# US 11,079,760 B2 · Methods for maintaining difficult-to-access structures using unmanned aerial vehicles > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 11,079,760 B2 - Document ID: US11079760B2 - Status: Granted - Kind: B2 - Application number: 16/202,347 - Filed: 2018-11-28 - Published: 2020-05-28 - Granted: 2021-08-03 - Earliest claimed: 2018-11-28 - Assignees: The Boeing Company - Applicants: The Boeing Company - Inventors: Joseph L. Hafenrichter; Gary E. Georgeson - Web page: https://patentgrep.com/patent/US11079760B2 ## CPC - G05D 1/0094: {involving pointing a payload, e.g. camera, weapon, sensor, towards a fixed or moving target} - B64C 27/37: having articulated joints - B64U 10/13: Flying platforms - B64U 30/26: Ducted or shrouded rotors - B64U 50/19: using electrically powered motors - F03D 17/00: Monitoring or testing of wind motors, e.g. diagnostics (testing during commissioning of wind motors F03D13/30) - F03D 80/50: Maintenance or repair - G05D 1/0202: {specially adapted to aircraft} - G05D 1/101: {specially adapted for aircraft} - B64U 2101/00: UAVs specially adapted for particular uses or applications - B64U 2201/20: Remote controls - F05B 2260/80: Diagnostics - G01M 5/0016: {of aircraft wings or blades} - G01M 5/0033: {by determining damage, crack or wear} - G01M 5/0066: {by exciting or detecting vibration or acceleration (vibration testing of structures G01M7/00)} - G01M 5/0083: {by measuring variation of impedance, e.g. resistance, capacitance, induction} - G01M 5/0091: {by using electromagnetic excitation or detection} - Y02B 10/30: Wind power - Y02E 10/72: Wind turbines with rotation axis in wind direction - G05D: SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES - B64C: AEROPLANES; HELICOPTERS - B64U: UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR - F03D: WIND MOTORS - F05B: INDEXING SCHEME RELATING TO WIND, SPRING, WEIGHT, INERTIA OR LIKE MOTORS, TO MACHINES OR ENGINES FOR LIQUIDS COVERED BY SUBCLASSES F03B, F03D AND F03G - G01M: TESTING STATIC OR DYNAMIC BALANCE OF MACHINES OR STRUCTURES; TESTING OF STRUCTURES OR APPARATUS, NOT OTHERWISE PROVIDED FOR - Y02B: CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO BUILDINGS, e.g. HOUSING, HOUSE APPLIANCES OR RELATED END-USER APPLICATIONS - Y02E: REDUCTION OF GREENHOUSE GAS [GHG] EMISSIONS, RELATED TO ENERGY GENERATION, TRANSMISSION OR DISTRIBUTION ## Abstract Methods for performing maintenance operations using unmanned aerial vehicles (UAVs). The methods are enabled by equipping a UAV with a maintenance tool capable of performing a desired maintenance operation (e.g., nondestructive inspection) on a limited-access surface of a large structure or object (e.g., a wind turbine blade). The UAV uses re-orientation of lifting means (e.g., vertical rotors) to move the maintenance tool continuously or intermittently across the surface of the structure while maintaining contact with the surface of the structure undergoing maintenance. ## Claims ### Claim 1 A method for performing a maintenance operation using an unmanned aerial vehicle, comprising: (a) the unmanned aerial vehicle flies to a first location whereat a plurality of standoff contact elements of the unmanned aerial vehicle contact respective areas on a surface of a structure; (b) the unmanned aerial vehicle hovers at the first location with the standoff contact elements in contact with the surface of the structure; (c) the unmanned aerial vehicle skims along a path on the surface of the structure along a path that extends from the first location to a second location; and (d) a maintenance tool on-board the unmanned aerial vehicle performs a maintenance operation while the unmanned aerial vehicle is located along the path with the standoff contact elements in contact with the surface of the structure. ### Claim 2 (depends on 1) The method as recited in claim 1, wherein the maintenance tool is a sensor array, step (c) comprises moving the sensor array along a scan path that follows the surface of the structure, and step (d) comprises activating the sensor array to acquire nondestructive inspection sensor data representing characteristics of the structure during movement of the sensor array along the scan path. ### Claim 3 (depends on 1) The method as recited in claim 1, wherein the maintenance tool is a nondestructive inspection sensor unit, step (c) comprises moving the nondestructive inspection sensor unit along a scan path that follows the surface of the structure, and step (d) comprises activating the nondestructive inspection sensor unit to acquire nondestructive inspection sensor data representing characteristics of the structure during movement of the nondestructive inspection sensor unit along the scan path. ### Claim 4 (depends on 1) The method as recited in claim 1, wherein the unmanned aerial vehicle is propelled by thrust produced by at least one rotor during skimming of the unmanned aerial vehicle along the path. ### Claim 5 (depends on 4) The method as recited in claim 4, wherein step (c) comprises controlling the operation of a rotor motor that drives rotation of a rotor to produce a thrust that maintains the plurality of standoff contact elements in contact with the surface. ### Claim 6 (depends on 4) The method as recited in claim 4, wherein step (c) further comprises controlling the operation of rotor motors that drive rotation of respective rotors having respective axes of rotation that are vertical when the unmanned aerial vehicle is hovering and level. ### Claim 7 (depends on 6) The method as recited in claim 6, wherein step (c) further comprises controlling the operation of gimbal motors that drive tilting of respective rotor masts of the respective rotors relative to a frame of the unmanned aerial vehicle. ### Claim 8 (depends on 6) The method as recited in claim 6, wherein step (c) further comprises: controlling the operation of a first set of gimbal motors that drive rotation of respective gimbal rings relative to respective deflector rings attached to a frame of the unmanned aerial vehicle; and controlling the operation of a second set of gimbal motors that drive rotation of respective rotors relative to the respective gimbal rings. ### Claim 9 (depends on 1) The method as recited in claim 1, wherein the structure is a wind turbine blade. ### Claim 10 (depends on 1) The method as recited in claim 1, wherein the structure is an aircraft. ### Claim 11 (depends on 1) The method as recited in claim 1, wherein the structure is a storage tank. ### Claim 12 (depends on 1) The method as recited in claim 1, wherein step (c) comprises controlling the operation of a rotor motor that drives rotation of a rotor to produce a thrust that maintains the plurality of standoff contact elements in contact with the surface. ### Claim 13 (depends on 1) The method as recited in claim 1, wherein step (c) further comprises controlling the operation of rotor motors that drive rotation of respective rotors having respective axes of rotation that are vertical when the unmanned aerial vehicle is hovering and level. ### Claim 14 (depends on 13) The method as recited in claim 13, wherein step (c) further comprises controlling the operation of gimbal motors that drive tilting of respective rotor masts of the respective rotors relative to a frame of the unmanned aerial vehicle. ### Claim 15 (depends on 13) The method as recited in claim 13, wherein step (c) further comprises: controlling the operation of a first set of gimbal motors that drive rotation of respective gimbal rings relative to respective deflector rings attached to a frame of the unmanned aerial vehicle; and controlling the operation of a second set of gimbal motors that drive rotation of respective rotors relative to the respective gimbal rings. ### Claim 16 A method for performing a maintenance operation on an airfoil-shaped body using an unmanned aerial vehicle, the method comprising: (a) equipping the unmanned aerial vehicle with a maintenance tool and a plurality of standoff contact elements, the plurality of standoff contact elements being arranged to simultaneously contact a surface of the airfoil-shaped body, and the maintenance tool being arranged to confront an area on the surface of the airfoil-shaped body while the plurality of standoff contact elements are in contact with the surface; (b) flying the unmanned aerial vehicle to a first location whereat the plurality of standoff contact elements of the unmanned aerial vehicle contact respective areas on a surface of an airfoil-shaped body; (c) skimming the unmanned aerial vehicle along a path on the surface of the airfoil-shaped body along a path that extends from the first location to a second location; and (d) while the plurality of standoff contact elements are in contact with the surface of the airfoil-shaped body, activating the maintenance tool to perform a maintenance operation on the surface of the airfoil-shaped body. ### Claim 17 (depends on 16) The method as recited in claim 16, wherein one of the first and second locations is adjacent to a side surface of the airfoil-shaped body and the other of the first and second locations is adjacent to a leading edge of the airfoil-shaped body. ### Claim 18 (depends on 16) The method as recited in claim 16, wherein the maintenance tool is a sensor array, step (c) comprises moving the sensor array along a scan path that follows the surface of the airfoil-shaped body, and step (d) comprises activating the sensor array to acquire nondestructive inspection sensor data representing characteristics of the airfoil-shaped body during movement of the sensor array along the scan path. ### Claim 19 (depends on 16) The method as recited in claim 16, wherein the maintenance tool is a nondestructive inspection sensor unit, step (c) comprises moving the nondestructive inspection sensor unit along a scan path that follows the surface of the structure, and step (d) comprises activating the nondestructive inspection sensor unit to acquire nondestructive inspection sensor data representing characteristics of the structure during movement of the nondestructive inspection sensor unit along the scan path. ### Claim 20 (depends on 16) The method as recited in claim 16, wherein the airfoil-shaped body is a wind turbine blade. ### Claim 21 (depends on 16) The method as recited in claim 16, wherein the airfoil-shaped body is part of an aircraft.