| CPC B64F 5/60 (2017.01) [B64C 39/024 (2013.01); G05D 1/0094 (2013.01); G06T 7/0002 (2013.01); B64U 2101/30 (2023.01); G05D 1/104 (2013.01)] | 25 Claims |
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1. A method for inspecting an object, the method comprising:
generating, by a computer system using a relative coordinate system defined using an origin that is relative to a point or location on or in the object, for a first inspection vehicle, reference data defined using the relative coordinate system and comprising: a reference velocity in an x direction, a reference velocity in a y direction, a reference yaw angle, a reference pitch angle, and a reference distance from the object, respectively, at a first location and at a second location, wherein the first inspection vehicle comprises a sensor system;
the first inspection vehicle generating captured image data and moving from the first location to the second location;
receiving, by the computer system for the first inspection vehicle at the first location, captured data comprising: a velocity in an x direction, a velocity in a y direction, a yaw angle, a pitch angle, and a distance from the object defined in an absolute coordinate system;
aligning the captured data from the absolute coordinate system into the relative coordinate system referenced to the object;
forming a comparison, by the computer system, for the first inspection vehicle at the first location: the velocity in an x direction, the velocity in a y direction, the yaw angle, the pitch angle, and the distance from the object, to: the reference velocity in an x direction, the reference velocity in a y direction, the reference yaw angle, the reference pitch angle, and the reference distance from the object, for the first inspection vehicle at the first location;
determining, by the computer system using the comparison, whether the velocity in an x direction, the velocity in a y direction, the yaw angle, the pitch angle, and the distance from the object, at the first location are within a set of tolerances and thereby valid or outside the set of tolerances and thereby invalid;
responsive to: the velocity in an x direction, the velocity in a y direction, the yaw angle, the pitch angle, and the distance from the object, at the first location being invalid, and prior to detecting anomalies for the object, determining, by the computer system, a set of corrective actions; and
performing, prior to detecting, from the captured image data, anomalies for the object, the set of corrective actions using at least one of the first inspection vehicle or a second inspection vehicle.
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