Method and apparatus for remote, interior inspection of cavities using an unmanned aircraft system

Abstract

An interior length of a confined space is inspected by autonomously flying an unmanned aerial vehicle having a sensor pod. The sensor pod can be tethered to the unmanned aerial vehicle and lowered into the confined space from above perhaps by an electromechanical hoist. An altitude or heading of the sensor pod can be measured. The confined space can be the flue of a chimney.

What is claimed is: 
     
         1 . A method for inspecting at least the interior length of a confined space comprising: flying an unmanned aerial vehicle, wherein the unmanned aerial vehicle comprises a sensor pod. 
     
     
         2 . A method according to  claim 1 , further comprising: autonomously flying the unmanned air vehicle. 
     
     
         3 . A method according to  claim 1 , further comprising lowering the sensor pod tethered to the unmanned aerial vehicle into a confined space from above. 
     
     
         4 . A method according to  claim 3 , further comprising: gathering data with an electronic sensor integrated with the sensor pod while inside the confined space. 
     
     
         5 . A method according to  claim 3 , further comprising: lighting an inside of the confined space with lights integrated with the sensor pod. 
     
     
         6 . A method according to  claim 3 , further comprising: measuring an altitude of the sensor pod using an electronic sensor integrated with the sensor pod. 
     
     
         7 . A method according to  claim 3 , further comprising: measuring a heading of the sensor pod using an electronic sensor operatively coupled with the sensor pod. 
     
     
         8 . A method according to  claim 3 , further comprising: raising and lowering the sensor pod suspended by the unmanned aerial vehicle in and out of the confined space of the chimney by way of an electromechanical hoist. 
     
     
         9 . A method according to  claim 3 , further comprising: broadcasting confined space data collected from the sensor pod. 
     
     
         10 . A method according to  claim 1 , further comprising: raising and lowering the sensor pod attached to the unmanned aerial vehicle in and out of the confined space by way of flying the unmanned aerial vehicle into, within, and out of the confined space. 
     
     
         11 . A method according to  claim 1 , wherein the confined space is the flue of a chimney. 
     
     
         12 . An apparatus for inspecting at least the interior length of a confined space comprising:
 an unmanned aerial vehicle;   a sensor pod operatively coupled to the unmanned aerial vehicle; and   a length adjustable tether configured to operatively couple the sensor pod to the unmanned aerial vehicle and lower the sensor pod into a confined space from above.   
     
     
         13 . An apparatus according to  claim 12 , wherein the confined space is the flue of a chimney. 
     
     
         14 . An apparatus according to  claim 12 , further comprising a controller configured to autonomously fly the unmanned air vehicle. 
     
     
         15 . An apparatus according to  claim 12 , further comprising an electronic sensor integrated with the sensor pod configured to gather data while inside the confined space. 
     
     
         16 . An apparatus according to  claim 12 , further comprising a camera integrated with the sensor pod configured to record imagery. 
     
     
         17 . An apparatus according to  claim 12 , further comprising lights integrated with the sensor pod configured to light an inside of the confined space. 
     
     
         18 . An apparatus according to  claim 12 , further comprising an electronic sensor integrated with the sensor pod and configured to measure an altitude of the sensor pod. 
     
     
         19 . An apparatus according to  claim 12 , further comprising an electronic sensor operatively coupled with the sensor pod and configured to measure a heading of the sensor pod. 
     
     
         20 . An apparatus according to  claim 12 , further comprising an electromechanical hoist operatively coupled to the length adjustable tether and configured to raise and lower the sensor pod suspended by the unmanned aerial vehicle in and out of the flue of the chimney.