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公开(公告)号：US09784599B1
公开(公告)日：2017-10-10
申请号：US13654393
申请日：2012-10-17
IPC分类号： B60F5/00 , G01D11/00 , F16L55/26 , B60F3/00 , F16L101/30
CPC分类号： G01D11/00 , B60F3/0061 , B60F5/00 , F16L55/30 , F16L2101/30 , G05B2219/25101 , G05B2219/33125 , G05B2219/40095
摘要： One aspect provides a modular infrastructure asset inspection robot, including: a plurality of modules for use in fluid conveyance infrastructure assets; each of the plurality of modules including at least one standardized electromechanical connection permitting a connection to be established with another of the plurality of modules; the plurality of modules being interchangeable and allowing reconfiguration of said modular infrastructure asset inspection robot to perform one or more of: two or more deployment methods for a first infrastructure asset type; and one deployment method for the first infrastructure asset type and a second infrastructure asset type. Other aspects are described and claimed.
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公开(公告)号：US20130332088A1
公开(公告)日：2013-12-12
申请号：US13967057
申请日：2013-08-14
发明人： Christopher C. Atwood , Richard P. Juchniewicz , Eric Kratzer , Adam Slifko , Philip Jake Johns
IPC分类号： G01M99/00
CPC分类号： G01N35/00 , B62D55/12 , B62D55/244 , E03F7/12 , G01M99/00 , Y10S901/44
摘要： A device is described that includes a sensor portion and a chassis portion. The sensor portion includes a plurality of sensing devices. The chassis portion is connected to the sensor portion and includes a first track and a second track. The second track is positioned adjacent the first track. The first and second tracks cooperate to substantially cover an entire width of the chassis portion.
摘要翻译： 描述了包括传感器部分和底架部分的装置。 传感器部分包括多个感测装置。 底盘部分连接到传感器部分并且包括第一轨道和第二轨道。 第二轨道位于第一轨道附近。 第一和第二轨道配合以基本上覆盖底盘部分的整个宽度。
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公开(公告)号：US20210255116A1
公开(公告)日：2021-08-19
申请号：US17307041
申请日：2021-05-04
发明人： Todd Kueny , Justin Starr , Foster J. Salotti
IPC分类号： G01N21/954 , G01N21/88
摘要： An embodiment provides a method, including: obtaining, from a multi-sensor pipe inspection robot that traverses through the interior of a pipe, two or more sets of condition assessment data for the interior of the pipe collected during a single pass through the interior of the pipe; the two or more sets of condition assessment data comprising a first data type obtained using a first sensor type and a second data type obtained using a second sensor type; combining, using a processor, two or more image processing techniques to adjust imaging of a pipe feature; and forming, using the processor, an image of the interior of the pipe using the two or more image processing techniques. Other embodiments are described and claimed.
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公开(公告)号：US10976734B2
公开(公告)日：2021-04-13
申请号：US16841642
申请日：2020-04-06
发明人： Todd Kueny , Justin Starr , Timothy Renton , Antony van Iersel
摘要： Described is a method of providing an augmented reality (AR) scene of pipe inspection data, including: obtaining, using a processor, pipe inspection data derived from a pipe inspection robot that traverses through the interior of an underground pipe, the pipe inspection data including one or more sets of condition assessment data relating to an interior of the underground pipe; obtaining, using a processor, real-time visual image data of an above-ground surface; combining, using a processor, the pipe inspection data with the real-time visual image data in an AR scene; and displaying, using a display device, the AR scene. Other examples are described and claimed.
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公开(公告)号：US10970833B2
公开(公告)日：2021-04-06
申请号：US16184026
申请日：2018-11-08
发明人： Justin Starr , Galin Konakchiev , Foster J Salotti , Mark Jordan , Nate Alford , Thorin Tobiassen , Todd Kueny , Jason Mizgorski
摘要： One aspect provides a method, including: displaying, at a display screen, an image of an interior of a pipe, the image being obtained using a pipe inspection robot; accessing, using a processor, calibration data associated with the image; receiving, via an input device, user input marking at least a portion of the image; determining, using a processor, quantitative pipe feature data for at least one feature of the pipe using the marking and the calibration data; and providing, based on the determining, data associated with the at least one feature. Other aspects are described and claimed.
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公开(公告)号：US10937144B2
公开(公告)日：2021-03-02
申请号：US16184073
申请日：2018-11-08
发明人： Justin Starr , Galin Konakchiev , Foster J Salotti , Mark Jordan , Nate Alford , Thorin Tobiassen , Todd Kueny , Jason Mizgorski
摘要： One aspect provides a method, including: operating a mobile pipe inspection platform to obtain sensor data for the interior of a pipe; analyzing, using a processor, the sensor data using a trained model, where the trained model is trained using a dataset including sensor data of pipe interiors and one or more of: metadata identifying pipe feature locations contained within the sensor data of the dataset and metadata classifying pipe features contained within the sensor data of the dataset; performing one or more of: identifying, using a processor, a pipe feature location within the sensor data; and classifying, using a processor, a pipe feature of the sensor data; and thereafter producing, using a processor, an output including one or more of an indication of the identifying and an indication of the classifying. Other aspects are described and claimed.
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公开(公告)号：US20190156531A1
公开(公告)日：2019-05-23
申请号：US16249424
申请日：2019-01-16
CPC分类号： G06T11/206 , B23K9/0956 , B23K9/1274 , F16L55/32 , G01B11/24 , G01N21/954 , G01N2021/9544 , G01N2021/9548 , G06Q10/06 , G06Q10/10 , G06Q10/30 , G06Q30/0611 , G06T3/0037 , G06T7/0004 , G06T2207/10028 , H04N7/183
摘要： An embodiment provides for storing, in a server, pipe segment data, e.g., pipe scan data derived from a pipe inspection robot that traversed through an interior of the segment of pipe. The pipe scan data may include three-dimensional (3D) and two-dimensional (2D) image data of the interior of the segment of pipe, where the 2D image data includes a flat graph formed from the 3D image data. In one example, infrastructure summary data is stored in the server, including a level of corrosion and a level of sediment buildup determined based on the pipe scan data. An infrastructure project summary report is based on the infrastructure summary data, and after receiving a request from a client device, the pipe segment data and the infrastructure project summary report are transmitted to the client device.
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公开(公告)号：US20180088043A1
公开(公告)日：2018-03-29
申请号：US15278879
申请日：2016-09-28
发明人： Justin Starr , John Lettman , Todd Kueny , Foster J. Salotti , Galin Konakchiev
IPC分类号： G01N21/3581 , G01N21/954 , G01N21/94 , B25J5/00 , F16L55/32
CPC分类号： G01N21/3581 , B25J5/005 , F16L2101/30 , G01N21/94 , G01N21/954 , G01N2021/945 , G01N2021/9548 , G01N2201/0216 , G01S13/86 , G01S13/862 , G01S13/867 , G01S13/88 , G01S17/88 , Y10S901/01 , Y10S901/44
摘要： One embodiment provides a method for identifying a target object of a pipe wall, including: positioning a pipe inspection robot within a pipe; emitting, using a terahertz (THz) beam source of the pipe inspection robot, a laser beam towards a target object; receiving, using a THz receiver of the pipe inspection robot, THz data related to the target object; analyzing, using a processor, the THz data; and determining, based on the analyzing, an identity of the object. Other aspects are described and claimed.
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公开(公告)号：US20180085798A1
公开(公告)日：2018-03-29
申请号：US15278974
申请日：2016-09-28
发明人： Justin Starr , Galin Konakchiev , Jordan Himes , Charles Pulaski
CPC分类号： B08B9/049 , F16L55/32 , F16L2101/12 , F16L2101/30 , G01S15/88 , Y02A90/36 , Y10S901/44
摘要： One embodiment provides an apparatus, including: a pipe inspection robot that traverses a pipe; a fetter comprising a water pump; and an intake hose that couples the pump of the jetter to a local water source proximate to the pipe inspection robot. Other aspects are described and claimed.
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公开(公告)号：US09739792B2
公开(公告)日：2017-08-22
申请号：US13967057
申请日：2013-08-14
发明人： Christopher C. Atwood , Richard P. Juchniewicz , Eric Kratzer , Adam Slifko , Philip Jake Johns
CPC分类号： G01N35/00 , B62D55/12 , B62D55/244 , E03F7/12 , G01M99/00 , Y10S901/44
摘要： A device is described that includes a sensor portion and a chassis portion. The sensor portion includes a plurality of sensing devices. The chassis portion is connected to the sensor portion and includes a first track and a second track. The second track is positioned adjacent the first track. The first and second tracks cooperate to substantially cover an entire width of the chassis portion.
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