Repair of structures using unmanned aerial vehicles

A method for an apparatus comprising an unmanned aerial vehicle and a tool pick-and-place module coupled to the unmanned aerial vehicle, wherein:

• the unmanned aerial vehicle comprises a body frame, a plurality of rotor motors mounted to the body frame, and a plurality of rotors operatively coupled to respective rotor motors of the plurality of rotor motors;
• the tool pick-and-place module comprises a platform comprising a plurality of tool stations disposed one or both of on or in the platform, wherein each of the plurality of tool stations is separate and distinct from one another, a tool pick-and-place robot mounted to the platform, and a plurality of tools positioned at respective tool stations, wherein each of the plurality of tool stations is configured to separately retain a respective one of the plurality of tools, and wherein each of the plurality of tools is configured to separately and removably seat at a respective one of the plurality of tool stations;
• and
• the tool pick-and-place robot comprises a base, a hub which is rotatable about the base, an arm having a first end fixedly coupled to the hub and a second end at a distance from the hub, and a tool holder mounted to the second end of the arm, the method comprising:
• attaching the pick-and-place robot to the platform;
• selecting first and second tools for performing first and second repair operations respectively of a repair procedure;
• placing the first and second tools at first and second tool stations respectively on the platform;
• coupling the platform to the unmanned aerial vehicle while the unmanned aerial vehicle is on ground at a ground station;
• controlling the unmanned aerial vehicle to take-off from the ground station and fly toward a repairable structure while carrying the platform;
• controlling the unmanned aerial vehicle to land on a surface of the repairable structure;
• moving the arm of the pick-and-place robot to a position whereat the tool holder attached to one end of the arm overlies the first tool station;
• lowering the arm until the tool holder is in contact with the first tool;
• activating the tool holder to couple the first tool to the end of the arm;
• moving the arm to transport the first tool from the first tool station to a position overlying a damage site on the surface of the repairable structure;
• using the first tool to perform the first repair operation on the damage site;
• moving the arm to transport the first tool from the damage site to the first tool station;
• and
• releasing the first tool while the first tool is located at the first tool station.

A system comprising:

• an unmanned aerial vehicle comprising:
• a body frame;
• rotor motors mounted to the body frame;
• and
• rotors operatively coupled to the rotor motors;
• and
• a tool pick-and-place module coupled to the unmanned aerial vehicle, the tool pick-and-place module comprising:
• a platform including tool stations coupled to the platform, wherein each of the tool stations is separate and distinct from one another;
• a tool pick-and-place robot mounted to the platform between the tool stations;
• tools positioned at the tool stations, wherein each of the tool stations separately and removably retains a respective one of the tools, and wherein each of the tools is configured to separately and removably seat at a respective one of the tool stations.