Untitled record

Full description

Sister Ar'a's background

The present invention relates generally to the inspection and maintenance of a structure, in particular the parking of a drone

releasable crawler It has an unmanned aerial vehicle (UAV).

To inspect and maintain the structure. In addition, the present invention generally relates to the inspection and maintenance of structures

<p dir="rtl">5 Curved ferromagnetic structures, in particular a drone with articulated magnet-bearing legs for landing on curved surfaces with these structures.</p>

Inspection and maintenance of exposed metal assets, such as pipes, storage tanks, etc., can be difficult or impossible to perform by humans.

<p dir="rtl">10 In some environments. In these circumstances, the use of automated drones could provide a practical alternative. However, these inspections and maintenance are usually optimally performed using direct contact on the origin, versus hovering at a distance from the origin.</p>

However, an unmanned aerial vehicle (UAV) may be difficult to land, stop, or maneuver on the ground. in addition to,

<p dir="rtl">15 Pipes (and other curved surface structures) can be particularly challenging to inspect and maintain using an unmanned aerial vehicle (UAV), as these assets present curved surfaces on which to land, park, or maneuver.</p>

The present disclosure is directed to address these and other problems in the field by providing a technical solution for effectively stopping an unmanned aerial vehicle (UAV) having a releasable crawler 20 for inspection or maintenance of a structure. It was also directed

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The present disclosure addresses these and other problems in the field to provide a technical solution for an effective drone with articulated legs that replace magnets for landing or standing on curved surfaces.

surfaces

US Patent No. 2018061148 reveals a computing device

<p dir="rtl">5 A computing device in a vehicle can detect a sensor malfunction and send a request to an unmanned aerial vehicle (UAV) carrying a replacement sensor. A surrogate sensor is provided to collect the data that the failed sensor will collect. The drone sends the collected data to the vehicle's computing device via a vehicle-to-vehicle (V2V) network. Using the surrogate sensor 10 drone, the vehicle can operate one or more vehicle subsystems when one or more sensors fail. Furthermore, the drone can provide data via the surrogate sensor to a vehicle operating in autonomous mode, that is, without input from a human operator. Because a vehicle operating in autonomous mode lacks input from a human operator (or lacks a human operator at all), the vehicle's computing device can be programmed to stop the vehicle</p>

<p dir="rtl">15 Preventing the vehicle from moving as long as the sensor fails. The drone and surrogate sensor allow the vehicle to travel to a repair site to repair the failed sensor.</p>

US Patent No. 2016280359 relates to aerial vehicles such as unmanned aerial vehicles (UAVs), and more specifically to a suspension system and method for use with aerial vehicles.

<h4 dir="rtl">20 General description of the invention</h4>

According to one embodiment, an unmanned aerial vehicle (UAV) is provided for landing and perching on curved ferromagnetic surfaces.

.ferromagnetic surface

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An unmanned aerial vehicle (UAV) has a set of articulated legs. Each articulated leg includes: a magnet designed for magnetic attachment to a curved ferromagnetic surface, and a magnetic foot for housing the magnet.

<p dir="rtl">5 magnet and is designed to magnetically articulate toward the curved ferromagnetic surface using magnets in a direction perpendicular to the curved ferromagnetic surface, in response to the unmanned aerial vehicle (UAV) approaching the curved ferromagnetic surface, so as to land the UAV on the surface. Curved ferromagnetic</p>

<p dir="rtl">10 surface, in order to park the unmanned aerial vehicle (UAV) on the curved ferromagnetic surface after landing. The magnetic foot is designed to remain magnetically attached to the curved ferromagnetic surface when the unmanned aerial vehicle (UAV) is parked on the curved ferromagnetic surface.</p>

curved ferromagnetic surface

<p dir="rtl">15 In one embodiment, the plurality of articulated legs includes four articulated legs.</p>

In one embodiment, each articulated leg includes: a primary body that connects the articulated leg to the unmanned aerial vehicle (UAV), and a passive connecting joint that couples the primary body to the magnetic foot and is

<p dir="rtl">20 Designed to passively connect the magnetic foot with two degrees of freedom relative to the curved ferromagnetic surface.</p>

In one embodiment, the magnet includes a permanent magnet.

In one embodiment, the permanent magnet includes an adjustable amount of one or more permanent magnets.

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In one embodiment, the magnetic foot includes a magnet housing designed to contain a permanent magnet within the magnetic foot at an adjustable distance from the curved ferromagnetic surface when the unmanned aerial vehicle (UAV) is parked on the magnetic surface 5 Curved ferromagnetic surface

In one embodiment, the magnet includes a switchable magnet and the magnetic foot includes a motor or actuator designed to move or operate magnets internal to the switchable magnet, in order to switch the switchable magnet between the on and off positions.

<p dir="rtl">10 In one embodiment, the magnet includes an electro permanent magnet to switch between on and off positions in response to an electrical current pulse</p>

.pulse of electric current

In one embodiment, each articulated foot further includes a separation motor designed to magnetically separate the foot from the curved ferromagnetic surface.

<p dir="rtl">15 How to keep the magnetic foot away from the curved iron magnetic surface.</p>

In one embodiment, the unmanned aerial vehicle (UAV) further includes a control device designed to use the separation motor of each articulated leg to adjust the separation between the articulated legs before landing on the curved ferromagnetic surface.

.curved ferromagnetic surface

<p dir="rtl">20 In one embodiment, the unmanned aerial vehicle (UAV) includes an individual separation motor designed to separate the magnetic foot of each articulated leg from the curved ferromagnetic surface by moving the magnetic foot away from the curved ferromagnetic surface.</p>

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In one embodiment, the unmanned aerial vehicle (UAV) further includes a control device designed to use the individual separation motor to adjust the separation between the articulated legs prior to landing on the curved ferromagnetic surface.

.ferromagnetic surface

<p dir="rtl">5 According to one embodiment, an automated method for landing and parking an unmanned aerial vehicle (UAV) is demonstrated.</p>

unmanned aerial vehicle on curved ferromagnetic surfaces. The drone has a set of articulated legs. The method includes: Bringing the drone closer to the curved ferromagnetic surface, attaching a magnetic foot.

<p dir="rtl">10 foot with each articulated leg. In order to direct a magnet perpendicular to the curved ferromagnetic surface, the unmanned aerial vehicle (UAV) lands on the curved ferromagnetic surface by connecting each magnetic foot to the ferromagnetic surface. Curved using a magnet directed vertically with a magnetic foot</p>

<p dir="rtl">15 magnetic foot, and park the drone on the curved ferromagnetic surface after landing by keeping each magnetic foot magnetically attached to the curved ferromagnetic surface.</p>

In one embodiment, the articulated legs assembly includes four articulated legs.

<p dir="rtl">20 In one embodiment, each articulated leg includes a core body that connects the articulated leg to the unmanned aerial vehicle (UAV), and each magnetic foot includes a passive connection of the magnetic foot to two degrees of freedom relative to the curved ferromagnetic surface using a connecting joint. Passive pairs the main body with the magnetic foot.</p>

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In one embodiment, the magnet includes a permanent magnet.

In one embodiment, the permanent magnet includes an adjustable quantity of the one or more magnets, the method further comprising adjusting the quantity of the one or more permanent magnets in order to adjust the weight or strength of the magnet in the magnetic foot

.magnetic foot 5

In one embodiment, the magnetic foot includes a magnet housing designed to contain a permanent magnet within the magnetic foot at an adjustable distance from the curved ferromagnetic surface when the unmanned aerial vehicle is parked on the ferromagnetic surface.

<p dir="rtl">10 The method also includes adjusting the location of the permanent magnet with the magnetic foot in order to adjust the magnetic force of the magnetic foot.</p>

In one embodiment, the magnet includes a switchable magnet, the method further comprising moving or operating internal magnets with the switchable magnet using a motor or magnetic foot actuator in order to convert

<p dir="rtl">15 Convertible magnet from on to off and vice versa.</p>

In one embodiment, the magnet includes an electro permanent magnet, the method further comprising using a pulse of electric current

From electro-permanent magnet to electric current conversion

On mode to off mode and vice versa.

<p dir="rtl">20 In one embodiment, each articulated leg includes a separation motor, the method further comprising using the separation motor to move the magnetic foot of each articulated leg away from the curved ferromagnetic surface in order to magnetically detach the magnetic foot from the curved ferromagnetic surface. .</p>

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In one embodiment, the method further includes adjusting, by means of a control device in the unmanned aerial vehicle (UAV), the separation of the articulated legs prior to landing on the curved ferromagnetic surface by using the separation motor for each articulated leg. .

<p dir="rtl">5 In one embodiment, the unmanned aerial vehicle (UAV) further includes an individual separation motor, the method further comprising using the separation motor to decouple the magnetic foot of each articulated leg from the curved ferromagnetic surface in order to magnetically detach the magnetic foot from the surface Curved ferromagnetic</p>

.curved ferromagnetic surface

<p dir="rtl">10 In one model,</p>

The method further includes modifying, by means of an unmanned aerial vehicle (UAV) control device, the separation of the articulated legs prior to landing on the curved ferromagnetic surface by use of a single separation motor.

<p dir="rtl">15 Any of the various embodiment combinations and implementations disclosed herein are possible. These and other aspects and features may be appreciated from the following description of specific models along with the figures and accompanying protection elements.</p>

Brief explanation of the drawings

Figures 1a and 1b show an example of an unmanned aerial vehicle (UAV).

<p dir="rtl">20 Standing on a structure, the drone has a releasable crawler for inspecting or maintaining the structure, according to one embodiment. The crawling device is shown attached to the UAV in Figure 1a and unattached to the unmanned aerial vehicle (UAV, for example, crawling on the structure) in Figure 1b.</p>

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Figures 2a and 2b are a side view and a magnified view, respectively, of an exemplary magnet-bearing, hinged leg for sliding an unmanned aerial vehicle (UAV) onto a curved ferromagnetic surface, according to one embodiment.

<p dir="rtl">5 Figure 3 is a cross-section view of a typical total joint of the articulated leg of Figures 2a and 7b, according to one embodiment.</p>

Figures 4a and 4b are views of exemplary techniques for adjusting the magnetic force of the magnet holder (bottom or foot) of the articulated leg in Figures 2a and 2b, according to the embodiments.

<p dir="rtl">10 Figures 5a, 5b, and 5c are illustrative views of a convertible magnet for use with a magnet-bearing leg equipped with a passive hinge to remove or park an unmanned aerial vehicle on a ferromagnetic surface, according to one embodiment.</p>

Figure 6a is an enlarged view of a typical leg with a passive hinge that has a magnet

<p dir="rtl">15 magnet is transferable, instead</p>

Figure 6b is an enlarged view of the switchable magnet shown in Figure 6a, according to one embodiment.

Figure 7 is an enlarged view of an exemplary leg with an electro-permanent magnet passive hinge, according to one embodiment.

<p dir="rtl">20 Figure 8 is a representation of an exemplary drone having legs with passive hinges and corresponding separation actuators, according to one embodiment.</p>

Figures 9a and 9b are side views of an articulated leg and an unmanned aerial vehicle (UAV) separation actuator in Figure 8, showing the leg

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At contact and separation sites, respectively, relative to a curved ferromagnetic surface

.ferromagnetic surface

Figure 10 is a representation of an exemplary unmanned aircraft having legs with passive hinges and a uniform separation motor, according to one embodiment.

<p dir="rtl">5 Figures 11a and 11b are overhead views of the unmanned aerial vehicle (UAV) of Figure 10, showing the stems in the attached and detached positions, respectively. Figures 12a and 12b are side views of an articulated leg on the unmanned aerial vehicle (UAV) of Figure 10, showing the leg in contact and detachment positions, respectively, relative to a curved ferromagnetic surface.</p>

.ferromagnetic surface 10

Figure 13 is a process flow for an exemplary method of landing an unmanned aerial vehicle (UAV) having articulated legs holding a magnet on a ferromagnetic surface, according to one embodiment.

It is worth noting that the figures are illustrative and do not necessarily have to be life-sized, and that the same 15 or similar features have the same reference numbers, or similar reference numbers.

Detailed description:

In various demonstrations, a parked aircraft with a detachable crawler is demonstrated for inspection and maintenance of a structure, such as a pipe or inaccessible storage tank. The unmanned aerial vehicle (UAV) is a hybrid drone with advanced capabilities20 to conduct direct inspection missions on ferromagnetic surfaces such as pipes and carbon steel structures.

The UAV (unmanned aerial vehicle) can fly towards a pipe to be inspected, land on it autonomously (commonly referred to as parking), and use a detachable crawler to crawl around the pipe to perform, for example, inspection missions. In-depth.

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As discussed above, inspection and maintenance of exposed metal assets, such as pipes, storage tanks, etc., can be difficult or impossible to perform by humans. For example, one of the most important challenges in the oil and gas industry is the periodic inspection of elevated assets located in refineries, gas processing units, and platforms.

<p dir="rtl">5 Marine, manufacturing units and other facilities. These assets include pipes and very high structures that are difficult to reach during inspection or maintenance tasks. Sometimes the only way for people to inspect and maintain these assets is to raise a scaffold for the inspector or engineer to enter the asset and, for example, perform a manual inspection using a sensor. Ultrasonic testing (UT) for thickness measurements. This scaffolding is not expensive</p>

<p dir="rtl">10 Price They offer a significant cost barrier for frequent inspection, but they are also concerned with safety issues, mainly in terms of the risk of falling and disconnection.</p>

Accordingly, in illustrative embodiments, a parked UAV (unmanned aerial vehicle) with a detachable crawler provides a solution to the previously mentioned technical problems by having two vehicles in a mother/baby design. Every vehicle is designed or developed to

<p dir="rtl">15 Transitive possibilities are best suited for it. The vehicles include a standing UAV (unmanned aerial vehicle) capable of flying and landing on a tube, and a small magnetic crawler that is carried and removed from the unmanned aerial vehicle after landing or parking. The crawler can roam the pipe and perform, for example, inspection scans such as thickness measurements using the UT sensor. This provides a more useful method of obtaining</p>

<p dir="rtl">20 Total creep of the unmanned aerial vehicle (UAV) around the pipe, requiring heavier engines and risking collisions with pipes and nearby assets, especially with limited evacuation restrictions.</p>

In various other demonstrations, an unmanned aerial vehicle (UAV) has been demonstrated to land or park on curved surfaces. The 25 unmanned aerial vehicle has articulated legs that hold magnets for landing or standing on

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Ferromagnetic surfaces such as carbon steel pipes. In some embodiments, the articulated legs are passively connected such that the legs passively operate by magnetically attracting the magnetic ends of the ferromagnetic surfaces. The UAV (unmanned aerial vehicle) is capable of landing or parking on operational assets

<p dir="rtl">5 Found in oil and gas facilities such as pipelines, vessels and structures. Most of these assets are made of carbon steel, so the magnetic connection works well for landing or parking an unmanned aerial vehicle. It is worth noting that in some of these embodiments, the UAV is also equipped with a detachable crawler, while in other embodiments, the UAV (unmanned aerial vehicle) is not equipped with a crawler.</p>

<p dir="rtl">10 As discussed above, pipes (and other curved surface structures) present a particular challenge</p>

For inspection and maintenance using an unmanned aerial vehicle (UAV), these assets provide curved surfaces on which to land and park. In addition, these assets may be difficult to access during inspection tasks. In addition, erecting scaffolding may not be practical or useful for accessing some parts of these assets, at least by

<p dir="rtl">15 Human operators.</p>

Accordingly, in demonstration embodiments, articulated legs carrying magnets provide drones with a technical solution to these technical problems by allowing the drones to magnetically land or park on assets for inspection and maintenance and to also conserve battery power. In other details, this ability to land or park helps the plane

<p dir="rtl">20 An unmanned aerial vehicle (UAV) conserves energy by landing on tubes rather than hovering during time-intensive tasks such as monitoring or monitoring gas leaks. In addition, this capability helps the unmanned aerial vehicle to perform tasks that require contact with the pipe such as inspection (e.g., ultrasound, magnet) or light maintenance (e.g., packaging).</p>

<p dir="rtl">25 The possibility helps a UAV (unmanned aerial vehicle) deliver loads</p>

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into the tube, such as small sensors and skids, or withdrawing samples such as wear coupons. In other details, the demonstration models provide a mechanism for landing or parking an unmanned aerial vehicle (UAV) that allows for different tube diameters and misalignments due to a non-perfect landing.

<p dir="rtl">5 The demos also provide landing legs for an unmanned aerial vehicle (UAV) that are as light as possible as payload weight is an important limitation for most drones.</p>

Figures 1a and 1b show an example of an unmanned aerial vehicle (UAV) 100 standing on a structure 50 (e.g., a pipe), where the UAV is

150 for crawler crawler 100 has a detachable crawler unmanned aerial vehicle 10

Inspecting or maintaining the structure 50, according to one embodiment. The crawler 150 is shown attached to the unmanned aerial vehicle 100 in Figure 1a and not attached to the UAV 100 (e.g., crawler on structure 50) in Figure 1b. For ease of description, structure 50 is assumed to be larger (e.g., crawler on structure 50). on

<p dir="rtl">15 For example, structure 50 is much larger than an unmanned aerial vehicle 100. For example, structure 50 is larger in every dimension compared to an unmanned aerial vehicle 100, or structure 50 represents more landing space than an unmanned aerial vehicle. Pilot 100.</p>

Figures 1a and 1b show the mother-child design in operation. Figure 1a shows a drone 20 pilot 100 after landing on the tube 50 with the crawler 150 remaining in the drone. Figure 1b

The crawler 150 is shown after being removed from the unmanned aerial vehicle (UAV) 100 to conduct the inspection mission. The crawling capability of the detachable crawler 150 gives the drone 100 important features for performing inspection and maintenance tasks, such as easier access (for example, it does not have to land on the exact point where the inspection and maintenance task 25 will be performed). Also longitudinal and circumferential scans, for example, in a sector

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Oil and gas, it is necessary to conduct comprehensive scans of pipe 50 to find the minimum steel thickness over a specific area of pipe 50. These scans usually include a circumferential scan and a longitudinal scan, and the crawling process is adjusted to suit this scan well. The creep process also provides energy efficiency during multiple inspections (for example, crawling between multiple 5 inspection locations on the same pipe is more efficient and energy efficient than flying)

In Figures 1a and 2b, the unmanned aerial vehicle (UAV) 100 uses four articulated magnets 120 (such as permanent magnets or switchable permanent magnets). To prepare the landing of the unmanned aerial vehicle 100 on the tube 50, each of the magnets 120 (or More precisely, its magnetic field conducts communication in a recursive direction

<p dir="rtl">10 For tube 50, when the unmanned aerial vehicle (UAV) is lowered or parked on tube 50.</p>

In some embodiments, the magnetic fields of the hinged magnets 120 are effectively switchable between on and off positions (e.g., to allow easy disconnection after task completion). A laser scanner 110 is included (e.g., light detection and ranging, or

<p dir="rtl">15 LIDAR) to measure, for example, the relative position of the tube relative to the drone during an automated landing maneuver as an instant feedback pattern. The miniature crawler 150 is connected by wire (e.g., for power and communication) and includes a UT sensor, four magnetic wheels 160, two motors to drive the wheels 160 in corresponding pairs (for example, front and rear). The wire also allows the placement of the rest of the electronic parts and batteries, which are necessary</p>

<p dir="rtl">20 To perform inspection and maintenance on the main body of the unmanned UAV.</p>

aerial vehicle 100. This reduces the size, weight and complexity of the crawler 150. In some embodiments, the crawler 150 has other designs in terms of the number of wheels (two or three wheels are also conceivable) and their type (e.g. multiple wheels, mechanical wheels, etc.).

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In some embodiments, communication between the crawler and the unmanned aerial vehicle 100 is via a wire. For example, using a small pulley of thin rope, the crawler 150 can be attached to the drone 100 to transmit power and communication. This would eliminate the need to host a battery and other electronics inside the crawler 150, which would...

<p dir="rtl">5 It makes it smaller and saves overall weight by taking advantage of some components already found in an unmanned aerial vehicle (UAV).</p>

In some other embodiments, radio communication is between the crawler 150 and the unmanned aerial vehicle 100. Hence, the 150 crawler includes its own battery and electronics, to provide a more independent vehicle. This may be useful, for example, when...

<p dir="rtl">10 The unmanned aerial vehicle (UAV) 100 picks up the crawler 150 from the ground and uses it on the pipe 50, at which points the drone 100 can fly off to conduct some inspection missions and then return again to pick up the crawler 150. This may also be useful for multiple drones 150 (e.g., a swarm of skis 150) to inspect multiple assets, while the unmanned aerial vehicle (UAV) is operating.</p>

<p dir="rtl">15 100 to pick them up one by one in batches from the ground to their destination and retrieve them upon completion</p>

the mission. In various embodiments, radio communication may be between the crawler 150 and either the unmanned aerial vehicle 100 or an operator control station, a, both the unmanned aerial vehicle 100 and the operator control station.

In different embodiments, different landing mechanisms of the UAV 100 are used. This may include 20 different types of contact mechanisms such as magnetic and non-magnetic. Examples of landing mechanisms include:

Magnetic contains magnets that can be quenched or overcome by mechanical means during take-off from tube 50. These magnets include switchable permanent magnets, permanent magnets with levers that are operated to assist in separation during take-off, permanent electromagnets, and electromagnets. It is worth noting, however, that continuous energy consumption may be one

<p dir="rtl">25 Disadvantages of electromagnets. Non-magnetic contact mechanisms can be used for surfaces</p>

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Non-ferromagnetic such as stainless steel, composite pipes, cementitious materials. These mechanisms include microspines, dry adhesives inspired by crawling animals (e.g., synthetic spines), suction cups, clutches, and claws.

In different models, different loads or crawler designs are used. For simplicity, these loads fall

<p dir="rtl">5 Or designs in two basic categories: inspection and maintenance. Inspection loads and designs include a range of different types of sensors that are commonly used in the oil and gas sector to inspect pipelines and structures. For example, in some embodiments, a UT sensor is used to measure thickness. For ease of description, a UT sensor is used to measure thickness at times to provide a typical device and use for inspection and maintenance. However, there are other models that are not limited to this</p>

<p dir="rtl">10 Device or use.</p>

For example, other inspection sensors may be used in place of or alongside the UT sensor depending on the task, including (but not limited to) an eddy current sensor and alternating current field measurement (ACFM) sensors.

In other embodiments, the crawler is used for maintenance purposes. For example: can

<p dir="rtl">15 Use the crawler to perform maintenance tasks such as cleaning, surface preparation, and paint repair. In other embodiments, the crawler is used for visual inspection. For example, in some embodiments, the camera is used for simple visual inspection tasks, for example where there is a need to obtain videos or images of an area of interest, but it is difficult to inspect the area directly using an unmanned aerial vehicle (UAV).</p>

<p dir="rtl">20 Figures 2a and 2b are a side view and a magnified view, respectively, of an exemplary magnet-bearing, hinged leg 200 for sliding a drone onto a curved ferromagnetic surface (such as a pipe), according to one embodiment. While the articulated leg 200 of Figures 2a and 2b use permanent magnets 230 to make the leg 200 magnetic, other embodiments are not limited to this</p>

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For example, in other embodiments, other magnets such as electromagnets, permanent electromagnets, or switchable magnets are used, for example to simplify the design or reduce weight. Many of these and other models were later described. In addition, to facilitate description, a tube is used as a model structure having a curved ferromagnetic surface.

<p dir="rtl">5 surface. However, the models described are similarly applicable to other structures, such as cylindrical or spherical storage tanks, which have curved ferromagnetic surfaces. In addition, it is noteworthy that in some of these embodiments, the UAV (unmanned aerial vehicle) is also equipped with a detachable crawler, while in other embodiments, the UAV is not</p>

<p dir="rtl">10 Vehicle equipped with a detachable crawler</p>

Referring to Figures 2a and 2b, the parking mechanism of the unmanned aerial vehicle (UAV) is based on four identical magnetic landing legs. For example, the 200 legs can be designed, 3D printed, assembled, and mounted on a small drone. In some embodiments, the unmanned aerial vehicle is a 15 remotely controlled aircraft that is manually flown to evaluate the efficiency of the parking system. For example, four

The 200 legs provide a corresponding leg for each rotor (rotor and propeller) of a four-rotor aircraft, a common number of propellers for an unmanned aerial vehicle (UAV).

However, other models are not limited to this, and can include a different number of stems, such as two, three, or six stems. For example, a three-shank design works well 20 as well. In addition, in other models, there is no need for any symmetry between the stems and the propellers.

In a four-legged unmanned aerial vehicle (UAV), approach and landing near the top of the tube (e.g., at or near the 12 o'clock position) at straight or near straight angles is required, and usually provides Suitable connection and parking for all four legs. However, try to remove the drone from an unmanned aerial vehicle

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A four-legged device at oblique angles (from the ordinate direction) will usually result in only three legs connecting while all four remain suspended in the air. However, this may result in acceptable parking and contact.

The 200 stems have attributes required for successful standing and connection to the tube. For example, each leg 200 of the standing mechanism provides a passive articulation joint 250 (or

<p dir="rtl">5 Universal joint), such as a cross shaft 252 to couple two shaft bolts to a shaft shape 254 and four bushings 256 using two symmetrical knots 258 to provide two rotational degrees of freedom between the main body 210 (e.g., a top) and magnet holders 220 (at For example, a lower part (or foot) of an articulated leg 200. The connection to the leg 200 is passive such that the connection joint 250 is designed to articulate</p>

<p dir="rtl">10 In response to magnetic attraction due to magnets 230 and the ferromagnetic surface when...</p>

The UAV (unmanned aerial vehicle) is close to the target ferromagnetic surface.

To prepare the unmanned aerial vehicle for landing on the tube, each of the articulated legs 200 (or more specifically, the magnetic handles 220) are

<p dir="rtl">15 The magnetic fields of the corresponding magnets articulate in a direction perpendicular to the tube (or other curved surface) when the unmanned aerial vehicle (UAV) is lowered or parked on the tube. In the magnet holder 220, three magnetic slots 240 contain three corresponding cylindrical permanent magnets 230 that provide adequate contact with the tube during landing or standing. It is worth noting that the number, size, and shape</p>

<p dir="rtl">20 Magnets 230 are examples, and other models are not limited to them. In one illustrative embodiment, each leg 200 uses a lightweight design such that each leg 200 weighs only 30 grams (g). The design of the leg 200 of Figures 2a and 2b allows the magnetic pull to be optimized so that it is strong enough to stick to the surface during landing and not too strong In order not to cause any damage due to strong collision with the pipe.</p>

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Figure 3 is a cross-sectional view of an exemplary total joint (such as passive articulation joint 250) of the articulated leg 200 of Figures 2a and 7b, according to one embodiment.

Each leg 200 is designed with a built-in universal joint 250 that breaks the leg 200

<p dir="rtl">5 In two separate parts, a main body 210 is firmly attached to the unmanned aerial vehicle (UAV) and a moving magnet holder 220. Universal Joint 250 The magnet holder 220 provides two rotational degrees of freedom, allowing the magnets 230 to realign their orientation (e.g., vertically) toward the pipe for a perfect or near-perfect connection. The universal joint 250 10 is integrated and an integral part In the leg 200. For example, the universal joint 250 (or parts thereof) can be manufactured using 3D printing. Figure 3 shows a view of the joint 250 showing various parts, including the cross shaft 252, shaft screws 254, counter bushings 256, and nuts Correspondence 258 to the mechanical coupling of the main body 210 to the magnet handle 220. Thus, the transverse shaft 252, shaft bolts 254, bushing 15 256, and nuts 258 act as a propeller to the articulated leg 200 while the articulated leg 200 acts as a propeller.</p>

The main body 210 as a stator.

Figures 4a and 4b are views of exemplary techniques for adjusting the magnetic force of the magnetic end of the magnet handle 220 (bottom or foot) of the articulated leg 200 of Figures 2a and 2b, according to the embodiments.

<p dir="rtl">20 In the 220magnet handle, up to three permanent magnets can be installed in each leg 200. Each cylindrical magnet 230 is, for example, 0.635 cm in diameter and length. The design provides flexibility in improving the required magnetic pull, for example reducing the magnetic pull from a maximum or conventional design including three 230 magnets extending into or outside the 240 magnet slots (for example, to make a direct connection</p>

<p dir="rtl">25 With the ferromagnetic surface (this maximum magnetic pull can be reduced, on...</p>

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For example, by reducing the number of magnets 230 (say from three to two, as shown in Figure 4a, which also reduces the weight of the magnet handle 220 magnet). Another way to reduce the maximum magnetic pull is to leave an adjustable gap 245 between one or Over 230 magnets and bottom of 220 magnet handle (as shown).

<p dir="rtl">5 4b), to increase the distance between the magnets 230 and the ferromagnetic surface. The magnets 230 are held in place, for example, by forming the tip of the magnet 220 out of plastic and inserting the magnets 230 into the plastic body of the leg 200.</p>

In other embodiments, the number of permanent magnets 230 may vary from three (e.g., one, two, four, or more). In addition, the two degrees of freedom in each leg 200 have been

<p dir="rtl">10 They are achieved using a universal joint in Figures 2a through 2b, but this design may vary in other embodiments. For example, in other embodiments, other types of coupling may be used to achieve these two degrees of freedom, such as a ball joint. The two degrees of freedom allow the leg to be oriented (specifically, the foot) to conform to the curved landing surface.</p>

Figures 5a, 5b, and 5c are illustrative views of a switchable magnet

<p dir="rtl">15 magnet 530 to be used with a magnet-bearing leg equipped with passive hinges to remove or park an unmanned aerial vehicle (UAV) on a ferromagnetic surface 450, according to one embodiment. This is a modification of the articulated leg model 200 in Figures 2a to 2b and uses switchable magnets 530 instead of permanent magnets 230. Switchable magnets 530 are possible</p>

<p dir="rtl">20 To be selectively switched from on to off and vice versa. This helps in easy separation during take-off from the tube by turning the magnet to the off position. It is worth noting that the typical dimensions provided in Figure 5a may differ in other models.</p>

As shown in Figure 5a, one way of making the switchable magnet 530 is to use two disk-shaped magnets on top of each, one of which is fixed (e.g.

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(e.g., permanent magnet 534) and the other may be rotating (e.g., moving magnet 532).

The magnets are housed in a magnetic flux concentration device, such as an iron housing 536. The moving magnet 532 can be directed to cancel the magnetic field of the installed magnet

<p dir="rtl">5 fixed magnet 534 (as shown in Figure 5b), and turning the total magnet 530 to the off position. Alternatively, the moving magnet 532 can be oriented in the same direction as the fixed magnet 534 to intensify its field (as shown in Figure 5c). , turning the total magnet 530 into the operating position and the moving magnet 532 can be rotated, for example, using an actuator such as a motor.</p>

<p dir="rtl">10 Figure 6a is an enlarged view of an exemplary passive-hinged leg having a switchable magnet 630, while Figure 6b is an enlarged view of the switchable magnet 630 shown in Figure 6a, according to one embodiment.</p>

Examples of Figures 6a and 6b use a switchable magnet 630 in a magnet holder 620 of each landing leg 600. And it runs

<p dir="rtl">15 The switchable magnet 630 uses an actuator 638 (such as an auxiliary motor to switch the state of the magnet). When approaching a landing target (e.g., a tube), the magnets 630 are switched when using a signal sent from an unmanned aerial vehicle (UAV) control device to the actuator 638 to allow the UAV to attach to the tube. When it is time to take off The 630 magnets are turned off to make the fan work</p>

<p dir="rtl">20 A UAV (unmanned aerial vehicle) is easier to avoid having to overcome magnetic drag. Figure 6a shows an enlarged view of a landing leg 600 containing a switchable magnet 630 housed in the handle of the magnet 620. The other components in Figure 6a are substantially similar to the same numbered components in Figure 2b, and their description will not be repeated.</p>

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Figure 6b shows an exemplary switchable magnet 630 for the articulated leg 600. The magnet 630 includes a rotating permanent magnet 632 that rotates relative to a fixed permanent magnet 634 to turn the magnet 630 from on to off and vice versa. The motor or actuator 638 rotates the moving magnet 632

<p dir="rtl">5 For a permanent magnet 634 to cancel out or combine the energy of the magnet in the magnets 632 and 634. A ferromagnetic flux center 636 contains two magnets 632 and 634 and helps direct or spread their combined magnetic force to the ferromagnetic surface below the leg 600.</p>

Figure 7 is an enlarged view of a typical leg with a passive hinge 700 having a magnet

<p dir="rtl">10 An electro-permanent magnet 730 houses a magnet holder 720, according to one embodiment. The other components of leg 700 are substantially similar to the same numbered components in legs 200 and 600 in Figures 2B and 6A, respectively. Thus, leg 700 can have substantially the same passive articulated legs with two degrees of freedom (universal joint) as legs 200 and 600, but makes use of magnets.</p>

<p dir="rtl">15 730 electro-permanent magnet instead of permanent magnet 230 or switchable magnet 630.</p>

Permanent electromagnets, such as the electro-permanent magnet 730, are very different from regular electromagnets, which may not be suitable for this type of use. This is because ordinary electromagnets require a constant electrical current to maintain

<p dir="rtl">20 The magnetism of its coils, which could drain the battery of the unmanned aerial vehicle (UAV) while it is parked on the tube. On the other hand, permanent electromagnets (such as the electro-permanent magnet 730) remain functional without requiring electrical power and only require an electrical pulse to switch between the on and off state. They do not need power when in the on or off mode and only require energy to switch Between the two situations, which</p>

<p dir="rtl">25 It is an attractive feature of permanent electromagnets for this type of use.</p>

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Figure 7 model uses an electro-permanent magnet 730 in each landing leg 700. When approaching a landing target (e.g., a tube), the magnets 730 when using a signal sent from an unmanned aerial vehicle (UAV) control device are switched to the magnets to allow the UAV to attach 5 to the tube. When it's time to take off, the magnets are turned off to make the propeller's job easier

To avoid the need to overcome the magnetic pull.

Figure 8 is a representation of an exemplary unmanned aircraft 500 having legs with passive hinges 800 and corresponding separation motors 860, according to one embodiment.

For the unmanned aerial vehicle (UAV) 500 in Figure 8, it was done

<p dir="rtl">10 Note that it is easier to separate the magnets from the ferromagnetic surface by pushing the magnets away rather than pulling them directly away from the magnetic attraction. This is because moving the magnet away creates a torque arm that amplifies the separation force. In other details, separation by direct pulling of the magnet away from the ferromagnetic surface requires a force at least equal to the magnetic force. On the other hand, separation by removal applies a side force to the top (or top)</p>

<p dir="rtl">15 For a magnet, you apply a torque around the bottom corner of the magnet, which will cause it to rotate around it. When the applied separating force (removing force) has a larger torque arm and provides a stronger torque than the torque of the magnetic force, the magnet separates. It is usually a much smaller force than the magnetic force required to pull the magnet away directly. Therefore, it is much easier to separate Magnet by pulling it away.</p>

<p dir="rtl">20 With this in mind, each leg is 800 passive hinges in the UAV.</p>

860 detachment motor 500 includes an unmanned aerial vehicle

To apply a repulsive force to the magnet handle 820 (lower end) of the articulated leg 800 at the universal joint 850. Applying a force to the universal joint 850 increases the torque on the magnet handle 220 to move it away from the ferromagnetic surface on which it lands or stops.

<p dir="rtl">25 It is the 500 unmanned aerial vehicle (UAV).</p>

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Figures 9a and 9b are side views of an articulated leg 800 and separation actuator 860 in the unmanned aerial vehicle (UAV) of Figure 8, showing the leg 800 in contact and separation positions, respectively, relative to a curved ferromagnetic surface 750.

<p dir="rtl">5 The articulated leg 800 is similar to the articulated leg 200 described previously, only that it incorporates a disconnecting motor or actuator 860 into the leg 800 to move the magnet handle 220 away from the universal joint 850. Apart from the separation motor 860 and its connection to the universal joint 850, the articulated leg 800 is similar to the articulated leg 200, for example using permanent magnets for standing. And each of the four 800 stems is</p>

<p dir="rtl">10 It has its own motor 860 connected using a four-arm linkage 865. The handles of the magnets 220 are passive and move freely in two degrees of freedom using the universal joint 850, similar to the articulated leg 200. Figure 9a shows the leg 800 magnetically attached to the tube 750 while the magnet holder 220 (or “foot”) orients itself passively toward the tube 750 such that the magnets in the magnetic holder 220 are attracted to</p>

<p dir="rtl">15 For tube 750. When it is time to perform separation and take-off, the motor 860 is operated as shown in Figure 9b and the leg 800 is retracted at the universal joint 850 through the separation motor connection 865, resulting in easy separation. It is worth noting that the motor 860 must be self-locking so that when the motor 860 is turned off, the four-arm link 865 is locked and does not move.</p>

<p dir="rtl">20 In one embodiment, separation actuators 860 are also used to assist in bonding to the curved ferromagnetic surface 750 by adjusting the distance between the legs 800 for different surface curves (e.g., tube diameters). For example, as part of approaching the surface The curved ferromagnetic 750, the control device of the unmanned aerial vehicle (UAV) 500 can be programmed or designed to use</p>

<p dir="rtl">25 A sensor (e.g., LIDAR, as in a laser scanner 110) to detect curves on a surface</p>

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Ferromagnetic 750, and using separation motors 860 to appropriately separate the legs 800 (e.g., apart for small curves, close together for larger curves) before connecting.

Figure 10 is a representation of an exemplary drone 900 having legs with passive hinges

<p dir="rtl">5 1000 and a unified separation motor 1060, according to one embodiment. The unmanned aerial vehicle (UAV) is</p>

The unmanned aerial vehicle 900 is similar to the unmanned aerial vehicle 500 of Figure 8, only using a unmanned separation motor 1060 (common to all four articulated legs 1000) in place of the dedicated separation motors 860 for each articulated leg 800.

The model of Figure 10 is based on the idea of the model of Figure 8, but instead of using a single actuator 860 for each 10 leg 800, a single actuator 1060 is used to separate all of the legs 1000 at once. And it works

Design to reduce weight and size by eliminating the need for multiple separation drives. The mechanical coupling 1065 serves to connect all of the legs 1000 to the central motor 1060 which, when rotated, pulls all of the legs 1000 inward, resulting in separation. It should be noted that in other embodiments, other mechanical linkage designs may be used to connect the leg 1000 to an individual actuator 15, which may be a linear actuator rather than a motor.

Figures 11a and 11 are overhead views of the unmanned aerial vehicle 900 of Figure 10, showing the legs 1000 in the attached and detached positions, respectively. Figures 12a and 12b are side views of the articulated leg 1000 of the drone 900 of Figure 10, showing the leg 1000 in contact and separation positions, 20 respectively, relative to a curved ferromagnetic surface 750. These figures help show how the single operator 1060 in the unmanned aerial vehicle (UAV) 900 works.

Figures 11a and 12a show the design of the legs 1000 during descent, where the legs 1000 descend and the magnets passively orient themselves toward the tube 750 in order to make proper contact.

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When it is time to separate and take off, the center separation motor 1060 rotates counterclockwise, pulling the shank 1000 inward using the mechanical linkage 1065, as shown in Figures 11b and 12b. This applies a repulsive force to the top of the magnetic foot 220, forcing it to separate from the tube 750. And it must be

<p dir="rtl">5 The 1060 motor is self-locking to prevent accidental disconnection when the 1060 motor is not running.</p>

For the unmanned aerial vehicle (UAV) 500 of Figure 8, in one embodiment, the unmanned aerial vehicle 900 of Figure 10 also uses separation actuators 1060 to assist in contact with the curved ferromagnetic surface 750 by adjusting the distance between Stems 1000

<p dir="rtl">10 for different surface curves (e.g., pipe diameters). For example, as part of the approach to the curved ferromagnetic surface 750, the control on the unmanned aerial vehicle (UAV) 900 may be programmed or designed to use a sensor (e.g. For example, LIDAR, as in a laser scanner 110) to detect curves on the ferromagnetic surface 750, and use the separation motor 1060 to conveniently separate the stems 1000</p>

<p dir="rtl">15 (e.g., away from small curves, close together for larger curves) before connecting.</p>

Figure 13 is a process flow for a typical method 1300 for landing an unmanned aerial vehicle (e.g. UAV 100, 500, or 900) that has articulated legs carrying a magnet (such as articulated legs 120, 200, 600, 700, 800, (or 1000)

<p dir="rtl">20 On a curved ferromagnetic surface (such as a tube 50 or a curved ferromagnetic surface 750), according to one embodiment.</p>

Some or all of Method 1300 may be performed using components and techniques shown in Figures 1 through 12b. Portions of these and other methods disclosed herein may be performed on or using conventional or pre-programmed logic devices, circuits, or processors, such as a programmable logic circuit.

<p dir="rtl">25 programmable logic circuit (PLC), computer, software, or other circuit (eg</p>

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For example, an application specific integrated circuit (ASIC integrated circuit), Field Programmable Gate Arrays (FPGA Gate Arrays), is designed with code or logic to carry out its assigned task. It could be a device, circuit, or processor, for example For example, a dedicated device or shared hardware component (e.g

<p dir="rtl">5 A laptop, workstation, tablet, smartphone, part of a server, or a dedicated hardware circuit, such as a Field Programmable Gate (FPGA Arrays) or an application specific (ASIC integrated circuit), etc.), a computer server, or part of a server or computer system. The device, circuit, or processor may include a non-transitional computer-readable medium</p>

<p dir="rtl">10 CRM (computer readable medium, such as read-only memory (ROM memory, flash disk, or hard disk) that stores commands that, when executed on one or more processors, cause the execution of parts of method 900 (or another method that has been (disclosed). It should be noted that in other embodiments, the order of operations may differ, and some operations may be omitted. Some or all of Method 1300 may also be performed using logic, circuits, or processors located on a UAV designed to implement</p>

15 Method 1300.

In exemplary method 1300, processing begins with an approach step 1310 to the curved ferromagnetic surface of the unmanned aerial vehicle. Method 1300 also includes the step of supplying hinges 1320 to a magnetic foot (such as a 220 magnet holder,

20 620, or 720 (with each articulated leg to direct a magnet) such as

Permanent magnets 230, switchable magnets 530 or 630, or electro-permanent magnet 730 (with magnetic foot perpendicular to the curved ferromagnetic surface. For example, the step of providing hinges 1320 may include the step of providing Negatively hinged 1320 per foot

<p dir="rtl">25 Magnetism with two degrees of freedom relative to a curved iron magnetic surface</p>

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ferromagnetic surface using a passive joint (such as a universal joint 250 or 850) that couples the main body (such as a basic body 210) in the articulated leg to the magnetic foot.

Method 1300 also includes a step to remove the unmanned UAV 1330.

<p dir="rtl">5 aerial vehicle on the curved ferromagnetic surface by magnetically connecting each magnetic foot to the curved ferromagnetic surface using the vertically oriented magnet of the magnetic foot. Method 1300 also includes the step of stopping the unmanned aerial vehicle (UAV) 1340 on the curved iron magnetic surface.</p>

<p dir="rtl">10 ferromagnetic surface After the take-off step 1330 by keeping each magnetic foot magnetically attached to the curved ferromagnetic surface. Method 1300 also includes the step of moving the magnetic foot 1350 of each articulated leg away from the curved ferromagnetic surface using a separation motor (such as a separation motor 860 or 1060) for separation.</p>

<p dir="rtl">15 Magnetic foot for curved iron magnetic surface</p>

.ferromagnetic surface

The methods described in this document may be performed in part or in whole by software or firmware in machine-readable form on a tangible (e.g., non-transitory) storage medium. For example, the software or firmware may It is in the form of a computer program

<p dir="rtl">20 Examples include computer program code configured to perform some or all of the steps in any of the methods described herein when the program runs on a computer or a suitable hardware device (e.g., an FPGA), and where the computer program may be embedded on a computer-readable medium. Physical storage media includes computer storage devices that have a computer-readable medium such as disks, controller disks, flash memory, etc., and do not include scrubbing signals</p>

<p dir="rtl">25 A tangible storage medium, but the purification signals themselves are not examples of a tangible storage medium. And it may be</p>

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The program is suitable for execution on a parallel processor or a serial processor so that the steps of the method can be executed in any suitable order, or concurrently.

It is further understood that figures that are similar or identical in figures represent similar or similar items across several figures, and not all components or steps described and shown are by reference

<p dir="rtl">5 Figures are required for all models or arrangements.</p>

Terms used in this document are intended to describe specific models only and are not intended to limit disclosure. As used in this document, the singular forms "one", "one" and "the" may also be intended to include plural forms, unless the context clearly indicates otherwise. It will also be understood that the terms “includes” and/or “contains”, when used in this description, indicate the presence of

<p dir="rtl">10 The mentioned properties, integers, steps, operations, elements and/or components, but it does not preclude the presence or addition of one or more other properties, numbers, steps, operations, elements, components and/or combinations thereof.</p>

Guidance terms in this document are used only for purposes of agreement and reference and should not be construed as specific. However, it is understood that these terms may be used in reference to

<p dir="rtl">15 bidder. Accordingly, no determinants are involved or inferred. In addition, the use of these ordinal numbers (e.g., first, second, third) is intended to differentiate, not count. For example, the use of “third” does not mean that there is a corresponding “first” or “second.” In addition, However, the wording and terminology used in this document are intended to be descriptive and should not be considered specific and the use of “including”, “including”, “his”, “containing”, “includes”, and their derivatives in this document</p>

<p dir="rtl">20 The document indicates the inclusion of the purposes listed after it, their equivalents, and additional purposes as well.</p>

The subject matter described above is presented by way of illustration only and should not be construed as a limitation. Various modifications and changes may be made to the subject matter described herein without following the illustrative forms and usages presented and described, and without departing from the spirit and scope.

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The real elements of the present disclosure, which are defined by a plurality of illustrations in the following safeguards by a plurality of structures and functions or steps equivalent to such illustrations.

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