公开(公告)号：US08170715B1

公开(公告)日：2012-05-01

申请号：US11340166

申请日：2006-01-25

申请人： Subramanian Vallapuzha ,  Scott M. Thayer ,  Eric C. Close ,  Joseph Salotti ,  Ronald Genise ,  Alan Gerber ,  Adam Slifko ,  Edison Hudson ,  Gregory Baltus ,  Carlos F. Reverte ,  Prasanna Kumar Velagapudi

发明人： Subramanian Vallapuzha ,  Scott M. Thayer ,  Eric C. Close ,  Joseph Salotti ,  Ronald Genise ,  Alan Gerber ,  Adam Slifko ,  Edison Hudson ,  Gregory Baltus ,  Carlos F. Reverte ,  Prasanna Kumar Velagapudi

IPC分类号： G06F19/00 ,  G05B19/18 ,  G05B15/00 ,  E02F5/10 ,  F16L55/18

CPC分类号： F16L55/265 ,  B08B9/0433 ,  B08B9/0436 ,  B08B9/049

摘要： Methods and tools for automatically performing work within a pipe or pipe network based on sensed impedance information. A robot, which may be tethered or un-tethered, includes a computer controller and a work tool for performing work within the pipe. With or without impedance-based calibration, the robot senses environmental and tool-based impedance characteristics and determines, using said software, ways in which the current work performance can be altered or improved based on the impedance information. The operation of the work tool is then altered in line with the control software. Many different types of work related to the inspection, cleaning and rehabilitation of pipes can be accomplished with the present robots including reinstating laterals after lining, cutting or clearing debris, sealing pipe joints and/or other heretofore manual pipe-based processes.

摘要翻译： 基于感测到的阻抗信息，在管道或管道网络内自动执行工作的方法和工具。 可以系绳或未连接的机器人包括计算机控制器和用于在管道内执行工作的工作工具。 有或无基于阻抗的校准，机器人感测环境和基于工具的阻抗特性，并且使用所述软件确定基于阻抗信息可以改变或改进当前工作性能的方式。 然后根据控制软件改变工作工具的操作。 与管道的检查，清洁和修复有关的许多不同类型的工作可以通过本机器人实现，包括在衬里，切割或清除碎屑，密封管接头和/或其他迄今为止手动的基于管道的工艺之后恢复侧面。

公开(公告)号：US07993469B1

公开(公告)日：2011-08-09

申请号：US11600315

申请日：2006-11-15

申请人： Subramanian Vallapuzha ,  Scott M. Thayer ,  Eric C. Close ,  Brian Bannon ,  Sam E. Cancilla ,  Adam Slifko ,  Carlos Felipe Reverte ,  Prasanna Kumar Velagapudi

发明人： Subramanian Vallapuzha ,  Scott M. Thayer ,  Eric C. Close ,  Brian Bannon ,  Sam E. Cancilla ,  Adam Slifko ,  Carlos Felipe Reverte ,  Prasanna Kumar Velagapudi

IPC分类号： B08B9/04

CPC分类号： B08B9/04 ,  B08B9/049 ,  B08B9/0933

摘要： Methods and tools for cleaning pipes or pipe networks based on characteristics of pipes and debris in the pipes. A mobile platform includes a cleaning head and a sensor head. The platform implements a cleaning plan and senses characteristics of the pipe and debris. The cleaning plan is incrementally updated based on the sensed characteristics, and can be automatically updated using software. Many different cleaning tasks can be accomplished using the present platforms including agitation of sediment, pulverization of large debris, and movement of debris to facilitate removal.

摘要翻译： 基于管道和管道中的碎屑特性清洗管道或管网的方法和工具。 移动平台包括清洁头和传感头。 该平台实施清洁计划并感测管道和碎屑的特征。 清洁计划根据检测到的特性进行递增更新，并可以使用软件自动更新。 使用本平台可以实现许多不同的清洁任务，包括沉淀物的搅动，大碎屑的粉碎以及碎屑的移动以便于去除。