Active UAV payload based on horizontal propellers for contact inspections tasks

González-deSantos, Luis Miguel; Martínez-Sánchez, J.; González-Jorge, H.; Arias, Pablo

doi:10.1016/j.measurement.2020.108106

Cited by 6 publications

(4 citation statements)

References 47 publications

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“…The LenaCV USB3.0 high frame rate variable baseline binocular camera is fixed below the quadrotor with ''X'' configuration, and a yellow spherical symbol is attached to the quadrotor baseboard (the payload is omitted). The open source flight controller Pixhawk serves as the flight control unit of the quadrotor suspension system (Gonza´lez-deSantos et al, 2020). Experiments are carried out in indoor and outdoor environments, respectively, and the detection results are shown in Figures 20 and 21.…”

Section: Resultsmentioning

confidence: 99%

Binocular visual pendulum angle detection and anti-swing control of quadrotor suspension system

Zhang

Yang

Han

et al. 2022

Transactions of the Institute of Measurement and Control

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Different from the pendulum angle detection by the optical capture system in the indoor environment, it is difficult to detect the pendulum angle of quadrotor suspension system in the outdoor environment. This paper presents a pendulum angle vision measurement scheme based on the model of the quadrotor suspension system, and applied to the quadrotor anti-swing control scheme with feedforward controller. The theoretical expression of the coordinate relationship between the pendulum angle and the spherical symbol is obtained by establishing the mathematical model of the quadrotor suspension system. The coordinates of spherical symbol fixed to the payload are detected by the visual algorithm. Simulations and experiments show that proposed method can accurately identify spherical symbol in sufficient light, and the maximum measurement error of [Formula: see text] angle is −0.024 rad and [Formula: see text] angle is −0.068 rad in the Gazebo simulation. Meanwhile, the results in MATLAB simulation indicate the anti-swing control scheme with feedforward controller can effectively restrain the payload’s swing.

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Section: Resultsmentioning

confidence: 99%

Binocular visual pendulum angle detection and anti-swing control of quadrotor suspension system

Zhang

Yang

Han

et al. 2022

Transactions of the Institute of Measurement and Control

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“…However, on the other hand, it needs a complex and heavier control system. In [ 35 ], a payload with two horizontal propellers is used to perform inspections in vertical walls.…”

Section: Related Workmentioning

confidence: 99%

Towards Precise Positioning and Movement of UAVs for Near-Wall Tasks in GNSS-Denied Environments

Orjales

Losada-Pita

Deibe

2021

Sensors

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UAVs often perform tasks that require flying close to walls or structures and in environments where a satellite-based location is not possible. Flying close to solid bodies implies a higher risk of collisions, thus requiring an increase in the precision of the measurement and control of the UAV’s position. The aerodynamic distortions generated by nearby walls or other objects are also relevant, making the control more complex and further placing demands on the positioning system. Performing wall-related tasks implies flying very close to the wall and, in some cases, even touching it. This work presents a Near-Wall Positioning System (NWPS) based on the combination of an Ultra-wideband (UWB) solution and LIDAR-based range finders. This NWPS has been developed and tested to allow precise positioning and orientation of a multirotor UAV relative to a wall when performing tasks near it. Specific position and orientation control hardware based on horizontal thrusters has also been designed, allowing the UAV to move smoothly and safely near walls.

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“…Drone-based inspection can solve challenges such as limited physical access and inspection time and provide new ways to conduct more advanced inspections. As a result, many studies focus on presenting aerial platforms and drone payloads for various industrial inspections [9][10][11][12][13].…”

Section: Introductionmentioning

confidence: 99%

Texture Analysis to Enhance Drone-Based Multi-Modal Inspection of Structures

Nooralishahi

Ramos

Pozzer

et al. 2022

Drones

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The drone-based multi-modal inspection of industrial structures is a relatively new field of research gaining interest among companies. Multi-modal inspection can significantly enhance data analysis and provide a more accurate assessment of the components’ operability and structural integrity, which can assist in avoiding data misinterpretation and providing a more comprehensive evaluation, which is one of the NDT4.0 objectives. This paper investigates the use of coupled thermal and visible images to enhance abnormality detection accuracy in drone-based multi-modal inspections. Four use cases are presented, introducing novel process pipelines for enhancing defect detection in different scenarios. The first use case presents a process pipeline to enhance the feature visibility on visible images using thermal images in pavement crack detection. The second use case proposes an abnormality classification method for surface and subsurface defects using both modalities and texture segmentation for piping inspections. The third use case introduces a process pipeline for road inspection using both modalities. A texture segmentation method is proposed to extract the pavement regions in thermal and visible images. Further, the combination of both modalities is used to detect surface and subsurface defects. The texture segmentation approach is employed for bridge inspection in the fourth use case to extract concrete surfaces in both modalities.

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Active UAV payload based on horizontal propellers for contact inspections tasks

Cited by 6 publications

References 47 publications

Binocular visual pendulum angle detection and anti-swing control of quadrotor suspension system

Binocular visual pendulum angle detection and anti-swing control of quadrotor suspension system

Towards Precise Positioning and Movement of UAVs for Near-Wall Tasks in GNSS-Denied Environments

Texture Analysis to Enhance Drone-Based Multi-Modal Inspection of Structures

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