US20180165503A1 - Systems and methods for autonomous perpendicular imaging with a target field of view - Google Patents

Abstract

An unmanned aerial vehicle (UAV) assessment and reporting system may utilize one or more scanning techniques to provide useful assessments and/or reports for structures and other objects. The scanning techniques may be performed in sequence and optionally used to further fine tune each subsequent scan. The system may include shadow elimination, annotation, and/or reduction for the UAV itself and/or other objects. A UAV may be used to determine a pitch of roof of a structure. The pitch of the roof may be used to fine tune subsequent scanning and data capture to capture perpendicular images of target field of views and/or target distances.

Description

PRIORITY CLAIM
• This application is a continuation of U.S. patent application Ser. No. 15/675,616 filed on Aug. 11, 2017 and titled “Systems and Methods for Adaptive Scanning Based on Calculated Shadows,” which is a divisional application of U.S. patent application Ser. No. 15/360,630, now granted as U.S. Pat. No. 9,734,397, filed on Nov. 23, 2016 and titled “Systems and Methods for Autonomous Imaging and Structural Analysis,” which claims priority to Provisional Application No. 62/417,779 filed on Nov. 4, 2016 and titled “Systems and Methods for UAV Assessments and Reporting.” Each of the above-identified patent applications is hereby incorporated by reference in its entirety.
TECHNICAL FIELD
• This disclosure generally relates to systems and methods for autonomous assessment and data capture relating to property. Specifically, this disclosure relates to methodical and improved image collection, analysis, processing, and reporting using unmanned aerial vehicles to capture perpendicular images of target field of views.
BRIEF DESCRIPTION OF THE DRAWINGS
• Non-limiting and non-exhaustive embodiments of the disclosure are described herein, including various embodiments of the disclosure with reference to the figures listed below.
• FIG. 1A illustrates a site selection interface to receive an electronic input identifying a location of a structure, according to one embodiment.
• FIG. 1B illustrates parcel boundaries associated with the location identified inFIG. 1A, according to one embodiment.
• FIG. 2 illustrates a boundary identification interface to receive electronic input identifying geographic boundaries of an area that includes the structure, according to one embodiment
• FIG. 3A illustrates a structure identification interface, according to one embodiment.
• FIG. 3B illustrates close-up view of the parcel boundaries and the structure identified inFIG. 3A, according to one embodiment.
• FIG. 4 illustrates a boustrophedonic scan of a site, according to one embodiment.
• FIG. 5 illustrates an elevation map, according to one embodiment.
• FIG. 6A illustrates an unmanned aerial vehicle (UAV) performing a micro scan of a site, according to one embodiment.
• FIG. 6B illustrates a elevation map of structure to allow for micro scans or detailed scans to be performed from a consistent distance to each portion of the structure, according to one embodiment.
• FIGS. 7A-C illustrate a loop scan and a model of a structure, according to one embodiment.
• FIG. 8 illustrates a UAV determining a pitch of a roof, according to one embodiment.
• FIG. 9 illustrates a UAV assessment and reporting system using the date and time to identify and/or eliminate shadows in image captures, according to one embodiment.
• FIG. 10 illustrates a UAV assessment and reporting system for analyzing a structure, according to one embodiment.
DETAILED DESCRIPTION
• This disclosure provides methods and systems for assessing structures and/or other personal property using an unmanned aerial vehicle (UAV). A UAV may carry an imaging system to capture a sequence of images of a target object, such as a structure. The UAV may initially position itself above the location of interest to allow the imaging system to capture a nadir image of an area of interest that includes a target structure. The UAV may subsequently follow a boustrophedonic flight path while the imaging system captures a series of closer images and/or collects non-image scan information. The UAV may subsequently position itself around the structure to collect oblique images at one or more heights on each critical side of the structure and/or the vertex of the structure. To collect partial or full structural information, the UAV may perform a loop scan while the imaging system captures a set of oblique images. For additional detailed images of the area of interest, the UAV and imaging system may perform a series of micro scans. Using the collection of images, a rendering system may generate interactive models of the target structure or other object.
• In various embodiments, UAV hardware, firmware, and/or software may be modified, upgraded, and/or programmed to perform the functions, methods, and behaviors described herein. In some embodiments, software, hardware, and/or firmware may be created to interface with pre-existing UAV interfaces. In other embodiments, modifications to one or more portions of a UAV may be made to accomplish the described systems and methods.
• Currently, to conduct a site survey a trained technician must be physically present. For example, when an insurance claim is submitted, an insurance agent must travel to the property to assess the damage. Property inspectors also frequently visit structures to manually inspect a property as the result of a homeowner request for an insurance policy quote or a desire to mortgage or refinance a property through a large financial institution. Similarly, solar panel assessment and construction estimates require a trained technician to be on-site. These tasks usually require the trained technician to walk the site, manually photograph the site, and even occasionally climb up on structures for detailed examination. Each technician may perform certain aspects of their jobs differently, resulting in a lack of uniformity. Further, requiring a trained technician to visit sites personally is laborious, dangerous, and/or expensive.
• In some embodiments of the present disclosure, a technician may manually operate a UAV to perform one or more assessment tasks. For example, a technician may manually operate a drone to capture photographs that would have required the technician to scale a building. However, this approach may still require a technician to manually operate the UAV and fails to solve the uniformity problem. Some UAVs have semi-autonomous capabilities. These UAVs may be directed to capture photographs of an operator-identified location. However, semi-autonomous UAVs may not capture a comprehensive image collection of the entire site and may not provide adequate information to replace an on-site technician.
• A UAV assessment and reporting system described herein provides a comprehensive, automatic (or at least semi-automatic), and methodical approach for assessing a structure or other object for a particular purpose. For example, the types of assessments, reports, and images collected may vary based on a specific use case. Generally, the approaches obviate the need for an industry specific trained technician to be present or at least greatly reduce the workload of a technician.
• The UAV assessment and reporting system may comprise a site selection interface to receive an electronic input identifying a location of a structure, a boundary identification interface to receive electronic input identifying geographic boundaries of an area that includes the structure, and a UAV to receive the geographic boundaries and the location of the structure from the site selection interface and conduct a structural assessment. The UAV assessment and reporting system may also include a hazard selection interface to receive electronic input identifying geographic hazards such as above ground power lines, tall trees, neighboring structures, etc. The UAV assessment and reporting system may allow for these hazards to be eliminated from the flight plan to produce a safe path for automated imagery and data capture.
• The UAV may include a camera to capture images of the structure, sonar sensors, lidar sensors, infrared sensors, optical sensors, and/or radar sensors. The UAV may include an onboard processor and/or a communication interface to communicate with the controller and/or the interface's cloud-based processing. The UAV may include a non-transitory computer-readable medium for receiving and storing instructions that, when executed by the processor, cause the UAV to conduct a structural assessment. The structural assessment may include a boustrophedonic scan of the area defined by geographic boundaries that includes the structure. The boustrophedonic scan may include capturing images during a boustrophedonic flight pattern within a first altitude range. The boustrophedonic scan may also or alternatively include determining distances to a surface for each of a plurality of potential vertical approaches within the area defined by the geographic boundaries. The UAV assessment and reporting system may include identifying a structure on the site based on the identified geographic boundaries and/or the boustrophedonic scan of the area. The UAV assessment and reporting system may additionally or alternatively include a loop scan of the structure. The loop scan may include a second flight pattern for the UAV to travel around the perimeter of the structure. The second flight pattern may be at a second altitude range lower than the first altitude range. Finally, the UAV assessment and reporting system may additionally or alternatively include a micro scan of the structure in a third flight pattern that includes vertical approaches proximate the structure to capture detail images of the structure.
• In one embodiment, a site may be identified and the UAV may fly to the site and capture a collection of high resolution images following a comprehensive and methodical autonomous flight pattern. In another embodiment, an unskilled operator may take the UAV to the site, and capture a collection of high resolution images with little to no training. The UAV system may automatically conduct the assessment via an autonomous flight pattern. Based on the assessment or report selected, a UAV assessment and reporting system may determine the appropriate flight pattern, types of images to be captured, number of images to be captured, detail level to be captured, attributes to be identified, measurements to be made, and other assessment elements to be determined.
• The UAV assessment and reporting system may use a satellite and/or aerial image to initially identify a site to analyze. In one embodiment, a site selection interface on the operator client may present a satellite image. The site selection interface may receive, from the operator, an electronic input identifying a location of a structure. The operator client may be a controller, computer, phone, tablet, or other electronic device. The operator may mark, via an electronic input on a boundary identification interface, one or more geographic boundaries associated with the structure and/or site. The operator may also identify, on the operator client, obstacles, boundaries, structures, and particular points of interest.
• For example, an operator who is attempting to scan a residential lot may be presented with a satellite image on his phone. The operator may select each corner of the lot to identify the boundaries of the lot. The operator may then drag his finger along the border of a house on the lot to mark the perimeter of the house. Further, if the lot has trees or other obstacles, the operator may press and hold to identify their location and enter an estimated height. The operator may also circle certain areas on the satellite image to identify particular points of interest. For instance, if the operator is collecting images for an insurance claim on a house that has had its fence blown over by a recent microburst, the operator may circle the fence for a closer inspection and data capture.
• In an alternate embodiment, the UAV assessment and reporting system may automatically identify obstacles, boundaries, structures, and particular points of interest using satellite images, county records, topographical maps, and/or customer statements. For example, the UAV assessment and reporting system may receive an address of a commercial property to be assessed for damage caused by a tornado. The UAV assessment and reporting system may use available county records to determine the boundary of the property, and topographical maps of the area to identify objects and structures. Further, if a customer submits a claim stating that the entry of a warehouse on the site has collapsed, the UAV assessment and reporting system may receive and parse the submitted claim to identify the entrance as a particular point of interest. Alternatively, a technician or other user may electronically identify the entrance on a map or satellite image.
• After the site is identified, the UAV may receive the location of the structure and the identified geographic boundaries. The UAV may first take a nadir image (i.e., top down) of the entire site. The UAV assessment and reporting system may use the nadir image to align the UAV with landmarks established in the initial identification of the site and structure. The UAV assessment and reporting system may also use the nadir image to generate a flight pattern or adjust a predefined flight pattern to ensure accuracy and uniformity. The flight pattern may include three flight stages: (1) a boustrophedonic scan, (2) a loop scan, and (3) a micro scan. In some embodiments, a structural assessment may require only one or two of the three types of scans.
• During a first scan stage, the UAV may perform a boustrophedonic scan. During the boustrophedonic scan, the UAV may follow a flight pattern where the UAV travels from edge to edge of the site in alternating offset zones. The camera on the UAV may capture images of the site as the UAV travels in its boustrophedon pattern. The UAV assessment and reporting system may merge the images to form a detailed aerial view of the site. The level of detail in the detailed aerial view may be improved by lowering the altitude of the UAV and using minimal offsets. However, the altitude used for a boustrophedonic scan may be limited due to the height of structures and obstacles on the site.
• During a second scan stage, the UAV may perform a loop scan to analyze the angles of a structure. The loop scan may include a flight pattern that positions the UAV at the perimeter of the structure and/or the site. The loop scan may include the UAV traveling around the perimeter. As the UAV travels around the perimeter, the UAV may lower its altitude and the camera captures images of the structure at one or more angles. The angles may be oblique or perpendicular to the walls of the structure. The UAV assessment and reporting system may use these images to create a three-dimensional model of the structure. In one embodiment, the UAV may make multiple passes around the perimeter of the structure at different altitudes. For example, the UAV may fly around the perimeter at a first altitude to capture images of the structure at a first angle, and then fly around the perimeter at a second altitude to capture additional images of the structure at a second angle. The number of passes around the perimeter and the lowering of UAV altitude after each pass may vary based on a desired assessment or report. Each additional pass may provide more accurate structural images for a three-dimensional model, construction assessment, solar panel installation assessment, and/or damage assessment.
• During a third scan stage, the UAV may perform a micro scan for close up photos of a structure or other areas of interest. The micro scan over the surface of the structure may provide detailed images for assessing the structure and/or other personal property. The granularity from the micro scan may assist in detailed measurements, damage identification, and material identification. For example, the micro scan may allow an insurance adjuster to zoom in on a 3D model of the structure to view and assess a small patch of roof that has been damaged, identify a stucco color or a material of a structure, etc.
• In one embodiment, to perform the micro scan, the UAV may perform a series of vertical approaches near the structure. During the micro scan, the UAV may utilize a base altitude that is higher than at least a portion of the structure or other personal property of interest. The UAV may begin in a starting position at the base altitude and lower its altitude until it is at a target distance from the structure. In one embodiment, the camera on the UAV may capture an image when the target distance is reached. In another embodiment, the camera may take a set of images as the UAV lowers in altitude. After the image at the target distance is captured, the UAV may return to the base altitude and travel a target lateral distance and once again lower its altitude until it is at a target distance from the structure. The target lateral distance may be determined based on the area of the structure captured by each image. In some embodiments, the images may slightly overlap to ensure coverage of the entire structure. The UAV may continue to perform vertical approaches separated by the target lateral distance until the entire structure has been covered or a specified portion of the structure has been assessed.
• In another embodiment, to perform the micro scan, the UAV may traverse the surface of a structure or other personal property at a target lateral distance and the camera may capture images as the UAV travels in a boustrophedonic or circular pattern. To avoid a collision, the UAV may use the angled images from the loop scan to determine any slope or obstacle on the surface.
• In one embodiment, the UAV may include proximity sensors. The proximity sensors may be used to avoid obstacles on and surrounding the structure and thereby identify safe flight areas above and proximate the structure and surrounding objects. The safe flight areas are locations where the UAV may fly very close to the structure and capture images. The proximity sensors may also be used to determine how close the UAV is to the structure. For example, a UAV may be programed to capture images at a distance of five feet from the structure. The proximity sensors may send a signal indicating to the UAV that it has reached the target distance, five feet, and the camera may take a photograph in response to the signal. The target distance may be adjusted based on desired detail, weather conditions, surface obstacles, camera resolution, camera field of view, and/or other sensor qualities. In some embodiments, infrared and other non-optical sensors may be used to provide additional assessment data. For example, materials may be identified based on a spectral analysis and/or damage may be identified based on infrared leaks in a structure.
• In other embodiments, the UAV may use additional and/or alternative methods to detect proximity to obstacles and the structure. For example, the UAV may use topographical data. As another example, the UAV may have a sonar system that it uses to detect proximity. As yet another example, the UAV may determine the proximity to the structure based on the angled images from the loop scan. For instance, the UAV assessment and reporting system may calculate the height of walls based on the angled images and determine an altitude that is a target distance above the height of the walls to descend for each image capture.
• The location of the micro scan may be determined in a variety of ways. In one embodiment, the micro scan may include an assessment of the entire structure as identified by the operator. In another embodiment, the micro scan may include an assessment of only a portion of interest identified by the operator. For example, for a solar panel installation or construction assessment on or near a structure, a micro scan and/or loop scan may be needed for only a portion of the structure. In yet another embodiment, the UAV assessment and reporting system may intelligently identify portions of interest during one or both of the first two scanning stages and only micro scan those areas.
• Additionally, in some embodiments, the UAV assessment and reporting system may perform multiple micro scans with different levels of resolution and/or perspective. For example, a first micro scan may provide detailed images at 10 or 20 feet above a roof. Then a second micro scan may image a portion of the roof at five feet for additional detail of that section. This may allow a faster capture of the roof overall while providing a more detailed image set of a portion of interest. In one embodiment, the UAV assessment and reporting system may use the first micro scan to determine the portion to be imaged in the second micro scan.
• In some embodiments, the UAV assessment and reporting system may use each scan stage to improve the next scan stage. For example, the first scan stage may identify the location of objects. Sonar or optical sensors may be used in the first scan stage to identify the height of the objects and/or physical damage. The location and height of the objects identified in the first scan stage may determine where the loop scan occurs and the altitude at which the angled photographs are taken. Further, the first and second stages may identify particular points of interest. The third stage may use the particular points of interest to determine the location of the micro scans. For example, during a loop scan, the autonomous flying system may identify wind damage on the east surface of a structure. The micro scan may then focus on the east surface of the structure. The identification of particular points of interest may be done using UAV onboard image processing, server image processing, or client image processing.
• The UAV assessment and reporting system may automatically calculate a pitch of a roof. In a first embodiment, the UAV assessment and reporting system may use the UAV's sonar or object detection sensors to calculate the pitch of the roof. For example, the UAV may begin at an edge of the roof and then travel toward the peak. The pitch may then be calculated based on the perceived Doppler effect as the roof becomes increasingly closer to the UAV as it travels at a constant vertical height. In a second embodiment, the UAV may land on the roof and use a positioning sensor, such as a gyroscope, to determine the UAV's orientation. The UAV assessment and reporting system may use the orientation of the UAV to determine the slope.
• In some embodiments, a UAV may hover above the roof but below a peak of the roof. Sensors may determine a vertical distance to the roof below and a horizontal distance to the roof, such that the roof represents the hypotenuse of a right triangle with the UAV positioned at the 90 degree corner of the right triangle. A pitch of the roof may be determined based on the rise (vertical distance downward to the roof) divided by the run (horizontal forward distance to the roof).
• In some embodiments, a UAV may hover above the roof at a first location and measure a vertical distance from the UAV to the roof (e.g., downward). In one such embodiment, a downward sensor may be used. The UAV may then move horizontally to a second location above the roof and measure the vertical distance from the UAV to the roof. Again, the roof becomes the hypotenuse of a right triangle, with one side of the triangle corresponding to the horizontal difference between the first location and the second location, and the second side of the triangle corresponding to the vertical difference between the distance from the UAV to the roof in the first location and the distance from the UAV to the roof in the second location.
• In some embodiments, a UAV may hover above the roof at a first location and measure a horizontal distance from the UAV to the roof. In such embodiments, a forward, lateral, and/or reverse, sensor may be used. The UAV may then move vertically to a second location above the roof and measure the horizontal distance from the UAV to the roof. Again the roof become the hypotenuse of a right triangle, with one side of the triangle corresponding to the vertical difference between the first location and the second location, and the second side of the triangle corresponding to the horizontal difference between the distance from the UAV to the roof in the first location and the distance from the UAV to the roof in the second location.
• In some embodiments, the UAV assessment and reporting system may use three or more images and metadata associated with those images to calculate the pitch of the roof. For example, the UAV may capture a first image near the roof. The UAV may then increase its altitude and capture a second image above the first image. The UAV may then fly laterally towards the peak of the roof until the proximity of the UAV to the roof is the same as the proximity of the first image. The UAV may then capture a third image. Each image may have metadata associated with it including GPS coordinates, altitude, and proximity to the house. The UAV assessment and reporting system may calculate the distance of the roof traveled based on the GPS coordinates and altitude associated with the three images using the Pythagorean theorem. The UAV assessment and reporting system may then calculate the pitch by taking the ratio of the altitude and the distance of the roof traveled.
• In some embodiments, to maintain stationary a UAV may have to tilt the body and/or one or more propellers to compensate for wind or other environmental factors. For various measurements and scans described herein, the images, measurements, and/or other captured data may be annotated to identify the tilt or angle caused by the UAV tilt. In other embodiments, the sensors, cameras, and other data capture tools may be mechanically or digitally adjusted, such as gyroscopically for example. In some embodiments, measurements, such as distances when calculating skew and/or roof pitch, may be adjusted during calculations based on identified UAV tilt due to environmental factors.
• The UAV may use the calculated pitch to adjust the angle of the camera to reduce image skew during a micro scan and/or loop scan. For example, once the pitch is calculated the UAV may perform a micro scan with the camera at a perpendicular angle to the roof and/or de-skew the image using software on the UAV, during post-imaging processing, and/or through cloud-based processing. In various embodiments, the calculated pitch is used to angle the camera so it is perpendicular to the roof to eliminate skew.
• In some embodiments, a pitch determination system may determine a pitch of the roof based on at least two distance measurements, as described above, that allow for a calculation of the pitch. An imaging system of the UAV may capture an image of the roof of the structure with the optical axis of the camera aligned perpendicular to a plane of the roof of the structure by adjusting a location of the UAV relative to a planar surface of the roof and/or a tilt angle of the camera of the UAV.
• The UAV assessment and reporting system may also reduce and/or identify shadows in the images by calculating the current angle of the sun. The UAV assessment and reporting system may calculate the angle of the sun based on the time of the day, the day of the year, and GPS location. To eliminate the UAV's shadow from appearing in captured images, the UAV assessment and reporting system may apply the angle of the sun to the current UAV position in flight. The UAV position, the angle/position of the sun, and the relative location of surfaces and structures (e.g., roof) may determine precisely where the shadow of the UAV will appear. The UAV may adjust its position and camera based on the location of the roof shadow to ensure that each photograph will be captured in such a way as to completely eliminate the UAV's shadow.
• In some embodiments, the UAV assessment and reporting system may also use the angle of the sun to determine the best time of day to photograph a site or portion of a site. For example, the shadow of an object on a site may obscure a structure during the morning. Based on the angle of the sun, the UAV assessment and reporting system may determine what time of day the shadow would no longer obscure the structure. The UAV may autonomously collect images during different times of day to ensure that shadow-free images of all, most, or specific portions of the structure are captured during boustrophedonic, loop, and/or micro scans.
• For example, a UAV assessment system for imaging a structure may utilize a site selection user interface to receive an electronic input from a user identifying a geographic location of a structure, as previously described. The selection may, for example, be based on one or more of a user input of a street address, a coordinate, and/or a satellite image selection. The UAV may utilize one or more cameras to image the structure (multiple cameras may be used to capture three-dimensional images if desired). A shadow determination system (onboard or cloud-based) may calculate a location of a shadow of the UAV on the structure based on the relative position of the UAV and the sun. A shadow avoidance system may adjust a location of the UAV as it captures images of the structure to ensure that the shadow of the UAV is not in any of the images.
• In other embodiments, as described above, the UAV may include a proximate object determination system to identify at least one object proximate the structure, such as a tree, telephone pole, telephone wires, other structures, etc., that are proximate the structure to be imaged. A shadow determination system (local or remote) may calculate (as opposed to directly observe) a location of a shadow cast by the proximate object onto the structure based on a current location of the sun, which can be accurately determined based on a current time and a GPS location of the structure. The imaging system may account for the shadow by (1) annotating images of the structure that include the calculated shadow, (2) adjusting an exposure of images of the structure that include the calculated shadow, and/or (3) identifying a subsequent time to return to the structure to capture non-shadowed images of the portions of the structure that are currently shadowed.
• The UAV, server, and operator client may be connected via one or more networks. For example, the UAV may transmit images to the server via a cellular network. Additionally, the UAV may connect to the client via a second network such as a local wireless network. The UAV, server, and operator client may each be directly connected to each other, or one of the elements may act as a gateway and pass information received from a first element to a second element.
• A standard flight plan may be saved on the server. The standard flight plan may be loaded on the UAV and altered based on information entered by the operator into the operator client interface. The UAV (e.g., via onboard or cloud-based processors) may also alter the standard flight plan based on the images captured and/or other sensor data.
• Some of the infrastructure that can be used with embodiments disclosed herein is already available, such as: general-purpose computers, computer programming tools and techniques, digital storage media, and communications networks. A computer may include a processor, such as a microprocessor, microcontroller, logic circuitry, or the like. The processor may include a special-purpose processing device, such as an ASIC, a PAL, a PLA, a PLD, a CPLD, a Field Programmable Gate Array (FPGA), or other customized or programmable device. The computer may also include a computer-readable storage device, such as non-volatile memory, static RAM, dynamic RAM, ROM, CD-ROM, disk, tape, magnetic memory, optical memory, flash memory, or other computer-readable storage medium.
• Suitable networks for configuration and/or use, as described herein, include any of a wide variety of network infrastructures. Specifically, a network may incorporate landlines, wireless communication, optical connections, various modulators, demodulators, small form-factor pluggable (SFP) transceivers, routers, hubs, switches, and/or other networking equipment.
• The network may include communications or networking software, such as software available from Novell, Microsoft, Artisoft, and other vendors, and may operate using TCP/IP, SPX, IPX, SONET, and other protocols over twisted pair, coaxial, or optical fiber cables, telephone lines, satellites, microwave relays, modulated AC power lines, physical media transfer, wireless radio links, and/or other data transmission “wires.” The network may encompass smaller networks and/or be connectable to other networks through a gateway or similar mechanism.
• Aspects of certain embodiments described herein may be implemented as software modules or components. As used herein, a software module or component may include any type of computer instruction or computer-executable code located within or on a computer-readable storage medium, such as a non-transitory computer-readable medium. A software module may, for instance, comprise one or more physical or logical blocks of computer instructions, which may be organized as a routine, program, object, component, data structure, etc., that perform one or more tasks or implement particular data types, algorithms, and/or methods.
• A particular software module may comprise disparate instructions stored in different locations of a computer-readable storage medium, which together implement the described functionality of the module. Indeed, a module may comprise a single instruction or many instructions, and may be distributed over several different code segments, among different programs, and across several computer-readable storage media. Some embodiments may be practiced in a distributed computing environment where tasks are performed by a remote processing device linked through a communications network. In a distributed computing environment, software modules may be located in local and/or remote computer-readable storage media. In addition, data being tied or rendered together in a database record may be resident in the same computer-readable storage medium, or across several computer-readable storage media, and may be linked together in fields of a record in a database across a network.
• The embodiments of the disclosure can be understood by reference to the drawings, wherein like parts are designated by like numerals throughout. The components of the disclosed embodiments, as generally described and illustrated in the figures herein, could be arranged and designed in a wide variety of different configurations. Further, those of skill in the art will recognize that one or more of the specific details may be omitted, or other methods, components, or materials may be used. In some cases, operations are not shown or described in detail. Thus, the following detailed description of the embodiments of the systems and methods of the disclosure is not intended to limit the scope of the disclosure, as claimed, but is merely representative of possible embodiments.
• FIG. 1A illustrates asite selection interface100 to receive anelectronic input110 identifying alocation115 of astructure120. A client device may present thesite selection interface100 to an operator, and the operator may identify thelocation115 by entering an address and selecting130 the search function. As shown, theelectronic input110 may be an address entered by an operator. In another embodiment, the operator may enter GPS coordinates. In yet another embodiment, the operator may select thelocation115 with a gesture or based on a selection within the map view.
• Thesite selection interface100 may also receive anelectronic input110 identifying anyobstacles122. For example, an operator may identify a tree, a shed, telephone poles, or other obstacle using a gesture within thesite selection interface100. In some embodiments, thesite selection interface100 may request an estimated height of theobstacle122. In other embodiments, thesite selection interface100 may request the object type then estimate the height of theobstacle122 based on the object type. For instance, a standard telephone pole is 40 feet tall. If an operator identified anobstacle122 on the site to be a telephone pole, thesite selection interface100 may estimate the height to be 40 feet.
• FIG. 1B illustratesparcel boundaries155 associated with thelocation115 identified inFIG. 1A. In various embodiments, parcel information may be determined using aerial photos, satellite images, government records, plot maps, and/or the like.
• FIG. 2 illustrates aboundary identification interface200 to receiveelectronic input230 identifyinggeographic boundaries217 of an area that includes thestructure220. Thegeographic boundaries217 provide an area for the UAV assessment and reporting system to analyze.
• To enter thegeographic boundaries217 of the area, an operator may provideelectronic input230 identifying a location on theboundary identification interface200. As shown, theelectronic input230 may be a mouse click. Theelectronic input230 may also be a gesture entered via a touch screen. Additionally, the operator may enter an address or GPS coordinate in anaddress bar210.
• Theelectronic inputs230 provided by the operator may be marked with apin216. Thepins216 may be associated with GPS coordinates, and may be placed in corners of the site. Theboundary identification interface200 may automatically form a boundary line between eachpin216. The placement of thepins216 may be adjusted through theelectronic input230. For example, the operator may select and drag apin216 to a new location if the old location was inaccurate. Theboundary identification interface200 may also display the placement of thecurrent pin216 in apreview window211
• FIG. 3A illustrates astructure identification interface300 to receiveelectronic input330 identifyingstructural boundaries318 of astructure320. Thestructural boundaries318 identify the corners of thestructure320 for the UAV assessment and reporting system to analyze.
• To enter the structural boundaries of thestructure320, an operator may provideelectronic input330 identifying a location on thestructure identification interface300. As shown, theelectronic input330 may be a mouse click. Theelectronic input330 may also be a gesture entered via a touch screen. Additionally, the operator may enter an address or GPS coordinate in anaddress bar310.
• Boundary lines350 formed by theboundary identification interface200 ofFIG. 2 may be displayed on thestructure identification interface300. In some embodiments any electronic input allowed to be entered in thestructure identification interface300 is limited to the area within the boundary lines350. In other embodiments, thestructure identification interface300 may present an alert if astructural boundary318 is located outside of the boundary lines350. In yet other embodiments, thestructure identification interface300 may adjust theboundary lines350 if astructural boundary318 is located outside of the boundary lines350. Thestructure identification interface300 may also display acurrent property boundary311.
• Theelectronic inputs330 provided by the operator may be marked with pins. The pins may be associated with GPS coordinates, and may be placed in corners of the site. Thestructure identification interface300 may automatically form a boundary structure line between each pin. The placement of the pins may be adjusted through theelectronic input330. For example, the operator may select and drag a pin to a new location if the old location was inaccurate. Thestructure identification interface300 may also display the current pin placement in apreview window312.
• FIG. 3B illustrates close-up view of theparcel boundaries350 and the structure identified inFIG. 3A by GPS markers. The structure which may be partially or fully defined by the operator is illustrated in bold lines. In some embodiments, the system may utilize the markers in combination with an image (e.g., aerial or satellite) to intelligently identify the structure. In other embodiments, an operator of the system may fully identify the outline of the structure.
• FIG. 4 illustrates a boustrophedonic scan of asite450 defined by the identified geographic boundaries that include thestructure420. During the boustrophedonic scan, theUAV475 may capture images while following aboustrophedonic flight pattern480. For clarity, the number of passes shown is eight; however, the actual number of passes may vary based the size of the structure and/or property, on a desired resolution, camera field of view, camera resolution, height of theUAV475 relative to the surface, and/or other characteristics of the desired scan, capabilities of theUAV475, and attributes of the surface.
• TheUAV475 may fly to a start location. The start location may be at a first corner of thesite450. TheUAV475 may then follow a straight path until a boundary line of thesite450 is reached. TheUAV475 may then turn and follow an offset path in the opposite direction. TheUAV475 may continue to travel back and forth until anend point485 is reached and theentire site450 has been traveled. TheUAV475 may travel at a high altitude such that it will not collide with any obstacle or structure and/or avoid obstacles in the path by going around or above them. During the flight, theUAV475 may capture images. In some embodiments, onboard processing or cloud-based processing may be used to identify structures and obstacles. Alternatively, analysis may be conducted after scanning is complete and the UAV has returned home.
• FIG. 5 illustrates an elevation map of asite550 with astructure520. As illustrated, aUAV575 may map out thesite550 in a plurality ofsub-locals560 TheUAV575 may record the distances to a surface for each of the plurality ofsub-locals560 within thesite550. Each of the sub-locals560 may correspond to potential vertical approaches for vertical descents during subsequent scans. The distances may be used to detect the location of a structure or any obstacles (e.g., tree522) on the site. For example, a UAV may determine the boundaries and relative location of a roof of a structure.
• FIG. 6A illustrates aUAV675 performing a micro scan of asite650. As shown, theUAV675 may make a series of vertical approaches for each sub-local660. The UAV may descend within each vertical approach to atarget distance695 and the capture a detail image of aportion690 of astructure620. Some of the descents may culminate proximate a surface of the roof. Other descents may culminate proximate the ground and allow for imaging of a wall of thestructure620 as theUAV675 descends proximate a wall of thestructure620.
• In some embodiments, the entire site may be micro scanned. In such an embodiment, theelevation map560 fromFIG. 5 may provide the height toobstacles622 and thestructure620. TheUAV675 may determine the altitude change necessary to reach thetarget distance695 for each sub-local660 based on theelevation map560.
• In one embodiment certain portions of thesite650 may be micro scanned while other portions are not. For example, theUAV675 may not micro scan theobstacle622. In another example, theUAV675 may only micro scan thestructure620, or acertain portion690 of thestructure620.
• FIG. 6B illustrates an elevation map ofstructure620 to allow for micro scans or detailed scans to be performed from a consistent distance to each portion of thestructure620. TheUAV675 may descend within each vertical approach to within, for example, 15 feet of the structure for detailed images and/or other analysis to be performed.
• In some embodiments, the UAV, or associated cloud-based control systems, my identify a pitch of the roof before performing micro scans. In such embodiments and possibly in other embodiments, each descent within each vertical approach may be used to scan (or otherwise analyze or collect data) of a portion of the structure that is not directly beneath theUAV675. Such an approach may allow for skew-free data collection. In other embodiments, micro scans may be performed directly beneath, to the side, behind, and/or in front of the UAV as it descends within each vertical approach.
• FIGS. 7A-7C illustrate aloop scan701 and a three-dimensional model700 of astructure720 on asite750. Theloop scan701 may take a series ofangled images745 of thewalls748 of thestructure720.
• AUAV775 may perform the loop scan701 by following asecond flight pattern740 that causes theUAV775 to travel around the perimeter of thestructure720 at a second altitude range lower than the altitude of the boustrophedonic scan. By following a lower elevation, theUAV775 captures images of the side of thestructure720. This may be used to create a higher resolutiondimensional model700.
• FIG. 8 illustrates a UAV determining apitch821 of a roof of a structure. The UAV may capture three or more images of the roof: a first image at afirst elevation875, a second image at asecond elevation876, and a third image at athird elevation877. The first and thesecond elevations875,876 may be below the roof peak. Thethird elevation877 may be slightly above the rain gutters. The UAV may use these images along with associated meta data, including proximity data, to determine thepitch821 of the roof.
• The UAV may also detectinconsistencies830 to the shingles on the roof. Theinconsistencies830 may be a sign of damage to the roof. The UAV may mark theinconsistency830 as a portion of interest to micro scan.
• In various embodiments, the UAV includes a propulsion system to move the UAV from a first aerial location to a second aerial location relative to a structure, as illustrated inFIG. 8. Movements may be horizontal, vertical, and/or a combination thereof. Lateral movements and rotation may also be possible. As previously described, the UAV may include one or more sensors that can be used, or possible are specifically configured to, determined distances to objects, such as a roof. The UAV may determine a distance to a roof at a first aerial location. The UAV may then move to a second aerial location along a movement vector that include one or more directional components (e.g., up, down, left, right, back, forward, which could be more generally described as vertical, horizontal, lateral, or even described using an X, Y, and Z coordinate system). A distance to the roof may be calculated at the second aerial location. A pitch of the roof may be calculated (e.g., geometrically) based on the distance measurements at the first and second locations and at least one of the components of the movement vector.
• FIG. 9 illustrates a UAV assessment and reporting system using the date andtime910 to identify and/or optionally eliminate shadows in image captures. As shown aUAV975 may receive the current data andtime910. TheUAV975 may determine ashadow945 ofobstacles922 on asite950. TheUAV975 may refrain from taking images of the portion of astructure920 covered by theshadow945 of theobstacle922, annotate or otherwise identifyshadow945, and/or take additional images at a subsequent time when theshadow945 has moved. Further, theUAV975 may determine a time when theshadow945 will move away from the roof. The UAV assessment and reporting system using the date may also adjust the camera angle on theUAV975 to avoidshadows946 from theUAV975.
• FIG. 10 illustrates an UAV assessment and reporting system for analyzing a structure, according to one embodiment. As illustrated, a user interface1010 may include asite selection interface1015 to receive an electronic input from an operator or other technician that identifies a location of a structure or other object to be assessed. The user interface1010 may further include aboundary identification interface1020 to receive user input identifying geographic boundaries of a site or lot containing a structure and/or of the structure itself. The user interface1010 may additionally or optionally include ahazard identification interface1025 allowing a user to identify one or more hazards proximate a structure or site identified using thesite selection interface1015.
• Acontrol system1030 may be onboard aUAV1055 or may be remote (e.g., cloud-based). Thecontrol system1030 may provide instructions to theUAV1055 to cause it to conduct an assessment. Thecontrol system1030 may include acamera control module1035, othersensor control modules1040, image and/orsensor processing modules1045, and/orscanning modules1050 to implement boustrophedonic, loop, and/or micro scans. TheUAV1055 itself may include acamera1060, one or moreoptical sensors1065,ultrasonic sensors1070, other sensors1075, and one or morenetwork communication systems1080.FIG. 10 is merely representative of one example embodiment, and numerous variations and combinations are possible to implement the systems and methods described herein.
• This disclosure has been made with reference to various embodiments, including the best mode. However, those skilled in the art will recognize that changes and modifications may be made to the embodiments without departing from the scope of the present disclosure. While the principles of this disclosure have been shown in various embodiments, many modifications of structure, arrangements, proportions, elements, materials, and components may be adapted for a specific environment and/or operating requirements without departing from the principles and scope of this disclosure. These and other changes or modifications are intended to be included within the scope of the present disclosure.
• This disclosure is to be regarded in an illustrative rather than a restrictive sense, and all such modifications are intended to be included within the scope thereof. Likewise, benefits, other advantages, and solutions to problems have been described above with regard to various embodiments. However, benefits, advantages, solutions to problems, and any element(s) that may cause any benefit, advantage, or solution to occur or become more pronounced are not to be construed as a critical, required, or essential feature or element. The scope of the present invention should, therefore, be determined by the following claims:

Claims (28)

1. An unmanned aerial vehicle (UAV) assessment system for imaging a structure and determining a pitch of a roof of a structure, comprising:

a site selection user interface to receive an electronic input from a user identifying a geographic location of a structure based on at least one of a street address, a coordinate, and a satellite image;

a UAV to receive the geographic location of the structure from the site selection interface, the UAV comprising:

a camera to capture images of the structure at a target field of view;

a pitch determination system to determine a pitch of a planar surface of the roof that is at an angle relative to a downward direction based on at least two distance measurements; and

an imaging system to:

adjust a tilt angle of the camera of the UAV to a non-zero angle relative to a downward direction to align an optical axis of the camera perpendicular to the planar surface of the roof of the structure, and

capture an image of at least a portion of the roof of the structure at the target field of view with the optical axis of the camera aligned perpendicular to the planar surface by adjusting a tilt angle of the camera of the UAV based on the determined pitch of the planar surface of the roof,

wherein the camera is configured to capture images of the structure at a target distance, such that the imaging system is configured to capture the image of the at least a portion of the roof of the structure at the target distance and the target field of view.

2. (canceled)

3. An unmanned aerial vehicle (UAV) assessment system for imaging a structure and determining a pitch of a roof of a structure, comprising:

a UAV to receive the geographic location of a structure from a site selection interface, the UAV comprising:

a camera to capture images of a roof of the structure;

a pitch determination system to determine a pitch of a planar surface of the roof that is at an angle relative to a downward direction; and

an imaging system to:

adjust a tilt angle of the camera of the UAV to a non-zero angle relative to a downward direction to align an optical axis of the camera substantially perpendicular to the planar surface of the roof of the structure, and

capture an image of at least a portion of the roof of the structure at a target distance and field of view with the optical axis of the camera aligned perpendicular to the planar surface of the roof based on the determined pitch of the planar surface of the roof,

wherein the target distance and field of view are user-defined.

4. The UAV assessment system ofclaim 3, wherein the pitch determination system is configured to determine the pitch of the planar surface of the roof based on a rise over run determination in which a rise is equal to a vertical distance downward between a location of the UAV and the roof of the structure and in which the run is equal to a horizontal distance to the roof of the structure, such that the roof represents a hypotenuse of a right triangle with the UAV positioned at a 90 degree corner of the right triangle.

5. The UAV assessment system ofclaim 3, further comprising a boundary identification interface to receive electronic input identifying geographic boundaries associated with the location of the structure.

6. The UAV assessment system ofclaim 3, further comprising:

a processor in communication with the camera; and

a non-transitory computer-readable medium for receiving and storing instructions that, when executed by the processor, cause the UAV to conduct a structural assessment including:

a boustrophedonic scan of the structure that includes image capture during a boustrophedonic flight pattern within a first altitude range,

a loop scan of the structure that includes image capture during a second flight pattern for the UAV to travel around the perimeter of the structure at a second altitude range lower than the first altitude range, and

a micro scan of the structure that includes image capture in a third flight pattern that includes vertical approaches proximate the structure to capture detail images of the structure.

7. The UAV assessment system ofclaim 3, further comprising a hazard identification interface to receive an input from a user identifying at least one obstacle proximate the structure that is within the geographic boundaries.

8. The UAV assessment system ofclaim 3, further comprising an interface for a user to identify a portion of interest on the roof of the structure, and wherein the captured image with the target field of view includes at least one detail image of the portion of interest in which the optical axis of the camera is aligned perpendicular to the planar surface of the roof of the structure.

9. The UAV assessment system ofclaim 3, wherein the imaging system is configured to capture the image of the roof of the structure with the optical axis of the camera aligned perpendicular to the planar surface of the roof of the structure by further adjusting the location of the UAV relative to the planar surface of the roof.

10. The UAV assessment system ofclaim 3, further comprising:

a processor in communication with the camera; and

a non-transitory computer-readable medium for receiving and storing instructions that, when executed by the processor, cause the UAV to conduct a structural assessment including:

a loop scan of the structure that includes image capture during a flight pattern for the UAV to travel around the perimeter of the structure, and

a micro scan of the structure that includes image capture in a flight pattern that includes vertical approaches proximate the structure to capture detail images of the structure.

11. (canceled)

12. An unmanned aerial vehicle (UAV) assessment system for imaging a structure and determining a pitch of a roof of a structure, comprising:

a UAV to receive the geographic location of a structure from a site selection interface, the UAV comprising:

a camera to capture images of a roof of the structure;

a pitch determination system to determine a pitch of a planar surface of the roof that is at an angle relative to a downward direction; and

an imaging system to:

adjust a tilt angle of the camera of the UAV to a non-zero angle relative to a downward direction to align an optical axis of the camera substantially perpendicular to the planar surface of the roof of the structure, and

capture an image of at least a portion of the roof of the structure at a target distance and field of view with the optical axis of the camera aligned perpendicular to the planar surface of the roof based on the determined pitch of the planar surface of the roof, wherein the target distance and field of view are inversely related such that increases in distance can be compensated for by decreases in field of view.

13. An unmanned aerial vehicle (UAV) assessment system for imaging a structure and determining a pitch of a roof of a structure, comprising:

a UAV to receive the geographic location of a structure from a site selection interface, the UAV comprising:

a camera to capture images of a roof of the structure;

a pitch determination system to determine a pitch of a planar surface of the roof that is at an angle relative to a downward direction; and

an imaging system to:

adjust a tilt angle of the camera of the UAV to a non-zero angle relative to a downward direction to align an optical axis of the camera substantially perpendicular to the planar surface of the roof of the structure, and

capture an image of at least a portion of the roof of the structure at a target distance and field of view with the optical axis of the camera aligned perpendicular to the planar surface of the roof based on the determined pitch of the planar surface of the roof, wherein the target distance and field of view of the captured image corresponds to target dimensions on the roof of the structure.

14. An unmanned aerial vehicle (UAV) for imaging a roof of a structure, comprising:

a camera to capture images of the structure;

a pitch determination system to determine a pitch of a planar surface of the roof that is at an angle relative to a downward direction in real time during a flight based on at least two distance measurements; and

an imaging system to capture an image with a target field of view of at least a portion of the roof of the structure with an optical axis of the camera aligned perpendicular to the planar surface of the roof of the structure by adjusting a tilt angle of the camera of the UAV based on the determined pitch of the planar surface of the roof, wherein the target field of view is customer-defined.

15. The UAV ofclaim 14, wherein at least one additional image of the roof captured with the optical axis misaligned relative to the planar surface of the roof is de skewed using the determined pitch after image capture.

16. The UAV ofclaim 14, wherein the pitch determination system is configured to determine the pitch of the planar surface of the roof based on a rise over run determination in which a rise is equal to a vertical distance downward between a location of the UAV and the roof of the structure and in which the run is equal to a horizontal distance to the roof of the structure, such that the roof represents a hypotenuse of a right triangle with the UAV positioned at a 90-degree corner of the right triangle.

17. The UAV ofclaim 14, further comprising:

a processor in communication with the camera; and

a non-transitory computer-readable medium for receiving and storing instructions that, when executed by the processor, cause the UAV to conduct a structural assessment including:

a boustrophedonic scan of the structure that includes image capture during a boustrophedonic flight pattern within a first altitude range,

a loop scan of the structure that includes image capture during a second flight pattern for the UAV to travel around the perimeter of the structure at a second altitude range lower than the first altitude range, and

a micro scan of the structure that includes image capture in a third flight pattern that includes vertical approaches proximate the structure to capture detail images of the structure.

18. (canceled)

19. (canceled)

20. The UAV ofclaim 14, wherein the imaging system is configured to capture the image of the roof of the structure with the optical axis of the camera aligned perpendicular to the planar surface of the roof of the structure by further adjusting the location of the UAV relative to the planar surface of the roof.

21. The UAV ofclaim 14, further comprising a boundary identification interface to receive electronic input identifying geographic boundaries associated with the location of the structure.

22. (canceled)

23. The UAV assessment system ofclaim 3, wherein the target distance and field of view are user-defined to correspond to target dimensions of the captured image of the at least a portion of the roof of the structure.

24. The UAV assessment system ofclaim 3, wherein the target distance and field of view are user-defined settings.

25. The UAV assessment system ofclaim 3, wherein at least one of the target distance and target field of view is user-defined based on a selection of the camera.

26. The UAV ofclaim 14, wherein the target field of view is customer-defined by selecting a zoom setting on the camera.

27. The UAV ofclaim 14, wherein the target field of view is customer-defined by manually moving the UAV relative to the structure.

28. The UAV ofclaim 14, wherein the target field of view is customer-defined based on a selection of the camera of the UAV.

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