lights, such as aviation obstruction lights or other
lighting. The structure data includes coordinate data corresponding
to three-dimensional coordinates of a location that facilitates an
unobstructed view of the exterior lights of the structure. The
structure data further includes schematic data that indicates
positions on the structure of the exterior lights. A flight control
system controls a position of the AAV 100, based on the coordinate
data, to the location that facilitates the unobstructed view of the
plurality of exterior lights of the structure. The camera 104
captures image data corresponding to the unobstructed view of
exterior lights of the structure. A processor is configured to
control the AAV 100 to perform a lighting inspection procedure and
a lightbulb replacement process that utilizes the lightbulb
changing mechanism 106.
[0014] While the aircraft body is shown as being configured as a
quadcopter, other aircraft designs including single and
multi-copter configurations, lighter than air aircraft and other
designs are likewise possible. The implementation and operations of
the AAV 100 are presented along with various optional features that
will be described in greater detail in conjunction with FIGS. 2-9
that follow.
[0015] FIGS. 2A-2G are pictorial/block diagram representations that
illustrate lightbulb changing mechanism 106 in accordance with an
embodiment of the present disclosure. The lightbulb changing
mechanism 106 is coupled to a portion of the underside of the
aircraft body 102 as shown, however other support configurations
are likewise possible. The lightbulb changing mechanism 106
includes lightbulb changers 115 and 115' having grippers 114 and
114' that are coupled via shafts 116 and 116', respectively, to the
actuator 112. Gripper 114' is shown as gripping a replacement
lightbulb 117. The actuator 112 is configured to control the
lightbulb changers 115 and 115' via one or more stepper motors,
other control motors or other actuators that operate controllably
to turn the shafts 116 and 116' in order to screw and unscrew or
otherwise install and uninstall a lightbulb from a light
socket.
[0016] As discussed in conjunction with FIG. 1, the lightbulb
changing mechanism 106 can be used by the AAV 100 to implement a
lightbulb replacement process. For example, the position of the AAV
100 can be controlled to a location adjacent to a failed lightbulb
117' in a socket 119 of a structure as shown on FIG. 2B. The
position and orientation of the AAV 100 is controlled to engage the
lightbulb changer 115 with the failed lightbulb 117'. In
particular, the AAV 100 can be moved so that the gripper 114 is
inserted over the failed lightbulb so as to engage the failed
lightbulb 117' as shown in FIG. 2C. The AAV 100 then remains in a
stable hover state while the actuator 112 controls the lightbulb
changer 115 to remove the failed lightbulb from the socket 119. In
particular, the actuator 112 turns the shaft 116 counter-clockwise
so as to unscrew the failed lightbulb 117'. The AAV 100 can then
move away with the failed lightbulb 117' in the gripper 114 as
shown in FIG. 2D.
[0017] The AAV 100 can then be reoriented and repositioned to
engage the replacement lightbulb 117 in gripper 114' with the
socket 119 as shown in FIG. 2E. In particular, the AAV 100 can be
moved so that the replacement lightbulb 117 in gripper 114' is
inserted in the socket 119. The AAV 100 then remains in a stable
hover state while the actuator 112 controls the lightbulb changer
115' to install the replacement lightbulb 117 in the socket 119. In
particular, the actuator 112 turns the shaft 116' clockwise so as
to screw the replacement lightbulb 117 in the socket 119 as shown
in FIG. 2F. The AAV 100 can then complete the installation by
moving away, releasing the grip of the gripper 114' as shown in
FIG. 2G.
[0018] FIG. 2H further includes a canopy 118 that can be opened by
the actuator 112 during the lightbulb replacement procedure in
order to catch a bulb that may be inadvertently dropped to avoid a
hazard to ground personnel, glass clean-up, etc. The canopy can be
closed, in an umbrella-like fashion for example, before and after
the lightbulb replacement process in order to facilitate more
stable flight by the AAV 100.
[0019] While the prior examples have illustrated horizontal
configurations of the grippers 114 and 114', the grippers 114 and
114' can likewise be implemented in a vertical configuration as
shown in FIG. 2I. Furthermore, the lightbulb changing mechanism 106
can further include a tool 119, such an electric screwdriver, nut
driver or other tool and a housing gripper 121 that are configured
to facilitate removal and reinstallation of a portion of the
housing of an aviation obstruction light assembly 123 that covers
the lightbulb to be replaced. While not expressly shown, the camera
104 can include a plurality of cameral elements including one or
more camera elements configured to capture images of the lightbulb
changer 115, lightbulb changer 115', tool 119, housing gripper 121,
and aviation obstruction light assembly 123 during the lightbulb
replacement process to aid in controlling the position and
orientation of the AAV 100 and further to control the operation of
the lightbulb changer 115, lightbulb changer 115', tool 119 and
housing gripper 121 during the lightbulb replacement process.
[0020] Consider an example where the aviation obstruction light
assembly 123 includes a cap that is secured by several screws that
remain attached to the cap when unscrewed. The lightbulb
replacement process can include unscrewing the screws that secure
the cap via the tool 119, gripping and removing the cap via the
housing gripper 121, removing the failed lightbulb via lightbulb
changer 115, installing a new lightbulb via lightbulb changer 115',
reseating the cap via housing gripper 121, and screwing in the
screws that secure the cap via the tool 119.
[0021] It should be noted that while a particular gripper and
lightbulb configuration is shown, other grippers and/or other
lightbulb configurations could likewise be implemented.
Furthermore, while the lightbulb replacement procedure described
above contemplates the use of lightbulbs with screw bases, the
procedures above could easily be modified for bayonet style bulbs
and sockets or other base/socket configurations as will be apparent
to one skilled in the art. In addition, while the foregoing
description has presented a configuration with two light bulb
changers to replace a single bulb, N (greater than 2) lightbulb
changers could be implemented in a similar fashion to install N-1
lightbulbs without returning to base. Furthermore, while
[0022] FIG. 3 is a block diagram representation 118 of an
autonomous aerial vehicle 100 in accordance with an embodiment of
the present disclosure. The AAV 100 includes the lightbulb changing
mechanism 106 having lightbulb changers 115 and 115' and an
actuator 112. A structure database 134, such as a memory, is
configured to store structure data corresponding to a structure.
The structure data can include coordinate data corresponding to
three-dimensional coordinates of a location that facilitates an
unobstructed view of a plurality of exterior lights of the
structure, and schematic data that indicates positions on the
structure of the plurality of exterior lights.
[0023] The AAV further includes a flight control system 125, camera
104 and processor 132. The flight control system 125 is configured
to control the position (x, y, z) and orientation (roll, pitch and
yaw) of the AAV 100 in a flight plan, stable hover state and/or to
otherwise control the motions of the AAV 110 as described
herein.
[0024] The flight control system 125 includes a global positioning
system (GPS) receiver 120 and motion sensors 122 that includes one
or more axes of accelerometers or gyroscopes or other devices that
alone, or with further processing by flight controller 126, can
generate position and or orientation data that reflects the current
orientation and position of the AAV 100 in three-dimensional space.
The flight controller responds to commands from the processor 132
and generates command data to control the motion of the AAV 100 via
flight control devices 130 such as rotors, actuators, control
surfaces, gimbals or other controllers.
[0025] Processor 132 and flight controller 126 may be implemented
using a shared processing device, individual processing devices, or
a plurality of processing devices and may further include memory.
Such a processing device may be a microprocessor, micro-controller,
digital signal processor, microcomputer, central processing unit,
field programmable gate array, programmable logic device, state
machine, logic circuitry, analog circuitry, digital circuitry,
and/or any device that manipulates signals (analog and/or digital)
based on operational instructions. The memory may be a single
memory device or a plurality of memory devices. Such a memory
device may be a read-only memory, random access memory, volatile
memory, non-volatile memory, static memory, dynamic memory, flash
memory, and/or any device that stores digital information. Note
that when the processor 132 and/or flight controller 126 implements
one or more of its functions via a state machine, analog circuitry,
digital circuitry, and/or logic circuitry, the memory storing the
corresponding operational instructions is embedded with the
circuitry comprising the state machine, analog circuitry, digital
circuitry, and/or logic circuitry.
[0026] In an example of operation, the flight control system 125
controls the position and orientation of the AAV 100, based on the
coordinate data, to a location that facilitates the unobstructed
view of the plurality of exterior lights of the structure. The
camera 104 is configured to capture image data corresponding to the
unobstructed view of the plurality of exterior lights of the
structure. The processor 132 is configured to perform a lighting
inspection procedure that includes: [0027] (a) superimposing the
schematic data on the image data; [0028] (b) identifying, based on
the schematic data, regions in the image data corresponding to the
positions on the structure of the plurality of exterior lights;
[0029] (c) analyzing the image data within the regions to determine
if each of the plurality of exterior lights is operating properly;
and [0030] (d) generating fault data indicating whether or not one
of the plurality of exterior lights is not operating properly.
[0031] Consider a further example where the structure has its own
lighting alarm system that generates a wireless alarm signal that
indicates one or more of the exterior lights have failed. This
alarm signal can be received by a transceiver (not expressly shown)
that is coupled to the processor 132, and used to tripper, by the
processor 132, the initiation of the lighting inspection procedure
that includes: [0032] (a) superimposing the schematic data on the
image data; [0033] (b) identifying, based on the schematic data,
regions in the image data corresponding to the positions on the
structure of the plurality of exterior lights; [0034] (c) analyzing
the image data within the regions to determine which of the
plurality of exterior lights is not operating properly; and [0035]
(d) generating fault data indicating which of the plurality of
exterior lights is not operating properly.
[0036] If one of the plurality of exterior lights is not operating
properly (e.g. has burned out or otherwise failed), the processor
132 implements a lightbulb replacement process that includes:
[0037] (a) commanding the flight control system 125 to control the
position of the AAV 100 to a location adjacent to the exterior
light that is not operating properly; [0038] (b) commanding the
flight control system 125 to control the position and an
orientation of the AAV 100 to engage the lightbulb changer 115 with
exterior light that is not operating properly; [0039] (c)
commanding the actuator 112 to control the lightbulb changer 115 to
remove the exterior light that is not operating properly from its
corresponding socket; [0040] (d) commanding the flight control
system 125 to control the position and the orientation of the AAV
100 to engage a replacement lightbulb in the lightbulb changer 115'
with the corresponding socket; and [0041] (e) commanding the
actuator 112 to control the lightbulb changer 115' to install the
replacement lightbulb in the corresponding socket. It should be
noted that other steps, including opening and closing a canopy,
removal and reinstallation of a portion of a housing, can likewise
be implemented as previously discussed in conjunction with FIGS. 2H
and 2I.
[0042] In various embodiments, the flight control system 125 is
further configured to maintain the position of the AAV 100 in a
stable hover state at the location that facilitates the
unobstructed view of the plurality of exterior lights of the
structure, to enable the camera 104 to capture the image data
corresponding to the unobstructed view of the plurality of exterior
lights of the structure. The flight control system can further be
configured to maintain the position and the orientation of the AAV
100 in a stable hover state to enable the AAV 100 to engage the
lightbulb changer 115 with the one of the plurality of exterior
lights that is not operating properly and further to enable the AAV
100 to engage the replacement lightbulb in the lightbulb changer
115' with the empty socket.
[0043] Furthermore, the processor 132 receives, from the flight
control system 125, hover control data indicating that a stable
hover state of the AAV 100 cannot be maintained. For example, the
flight controller 126 can attempt to control the AAV 100 to a
stable hover state with a fixed orientation and position and
analyze motion data from the motion sensors 112 and/or the GPS
receiver 120. If the motion data indicates an amount of motion
greater than a threshold indicating the maximum tolerated movement
for a stable hover state, such as in conditions of high wind or
wind shear, heavy rain, hail or other conditions detrimental to
stable hovering, the processor 132 can abort the lightbulb
replacement process. In addition or in the alternative, the
processor 132 can be further configured to: [0044] (a) receive,
from the camera, image data captured during the lightbulb
replacement process; and [0045] (b) analyze the image date to
determine that a stable hover state of the AAV cannot be
maintained, based on for example, excessive jitter in the image
data. Aborting the lightbulb replacement process based on the
analysis of motion data and/or image data can avoid damage to the
structure, the replacement lightbulb, and to the AAV 100.
[0046] In addition, to assisting with the lighting inspection
procedure and assisting in determining that a stable hover state of
the AAV cannot be maintained, the analysis of image data for the
camera 104 by the processor 132 can also be used to control various
steps in the lightbulb replacement process. For example, the
processor 132 can be further configured to: [0047] (a) receive,
from the camera, image data captured during the lightbulb
replacement process; [0048] (b) analyze the image data; and [0049]
(c) commanding the flight control system 125 to control the
position and the orientation of the AAV 100 to engage the lightbulb
changer 115 with the exterior light that is not operating
properly--based on the analyzing of the image data.
[0050] For example, the exterior light that is not operating
properly can be recognized via pattern recognition and located in
the image data and used to home-in the lightbulb changer 115 on the
light. Similarly, the processor 132 can command the flight control
system 125 to control the position and the orientation of the AAV
100 to engage the replacement lightbulb in the lightbulb changer
115' with the socket--based on the analysis of the image data. For
example, the empty socket can be recognized via pattern recognition
and located in the image data and used to home-in the lightbulb
changer 115' on the socket.
[0051] In various embodiments, the processor 132 is further
configured to perform a quality assurance procedure after
installation of the replacement lightbulb that includes: [0052] (a)
receiving, from the camera 104, image data captured after the
replacement lightbulb is installed in the corresponding socket;
[0053] (b) analyzing the image data captured after the replacement
bulb is installed in the corresponding socket to determine when the
replacement lightbulb is not operating properly; and [0054] (c)
implementing a reinstallation procedure to remove and reinstall the
replacement bulb, when the replacement lightbulb is not operating
properly.
[0055] In this fashion, if the replacement lightbulb is not
lighting up because it is not firmly seated in the socket, the AAV
100 can attempt to remove the replacement bulb and try the
installation procedure again to attempt to reseat the replacement
lightbulb. The quality assurance procedure can then be repeated as
well. When the analysis of the image data determines that the
replacement lightbulb is operating properly, the processor 132 can
command the flight control system to control the position of the
AAV 100 to a location corresponding to an AAV base.
[0056] FIG. 4 is a schematic/graphical representation 135 that
illustrates locations about a structure in accordance with an
embodiment of the present disclosure. A radio tower 142 is shown
schematically as an example of a structure having a plurality of
exterior lights. In particular, blinking and/or non-blinking lights
are installed over the length of the tower and on all four sides to
warn aircraft at night as to the position of the tower. Four
different unobstructed viewing positions x.sub.i, y.sub.i, z.sub.i
for viewing to the tower 142, each include a viewing azimuth
.theta..sub.i corresponding to a yaw axis angle, are presented in
vector form where i=1, 2, 3, 4.
[0057] In the example shown:
[0058] .theta..sub.1=90 degrees
[0059] .theta..sub.2=0 degrees
[0060] .theta..sub.3=270 degrees
[0061] .theta..sub.4=180 degrees
[0062] While the example shown presents four unobstructed viewing
positions for a single structure, a greater of viewer number can be
employed. For more complex structures, such as tall buildings with
complex shapes, an unobstructed viewing location can be stored for
each side having exterior lights.
[0063] FIG. 5 is a pictorial representation 140 that illustrates a
view of a structure in accordance with an embodiment of the present
disclosure. A radio tower 142 is shown pictorially as an example of
a structure having a plurality of exterior lights 144, 146 and 148.
In this example of operation, the position of the AAV 100 has been
controlled, based on the coordinate data, to a location that
facilitates an unobstructed view of the plurality of exterior
lights 144, 146 and 148 of the structure 142. The camera 104
captures image data 145 that includes the plurality of exterior
lights 144, 146 and 148 of the structure 142.
[0064] In various embodiments, the camera 104 has a charge coupled
device (CCD) or other video or still imaging element that captures
image data in a near infrared spectrum such as 880 nm or other
infrared spectrum. This allows the camera to more effectively
operate in twilight or night conditions when the exterior lights
would be expected to be operating. Furthermore, the light emitted
by incandescent, halogen, sodium vapor, mercury vapor, light
emitting diode or other lights would be expected to include
sufficient emissions in this spectrum to permit the processor to
easily analyze an image data of this kind to determine if an
exterior light is functioning properly or improperly (i.e., it is
properly or sufficiently lit or not)
[0065] FIG. 6 is a graphical diagram 150 of schematic data 152 in
accordance with an embodiment of the present disclosure. The
schematic data 152 indicates the positions on the structure of the
plurality of exterior lights as square regions 154, 156 and 158 on
a central axis that represents the central axis 153 of the
structure 142 of FIG. 5 along with its base 155. While a particular
schematic representation of the structure 142 is reflected by
schematic data 152, other schematic representations that indicate
the positions on the structure of the plurality of exterior lights
can likewise be employed
[0066] FIG. 7 is a graphical representation 160 of schematic data
152 superimposed on image data of a structure 142 in accordance
with an embodiment of the present disclosure. In the example shown,
the processor 132 superimposes the schematic data 152 on the image
data of the structure 142 by aligning the base 155 with the base of
the structure 142 in the image and the central axis 153 with the
central axis of the structure 142 in the image. In the fashion, the
region 154 corresponds to the expected location of the exterior
light 144, the region 156 corresponds to the expected location of
the exterior light 146, and the region 158 corresponds to the
expected location of the exterior light 148.
[0067] The processor 132 presented in conjunction with FIG. 3
operates to analyze the image data in the region the region 154
(based on light intensity in the region 154, for example) to
determine if the exterior light 144 is operating properly or
improperly (e.g. it is properly lit or not). The processor 132 also
operates to analyze the image data in the region the region 156
(based on light intensity in the region 156, for example) to
determine if the exterior light 146 is operating properly or
improperly (e.g. it is properly lit or not) and further operates to
analyze the image data, in the region the region 156 (based on
light intensity in the region 158, for example) to determine if the
exterior light 148 is operating properly or improperly (e.g. it is
properly lit or not). If any of the exterior lights are operating
improperly, the processor 132 can initiate a lightbulb replacement
process as discussed in conjunction with FIG. 3, for example, to
replace the lightbulb of the light that is not working.
[0068] FIG. 8 is a flowchart representation 200 of a method in
accordance with an embodiment of the present disclosure. In
particular a method is presented for use with one or more features
or functions presented in conjunction with FIGS. 1-7. Step 202
includes storing structure data corresponding to a structure, the
structure data including coordinate data corresponding to
three-dimensional coordinates of a location that facilitates an
unobstructed view of a plurality of exterior lights of the
structure, the structure data further including schematic data that
indicates positions on the structure of the plurality of exterior
lights. Step 204 includes controlling, via a flight control system,
a position of an AAV, based on the coordinate data, to the location
that facilitates the unobstructed view of the plurality of exterior
lights of the structure. Step 206 includes capturing, via a camera,
first image data corresponding to the unobstructed view of the
plurality of exterior lights of the structure. Step 208 includes
superimposing the schematic data on the first image data. Step 210
includes identifying, based on the schematic data, regions in the
first image data corresponding to the positions on the structure of
the plurality of exterior lights. Step 212 includes analyzing the
first image data within the regions to determine if each of the
plurality of exterior lights is operating properly. Step 214
includes generating fault data when one of the plurality of
exterior lights is not operating properly. Step 216 includes
implementing a lightbulb replacement process when one of the
plurality of exterior lights is not operating properly.
[0069] FIG. 9 is a flowchart representation 220 of a method in
accordance with an embodiment of the present disclosure. In
particular a lightbulb replacement process is presented for use
with one or more features or functions presented in conjunction
with FIGS. 1-8. Step 222 includes commanding the flight control
system to control the position of the AAV to a location adjacent to
the one of the plurality of exterior lights that is not operating
properly. Step 224 includes commanding the flight control system to
control the position and an orientation of the AAV to engage a
first of the plurality of the lightbulb changers with the one of
the plurality of exterior lights that is not operating properly.
Step 226 includes commanding an actuator to control a first of a
plurality of the lightbulb changers to remove the one of the
plurality of exterior lights that is not operating properly from a
corresponding socket. Step 228 includes commanding the flight
control system to control the position and the orientation of the
AAV to engage a replacement lightbulb in a second of the plurality
of the lightbulb changers with the corresponding socket. Step 230
includes commanding the actuator to control the second of the
plurality of the lightbulb changers to install the replacement
lightbulb in the corresponding socket.
[0070] In various embodiments the method further includes:
receiving, from the flight control system, hover control data
indicating that a stable hover state of the AAV cannot be
maintained; and aborting, based on the hover control data, the
lightbulb replacement process.
[0071] In various embodiments the method further includes:
receiving, from the camera, second image data captured during the
lightbulb replacement process; analyzing the second image date to
determine that a stable hover state of the AAV cannot be
maintained; and when the stable hover state of the AAV cannot be
maintained, aborting the lightbulb replacement process.
[0072] In various embodiments the method further includes:
receiving, from the camera, second image data captured during the
lightbulb replacement process; and analyzing the second image data;
wherein the commanding the flight control system to control the
position and the orientation of the AAV to engage the first of the
plurality of the lightbulb changers with the one of the plurality
of exterior lights that is not operating properly is based on the
analyzing of the second image data.
[0073] In various embodiments, step 228 is based on the analyzing
of the second image data. In various embodiments the method further
includes: maintaining the position of the AAV in a stable hover
state at the location that facilitates the unobstructed view of the
plurality of exterior lights of the structure, to enable the camera
to capture the first image data corresponding to the unobstructed
view of the plurality of exterior lights of the structure.
[0074] In various embodiments the method further includes:
maintaining the position and the orientation of the AAV in a stable
hover state to enable the AAV to engage the first of the plurality
of the lightbulb changers with the one of the plurality of exterior
lights that is not operating properly.
[0075] In various embodiments the method further includes:
maintaining the position and the orientation of the AAV in a stable
hover state to enable the AAV to engage the replacement lightbulb
in the second of the plurality of the lightbulb changers with the
corresponding socket.
[0076] In various embodiments the method further includes:
receiving, from the camera, second image data captured after the
replacement lightbulb is installed in the corresponding socket;
analyzing the second image data captured after the replacement bulb
is installed in the corresponding socket to determine when the
replacement lightbulb is not operating properly; and implementing a
reinstallation procedure to remove and reinstall the replacement
bulb, when the replacement lightbulb is not operating properly.
[0077] In various embodiments the method further includes:
receiving, from the camera, second image data captured after the
replacement lightbulb is installed in the corresponding socket;
analyzing the second image data captured after the replacement bulb
is installed in the corresponding socket to determine when the
replacement lightbulb is operating properly; and commanding the
flight control system to control the position of the AAV to a
location corresponding to an AAV base, when the replacement
lightbulb is operating properly.
[0078] It is noted that terminologies as may be used herein such as
data, bit stream, stream, signal sequence, etc. (or their
equivalents) have been used interchangeably to describe digital
information whose content corresponds to any of a number of desired
types (e.g., data, video, speech, audio, etc. any of which may
generally be referred to as `data`). Furthermore, "image data"
includes video or still image data captured by a video camera or
still image camera.
[0079] As may be used herein, the terms "substantially" and
"approximately" provides an industry-accepted tolerance for its
corresponding term and/or relativity between items. Such an
industry-accepted tolerance ranges from less than one percent to
fifty percent and corresponds to, but is not limited to, component
values, integrated circuit process variations, temperature
variations, rise and fall times, and/or thermal noise. Such
relativity between items ranges from a difference of a few percent
to magnitude differences. As may also be used herein, the term(s)
"configured to", "operably coupled to", "coupled to", and/or
"coupling" includes direct coupling between items and/or indirect
coupling between items via an intervening item (e.g., an item
includes, but is not limited to, a component, an element, a
circuit, and/or a module) where, for an example of indirect
coupling, the intervening item does not modify the information of a
signal but may adjust its current level, voltage level, and/or
power level. As may further be used herein, inferred coupling
(i.e., where one element is coupled to another element by
inference) includes direct and indirect coupling between two items
in the same manner as "coupled to". As may even further be used
herein, the term "configured to", "operable to", "coupled to", or
"operably coupled to" indicates that an item includes one or more
of power connections, input(s), output(s), etc., to perform, when
activated, one or more its corresponding functions and may further
include inferred coupling to one or more other items. As may still
further be used herein, the term "associated with", includes direct
and/or indirect coupling of separate items and/or one item being
embedded within another item.
[0080] As may be used herein, the term "compares favorably",
indicates that a comparison between two or more items, signals,
etc., provides a desired relationship. For example, when the
desired relationship is that signal 1 has a greater magnitude than
signal 2, a favorable comparison may be achieved when the magnitude
of signal 1 is greater than that of signal 2 or when the magnitude
of signal 2 is less than that of signal 1. As may be used herein,
the term "compares unfavorably", indicates that a comparison
between two or more items, signals, etc., fails to provide the
desired relationship.
[0081] As may also be used herein, the terms "processing module",
"controller", "processor", and/or "processing unit" may be a single
processing device or a plurality of processing devices. Such a
processing device may be a microprocessor, micro-controller,
digital signal processor, microcomputer, central processing unit,
field programmable gate array, programmable logic device, state
machine, logic circuitry, analog circuitry, digital circuitry,
and/or any device that manipulates signals (analog and/or digital)
based on hard coding of the circuitry and/or operational
instructions. The processing module, module, processing circuit,
and/or processing unit may be, or further include, memory and/or an
integrated memory element, which may be a single memory device, a
plurality of memory devices, and/or embedded circuitry of another
processing module, module, processing circuit, and/or processing
unit. Such a memory device may be a read-only memory, random access
memory, volatile memory, non-volatile memory, static memory,
dynamic memory, flash memory, cache memory, and/or any device that
stores digital information. Note that if the processing module,
module, processing circuit, and/or processing unit includes more
than one processing device, the processing devices may be centrally
located (e.g., directly coupled together via a wired and/or
wireless bus structure) or may be distributedly located (e.g.,
cloud computing via indirect coupling via a local area network
and/or a wide area network). Further note that if the processing
module, module, processing circuit, and/or processing unit
implements one or more of its functions via a state machine, analog
circuitry, digital circuitry, and/or logic circuitry, the memory
and/or memory element storing the corresponding operational
instructions may be embedded within, or external to, the circuitry
comprising the state machine, analog circuitry, digital circuitry,
and/or logic circuitry. Still further note that, the memory element
may store, and the processing module, module, processing circuit,
and/or processing unit executes, hard coded and/or operational
instructions corresponding to at least some of the steps and/or
functions illustrated in one or more of the Figures. Such a memory
device or memory element can be included in an article of
manufacture.
[0082] One or more embodiments have been described above with the
aid of method steps illustrating the performance of specified
functions and relationships thereof. The boundaries and sequence of
these functional building blocks and method steps have been
arbitrarily defined herein for convenience of description.
Alternate boundaries and sequences can be defined so long as the
specified functions and relationships are appropriately performed.
Any such alternate boundaries or sequences are thus within the
scope and spirit of the claims. Further, the boundaries of these
functional building blocks have been arbitrarily defined for
convenience of description. Alternate boundaries could be defined
as long as the certain significant functions are appropriately
performed. Similarly, flow diagram blocks may also have been
arbitrarily defined herein to illustrate certain significant
functionality.
[0083] To the extent used, the flow diagram block boundaries and
sequence could have been defined otherwise and still perform the
certain significant functionality. Such alternate definitions of
both functional building blocks and flow diagram blocks and
sequences are thus within the scope and spirit of the claims. One
of average skill in the art will also recognize that the functional
building blocks, and other illustrative blocks, modules and
components herein, can be implemented as illustrated or by discrete
components, application specific integrated circuits, processors
executing appropriate software and the like or any combination
thereof.
[0084] In addition, a flow diagram may include a "start" and/or
"continue" indication. The "start" and "continue" indications
reflect that the steps presented can optionally be incorporated in
or otherwise used in conjunction with other routines. In this
context, "start" indicates the beginning of the first step
presented and may be preceded by other activities not specifically
shown. Further, the "continue" indication reflects that the steps
presented may be performed multiple times and/or may be succeeded
by other activities not specifically shown. Further, while a flow
diagram indicates a particular ordering of steps, other orderings
are likewise possible provided that the principles of causality are
maintained.
[0085] The one or more embodiments are used herein to illustrate
one or more aspects, one or more features, one or more concepts,
and/or one or more examples. A physical embodiment of an apparatus,
an article of manufacture, a machine, and/or of a process may
include one or more of the aspects, features, concepts, examples,
etc. described with reference to one or more of the embodiments
discussed herein. Further, from figure to figure, the embodiments
may incorporate the same or similarly named functions, steps,
modules, etc. that may use the same or different reference numbers
and, as such, the functions, steps, modules, etc. may be the same
or similar functions, steps, modules, etc. or different ones.
[0086] Unless specifically stated to the contra, signals to, from,
and/or between elements in a figure of any of the figures presented
herein may be analog or digital, continuous time or discrete time,
and single-ended or differential. For instance, if a signal path is
shown as a single-ended path, it also represents a differential
signal path. Similarly, if a signal path is shown as a differential
path, it also represents a single-ended signal path. While one or
more particular architectures are described herein, other
architectures can likewise be implemented that use one or more data
buses not expressly shown, direct connectivity between elements,
and/or indirect coupling between other elements as recognized by
one of average skill in the art.
[0087] The term "module" is used in the description of one or more
of the embodiments. A module implements one or more functions via a
device such as a processor or other processing device or other
hardware that may include or operate in association with a memory
that stores operational instructions. A module may operate
independently and/or in conjunction with software and/or firmware.
As also used herein, a module may contain one or more sub-modules,
each of which may be one or more modules.
[0088] While particular combinations of various functions and
features of the one or more embodiments have been expressly
described herein, other combinations of these features and
functions are likewise possible. The present disclosure is not
limited by the particular examples disclosed herein and expressly
incorporates these other combinations.
* * * * *