# US 11,029,352 B2 · Unmanned aerial vehicle electromagnetic avoidance and utilization system > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 11,029,352 B2 - Document ID: US11029352B2 - Status: Granted - Kind: B2 - Application number: 15/598,204 - Filed: 2017-05-17 - Published: 2017-11-23 - Granted: 2021-06-08 - Earliest claimed: 2016-05-18 - Assignees: Skydio, Inc. - Applicants: Skydio, Inc. - Inventors: Fabien Blanc-Paques; Bernard J. Michini; Mark Patrick Bauer - Web page: https://patentgrep.com/patent/US11029352B2 ## CPC - G01R 29/085: {for detecting presence or location of electric lines or cables (fault detection G01R31/50; fault location G01R31/08)} - G05D 1/0094: {involving pointing a payload, e.g. camera, weapon, sensor, towards a fixed or moving target} - G05D 1/689: Pointing payloads towards fixed or moving targets (positioning towed, pushed or suspended implements G05D1/672) - G08G 5/32: for flight plan preparation - G08G 5/55: for a single aircraft - G08G 5/57: for unmanned aircraft - G08G 5/80: Anti-collision systems - B64U 20/87: Mounting of imaging devices, e.g. mounting of gimbals - B64U 2101/26: for manufacturing, inspections or repairs - B64U 2101/30: for imaging, photography or videography - B64U 2201/10: autonomous, i.e. by navigating independently from ground or air stations, e.g. by using inertial navigation systems [INS] - G08G 5/74: for monitoring terrain - G01R: MEASURING ELECTRIC VARIABLES; MEASURING MAGNETIC VARIABLES (indicating correct tuning of resonant circuits H03J3/12) - G05D: SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES - G08G: TRAFFIC CONTROL SYSTEMS (guiding railway traffic, ensuring the safety of railway traffic B61L; arrangement of road signs or traffic signals E01F9/00; radar or analogous systems, sonar systems, lidar systems specially adapted for traffic control G01S13/91, G01S15/88, G01S17/88; {radar or analogous systems, sonar systems, lidar systems specially adapted for anti-collision purposes G01S13/93, G01S15/93, G01S17/93}) - B64U: UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR ## Abstract Methods, systems and apparatus, for an unmanned aerial vehicle electromagnetic avoidance and utilization system. One of the methods includes obtaining a flight package indicating a flight pattern associated with inspecting a structure, the flight pattern causing the UAV to remain at a standoff distance from the structure, wherein the standoff distance is based on an electromagnetic field associated with the structure, and wherein the flight pattern is laterally constrained according to a property geofence associated with a right of way of the structure. The UAV is navigated according to the flight pattern, and the UAV captures images of the structure. For an initial portion of the flight pattern, the UAV navigates at an altitude based on the standoff distance and the property geofence towards the structure. The UAV determines a location at which to capture images of the structure, and the UAV provides the captured images to a user device. ## Claims ### Claim 1 An unmanned aerial vehicle (UAV) system comprising: one or more processors comprising hardware, the one or more processors configured to perform operations comprising: determining a standoff distance from a structure based on an electromagnetic field of the structure, wherein the standoff distance is a distance the UAV is to remain from the structure while the UAV is navigating; determining a flight pattern for the UAV to implement, the flight pattern configured such that the UAV remains at least the determined standoff distance from the structure, and the flight pattern including a predetermined path for the UAV to follow; navigating the UAV according to the determined flight pattern; and obtaining sensor data of the structure at multiple aerial positions about the structure. ### Claim 2 (depends on 1) The system of claim 1, the operations further comprising: during navigation of the UAV, increasing the standoff distance from the structure when the system determines an increased magnetic field strength of the structure. ### Claim 3 (depends on 1) The system of claim 1, wherein determining a standoff distance from the structure comprises: navigating the UAV to a first altitude above one or more conductors carried by the structure; navigating the UAV to descend from the first altitude towards the conductors; determining information indicative of an electromagnetic field associated with the one or more conductors; determining, using the information, a second altitude at which the electromagnetic field associated with the one or more conductors affects navigation of the UAV; and setting the standoff distance based on the second altitude. ### Claim 4 (depends on 1) The system of claim 1, wherein determining a standoff distance from the structure comprises: obtaining a magnetic field measurement of the structure; determining a distance from the structure and a location where the measurement was taken; and using a model to select a distance for the standoff distance where the selected distance would be at or below a predetermined threshold value. ### Claim 5 (depends on 1) The system of claim 1, the operations further comprising: preventing flight of the UAV closer to the structure than the standoff distance. ### Claim 6 (depends on 1) The system of claim 1, the operations further comprising: periodically determining a magnetic interference of the structure; and adjusting the standoff distance based on the periodically determined magnetic interference. ### Claim 7 (depends on 1) The system of claim 1, the operations further comprising: measuring by the UAV, a magnetic field strength of a magnetic field of the structure; and obtaining the geospatial location of the UAV and the magnetic field measurement. ### Claim 8 (depends on 1) The system of claim 1, the operations further comprising: determining that the UAV has navigated to a distance closer to the structure than the standoff distance; and causing the UAV to perform a contingency operation. ### Claim 9 (depends on 1) The system of claim 1, wherein determining a standoff distance from the structure comprises: receiving, via a user interface of the system, a numerical value for the standoff distance. ### Claim 10 (depends on 1) The system of claim 1, wherein determining the standoff distance is based on physical information of a model of the structure. ### Claim 11 (depends on 1) The system of claim 1, wherein determining a standoff distance from the structure comprises: determining the standoff distance based upon a model describing the electromagnetic field of the structure; and utilizing the model to determine different standoff distances at various locations along the flight pattern. ### Claim 12 A non-transitory computer storage medium comprising instructions that when executed by one or more processors, cause the one or more processors to perform operations comprising: determining a standoff distance from a structure based on an electromagnetic field of the structure, wherein the standoff distance is a distance an unmanned aerial vehicle (UAV) is to remain from the structure while the UAV is navigating; determining a flight pattern for the UAV to implement, the flight pattern configured such that the UAV remains at least the determined standoff distance from the structure, and the flight pattern including a predetermined path for the UAV to follow; navigating the UAV according to the determined flight pattern; and obtaining sensor data of the structure at multiple aerial positions about the structure. ### Claim 13 (depends on 12) The non-transitory computer storage medium of claim 12, the operations further comprising: during navigation of the UAV, increasing the standoff distance from the structure when the system determines an increased magnetic field strength of the structure. ### Claim 14 (depends on 12) The non-transitory computer storage medium of claim 12, wherein determining a standoff distance from the structure comprises: navigating the UAV to a first altitude above one or more conductors carried by the structure; navigating the UAV to descend from the first altitude towards the conductors; determining information indicative of an electromagnetic field associated with the one or more conductors; determining, using the information, a second altitude at which the electromagnetic field associated with the one or more conductors affects navigation of the UAV; and setting the standoff distance based on the second altitude. ### Claim 15 (depends on 12) The non-transitory computer storage medium of claim 12, wherein determining a standoff distance from the structure comprises: obtaining a magnetic field measurement of the structure; determining a distance from the structure and a location where the measurement was taken; and using a model to select a distance for the standoff distance where the selected distance would be at or below a predetermined threshold value. ### Claim 16 (depends on 12) The non-transitory computer storage medium of claim 12, the operations further comprising: preventing flight of the UAV closer to the structure than the standoff distance. ### Claim 17 (depends on 12) The non-transitory computer storage medium of claim 12, the operations further comprising: periodically determining a magnetic interference of the structure; and adjusting the standoff distance based on the periodically determined magnetic interference. ### Claim 18 (depends on 12) The non-transitory computer storage medium of claim 12, the operations further comprising: measuring by the UAV, a magnetic field strength of a magnetic field of the structure; and obtaining the geospatial location of the UAV and the magnetic field measurement. ### Claim 19 (depends on 12) The non-transitory computer storage medium of claim 12, the operations further comprising: determining that the UAV has navigated to a distance closer to the structure than the standoff distance; and causing the UAV to perform a contingency operation. ### Claim 20 (depends on 12) The non-transitory computer storage medium of claim 12, wherein determining a standoff distance from the structure comprises: receiving, via a user interface of the system, a numerical value for the standoff distance. ### Claim 21 (depends on 12) The non-transitory computer storage medium of claim 12, wherein determining the standoff distance is based on physical information of a model of the structure. ### Claim 22 (depends on 12) The non-transitory computer storage medium of claim 12, wherein determining a standoff distance from the structure comprises: determining the standoff distance based upon a model describing the electromagnetic field of the structure; and utilizing the model to determine different standoff distances at various locations along the flight pattern. ### Claim 23 A computerized method performed by an unmanned aerial vehicle (UAV) system, the method comprising: determining a standoff distance from a structure based on an electromagnetic field of the structure, wherein the standoff distance is a distance the UAV is to remain from the structure while the UAV is navigating; determining a flight pattern for the UAV to implement, the flight pattern configured such that the UAV remains at least the determined standoff distance from the structure, and the flight pattern including a predetermined path for the UAV to follow; navigating the UAV according to the determined flight pattern; and obtaining sensor data of the structure at multiple aerial positions about the structure. ### Claim 24 (depends on 23) The computerized method of claim 23, further comprising: during navigation of the UAV, increasing the standoff distance from the structure when the system determines an increased magnetic field strength of the structure. ### Claim 25 (depends on 23) The computerized method of claim 23, wherein determining a standoff distance from the structure comprises: navigating the UAV to a first altitude above one or more conductors carried by the structure; navigating the UAV to descend from the first altitude towards the conductors; determining information indicative of an electromagnetic field associated with the one or more conductors; determining, using the information, a second altitude at which the electromagnetic field associated with the one or more conductors affects navigation of the UAV; and setting the standoff distance based on the second altitude. ### Claim 26 (depends on 23) The computerized method of claim 23, wherein determining a standoff distance from the structure comprises: obtaining a magnetic field measurement of the structure; determining a distance from the structure and a location where the measurement was taken; and using a model to select a distance for the standoff distance where the selected distance would be at or below a predetermined threshold value. ### Claim 27 (depends on 23) The computerized method of claim 23, further comprising: preventing flight of the UAV closer to the structure than the standoff distance. ### Claim 28 (depends on 23) The computerized method of claim 23, further comprising: periodically determining a magnetic interference of the structure; and adjusting the standoff distance based on the periodically determined magnetic interference. ### Claim 29 (depends on 23) The computerized method of claim 23, further comprising: measuring by the UAV, a magnetic field strength of a magnetic field of the structure; and obtaining the geospatial location of the UAV and the magnetic field measurement. ### Claim 30 (depends on 23) The computerized method of claim 23, further comprising: determining that the UAV has navigated to a distance closer to the structure than the standoff distance; and causing the UAV to perform a contingency operation. ### Claim 31 (depends on 23) The computerized method of claim 23, wherein determining a standoff distance from the structure comprises: receiving, via a user interface of the system, a numerical value for the standoff distance. ### Claim 32 (depends on 23) The computerized method of claim 23, wherein determining the standoff distance is based on physical information of a model of the structure. ### Claim 33 (depends on 23) The computerized method of claim 23, wherein determining a standoff distance from the structure comprises: determining the standoff distance based upon a model describing the electromagnetic field of the structure; and utilizing the model to determine different standoff distances at various locations along the flight pattern.