Abstract: An unmanned aerial vehicle (UAV) has a flight-only mode with a motor only rotating propellers and not rotating on-board wheels to configure the UAV to fly away from a surface of a structure, and a crawling-only mode in which the UAV is configured to crawl on the surface due to the motor only rotating the wheels while not rotating the propellers. In the flight-only mode, a clutch disengages a motor from the wheels so that the motor only engages the propellers to fly to lift from the surface. In the crawling-only mode, the clutch disengages the motor from the propellers so that the motor only engages the wheels to move the UAV on the surface.

Abstract: A two-wheel compact magnetic crawler vehicle for traversing and inspecting surfaces. 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.

Abstract: A system and method passively normalize an ultrasonic dry coupled wheel probe as the probe traverses a surface of a structure to inspect the structure, such as a flat structure or a curved pipe. At least a pair of arms are configured to passively maintain normalization of the probe in a detection direction normal to the surface.

Abstract: An unmanned aerial vehicle including a body and a docking mechanism coupled to the body is provided. The docking mechanism secures a magnetic crawler to the body during flight and during landing on a ferromagnetic cylindrical surface. The docking mechanism includes a docking hook that couples to the magnetic crawler and a linear actuator coupling the docking hook to the body. The docking hook includes passive latches that passively release the magnetic crawler from the docking hook onto the cylindrical surface after the landing, receive the magnetic crawler into the docking hook from the cylindrical surface after the releasing, and secure the magnetic crawler to the body during takeoff from the cylindrical surface after the receiving. The linear actuator lowers the docking hook and coupled magnetic crawler from the body to the cylindrical surface, and raises the docking hook and received magnetic crawler from the cylindrical surface to the body.

Abstract: A system and method passively normalize an ultrasonic dry coupled wheel probe as the probe traverses a surface of a structure to inspect the structure, such as a flat structure or a curved pipe. At least a pair of arms are configured to passively maintain normalization of the probe in a detection direction normal to the surface.

Abstract: An unmanned aerial vehicle (UAV) has a flight-only mode with a motor only rotating propellers and not rotating on-board wheels to configure the UAV to fly away from a surface of a structure, and a crawling-only mode in which the UAV is configured to crawl on the surface due to the motor only rotating the wheels while not rotating the propellers. In the flight-only mode, a clutch disengages a motor from the wheels so that the motor only engages the propellers to fly to lift from the surface. In the crawling-only mode, the clutch disengages the motor from the propellers so that the motor only engages the wheels to move the UAV on the surface.

Abstract: A system and methodology for launching, flying and perching on a cylindrically curved surface in an environment without human intervention. The system and methodology include an environment awareness sensor device suite having a depth camera arranged to capture and output image data and 3D point cloud data of a field of view; an asset targeting unit arranged to set an asset as a destination location for a landing; a trajectory path determiner arranged to calculate a trajectory path to the destination location; a flight controller arranged to launch and fly the autonomous aerial vehicle to the destination location according to the trajectory path; a situational status determiner arranged to, in real-time, predict a location of an object with respect to the autonomous aerial vehicle based on 3D point cloud data for the object, determine the object is the asset based on a confidence score and autonomously land on the asset.

Abstract: A method of inspection or maintenance of a curved ferromagnetic surface using an unmanned aerial vehicle (UAV) having a releasable crawler is provided. The method includes: flying the UAV from an initial position to a pre-perching position in a vicinity of the ferromagnetic surface; autonomously perching the UAV on the ferromagnetic surface; maintaining magnetic attachment of the perched UAV to the ferromagnetic surface; releasing the crawler from the magnetically attached UAV onto the ferromagnetic surface; moving the crawler over the curved ferromagnetic surface while maintaining magnetic attachment of the released crawler to the ferromagnetic surface; inspecting or maintaining the ferromagnetic surface using the magnetically attached crawler; and re-docking the released crawler with the perched UAV.

Abstract: A magnetic crawler configured to navigate on and inspect a ferromagnetic cylindrical surface is provided. The crawler includes a chassis, a controller configured to control the crawler, a probe configured to inspect the cylindrical surface under the control of the controller, and only three articulated magnetic wheels configured to tangentially contact and magnetically adhere to the cylindrical surface. The wheels include two drive wheels respectively coupled to the chassis by two articulation joints and configured to drive the crawler in a desired direction on the cylindrical surface by actively rotating the two drive wheels independently about respective drive axes of rotation by respective drive motors under the control of the controller; and a rear wheel coupled to the chassis by a rear articulation joint and configured to passively rotate about a rear drive axis of rotation in response to the active rotations of the two drive wheels.

Abstract: An unmanned aerial vehicle (UAV) configured to land, take off, and magnetically perch on a ferromagnetic cylindrical surface is provided. The UAV includes a body and articulated magnetic legs configured to land and magnetically perch the UAV on the cylindrical surface. Each magnetic leg has a fixed portion coupled to the body and a pivoting portion pivotably coupled to the fixed portion at a pivot axis. The pivoting portion includes a switchable magnet and a single articulation joint that provides the pivoting portion with a single degree of freedom about the pivot axis to passively orient the pivoting portion inward and tangent to the cylindrical surface in response to the pivoting portion contacting the cylindrical surface during the landing, and to passively maintain the inward orientation of the pivoting portion during the takeoff.

Abstract: An unmanned aerial vehicle (UAV) includes a flexible holder retaining a plurality of probes. The flexible holder is deformable to arrange the probes around a portion of a structure, allowing the probes to scan the portion of the structure. At least one of the plurality of probes is an ultrasonic test (UT) probe to scan the portion of the structure with ultrasonic waves.

Abstract: A robotic vehicle for traversing surfaces comprises a chassis having a plurality of wheels mounted thereto. Two magnetic drive wheels are spaced apart in a lateral direction and rotate about a rotational axis while a stabilizing wheel is provided in front of or behind the two drive wheels. The drive wheels are configured to be driven independently, thereby driving and steering the vehicle along the surface. The vehicle also includes a sensor probe assembly that is supported by the chassis and configured to take measurements of the surface being traversed. In accordance with a salient aspect, the vehicle includes a probe normalization mechanism that is configured to determine the surface curvature and adjust the orientation of the probe transducer as a function of the curvature of the surface, thereby maintaining the probe at the preferred inspection angle irrespective of changes in the surface curvature with vehicle movement.

Abstract: An unmanned aerial vehicle (UAV) includes a body constructed to enable the UAV to fly and three or more legs connected to the body and configured to land and perch the UAV on a curved ferromagnetic surface. Each leg includes a first portion connected to the body, a second portion including a magnet and configured to magnetically attach and maintain the magnetic attachment of the leg to the ferromagnetic surface during the landing and perching, and a passive articulation joint connecting the first and second portions and configured to passively articulate the second portion with respect to the first portion in response to the second portion approaching the ferromagnetic surface. The UAV further includes a releasable crawler including magnetic wheels which detach the crawler from the body during the perching and maneuver the crawler on the ferromagnetic surface while magnetically attaching the crawler to the ferromagnetic surface after detachment.

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.

Abstract: An unmanned aerial vehicle including a body and a docking mechanism coupled to the body is provided. The docking mechanism secures a magnetic crawler to the body during flight and during landing on a ferromagnetic cylindrical surface. The docking mechanism includes a docking hook that couples to the magnetic crawler and a linear actuator coupling the docking hook to the body. The docking hook includes passive latches that passively release the magnetic crawler from the docking hook onto the cylindrical surface after the landing, receive the magnetic crawler into the docking hook from the cylindrical surface after the releasing, and secure the magnetic crawler to the body during takeoff from the cylindrical surface after the receiving. The linear actuator lowers the docking hook and coupled magnetic crawler from the body to the cylindrical surface, and raises the docking hook and received magnetic crawler from the cylindrical surface to the body.

Abstract: An unmanned aerial vehicle (UAV) configured to land, take off, and magnetically perch on a ferromagnetic cylindrical surface is provided. The UAV includes a body and articulated magnetic legs configured to land and magnetically perch the UAV on the cylindrical surface. Each magnetic leg has a fixed portion coupled to the body and a pivoting portion pivotably coupled to the fixed portion at a pivot axis. The pivoting portion includes a switchable magnet and a single articulation joint that provides the pivoting portion with a single degree of freedom about the pivot axis to passively orient the pivoting portion inward and tangent to the cylindrical surface in response to the pivoting portion contacting the cylindrical surface during the landing, and to passively maintain the inward orientation of the pivoting portion during the takeoff.

Abstract: A magnetic crawler configured to navigate on and inspect a ferromagnetic cylindrical surface is provided. The crawler includes a chassis, a controller configured to control the crawler, a probe configured to inspect the cylindrical surface under the control of the controller, and only three articulated magnetic wheels configured to tangentially contact and magnetically adhere to the cylindrical surface. The wheels include two drive wheels respectively coupled to the chassis by two articulation joints and configured to drive the crawler in a desired direction on the cylindrical surface by actively rotating the two drive wheels independently about respective drive axes of rotation by respective drive motors under the control of the controller; and a rear wheel coupled to the chassis by a rear articulation joint and configured to passively rotate about a rear drive axis of rotation in response to the active rotations of the two drive wheels.

Abstract: A system and methodology for launching, flying and perching on a cylindrically curved surface in an environment without human intervention. The system and methodology include an environment awareness sensor device suite having a depth camera arranged to capture and output image data and 3D point cloud data of a field of view; an asset targeting unit arranged to set an asset as a destination location for a landing; a trajectory path determiner arranged to calculate a trajectory path to the destination location; a flight controller arranged to launch and fly the autonomous aerial vehicle to the destination location according to the trajectory path; a situational status determiner arranged to, in real-time, predict a location of an object with respect to the autonomous aerial vehicle based on 3D point cloud data for the object, determine the object is the asset based on a confidence score and autonomously land on the asset.

Abstract: A system and method passively normalize an ultrasonic dry coupled wheel probe as the probe traverses a surface of a structure to inspect the structure, such as a flat structure or a curved pipe. At least a pair of arms are configured to passively maintain normalization of the probe in a detection direction normal to the surface.

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.