公开(公告)号：US20100191376A1

公开(公告)日：2010-07-29

申请号：US12755950

申请日：2010-04-07

申请人： Eric Close ,  Adam Slifko ,  Edison T. Hudson ,  Ronald G. Genise

发明人： Eric Close ,  Adam Slifko ,  Edison T. Hudson ,  Ronald G. Genise

IPC分类号： G05B15/00

CPC分类号： B25J9/1617 ,  G05B2219/33189 ,  G05B2219/33192 ,  G05B2219/40099 ,  G05B2219/45233

摘要： Systems, methods and devices for the remote control of a robot which incorporates interchangeable tool heads. Although applicable to many different industries, the core structure of the system includes a robot with a tool head interface for mechanically, electrically and operatively interconnecting a plurality of interchangeable tool heads to perform various work functions. The robot and tool head may include several levels of digital feedback (local, remote and wide area) depending on the application. The systems include a single umbilical cord to send power, air, and communications signals between the robot and a remote computer. Additionally, all communication (including video) is preferably sent in a digital format. Finally, a GUI running on the remote computer automatically queries and identifies all of the various devices on the network and automatically configures its user options to parallel the installed devices. Systems according to the preferred embodiments find particular application in the pipeline arts. For example, interchangeable tool heads may be designed to facilitate inspection, debris clearing, cleaning, relining, lateral cutting after relining, mapping, and various other common pipeline-related tasks.

摘要翻译： 用于遥控机器人的系统，方法和设备，其包括可互换的工具头。 尽管适用于许多不同的行业，系统的核心结构包括具有工具头接口的机器人，用于机械地，电动地和可操作地互连多个可互换的工具头以执行各种工作功能。 取决于应用，机器人和工具头可以包括数个级别的数字反馈（局部，远程和广泛的区域）。 这些系统包括单个脐带，用于在机器人和远程计算机之间发送电力，空气和通信信号。 另外，所有通信（包括视频）优选地以数字格式发送。 最后，在远程计算机上运行的GUI自动查询并识别网络上的所有各种设备，并自动配置其用户选项以并行安装的设备。 根据优选实施例的系统在流水线技术中找到特定应用。 例如，可互换的工具头可以设计成便于检查，碎片清除，清洁，重新排列，重新排列后的横向切割，映射以及各种其他常见的管道相关任务。

公开(公告)号：US20060074525A1

公开(公告)日：2006-04-06

申请号：US10956679

申请日：2004-10-01

申请人： Eric Close ,  Adam Slifko ,  Edison Hudson ,  Ronald Genise

发明人： Eric Close ,  Adam Slifko ,  Edison Hudson ,  Ronald Genise

IPC分类号： G06F19/00

CPC分类号： B25J9/1617 ,  G05B2219/33189 ,  G05B2219/33192 ,  G05B2219/40099 ,  G05B2219/45233

摘要： Systems, methods and devices for the remote control of a robot which incorporates interchangeable tool heads. Although applicable to many different industries, the core structure of the system includes a robot with a tool head interface for mechanically, electrically and operatively interconnecting a plurality of interchangeable tool heads to perform various work functions. The robot and tool head may include several levels of digital feedback (local, remote and wide area) depending on the application. The systems include a single umbilical cord to send power, air, and communications signals between the robot and a remote computer. Additionally, all communication (including video) is preferably sent in a digital format. Finally, a GUI running on the remote computer automatically queries and identifies all of the various devices on the network and automatically configures its user options to parallel the installed devices. Systems according to the preferred embodiments find particular application in the pipeline arts. For example, interchangeable tool heads may be designed to facilitate inspection, debris clearing, cleaning, relining, lateral cutting after relining, mapping, and various other common pipeline-related tasks.

摘要翻译： 用于遥控机器人的系统，方法和设备，其包括可互换的工具头。 尽管适用于许多不同的行业，系统的核心结构包括具有工具头接口的机器人，用于机械地，电动地和可操作地互连多个可互换的工具头以执行各种工作功能。 取决于应用，机器人和工具头可以包括数个级别的数字反馈（局部，远程和广泛的区域）。 这些系统包括单个脐带，用于在机器人和远程计算机之间发送电力，空气和通信信号。 另外，所有通信（包括视频）优选地以数字格式发送。 最后，在远程计算机上运行的GUI自动查询并识别网络上的所有各种设备，并自动配置其用户选项以并行安装的设备。 根据优选实施例的系统在流水线技术中找到特定应用。 例如，可互换的工具头可以设计成便于检查，碎片清除，清洁，重新排列，重新排列后的横向切割，映射以及各种其他常见的管道相关任务。

公开(公告)号：US08060257B2

公开(公告)日：2011-11-15

申请号：US12755950

申请日：2010-04-07

申请人： Eric Close ,  Adam Slifko ,  Edison T. Hudson ,  Ronald G. Genise

发明人： Eric Close ,  Adam Slifko ,  Edison T. Hudson ,  Ronald G. Genise

IPC分类号： G06F19/00

CPC分类号： B25J9/1617 ,  G05B2219/33189 ,  G05B2219/33192 ,  G05B2219/40099 ,  G05B2219/45233

摘要： Systems, methods and devices for the remote control of a robot which incorporates interchangeable tool heads. Although applicable to many different industries, the core structure of the system includes a robot with a tool head interface for mechanically, electrically and operatively interconnecting a plurality of interchangeable tool heads to perform various work functions. The robot and tool head may include several levels of digital feedback (local, remote and wide area) depending on the application. The systems include a single umbilical cord to send power, air, and communications signals between the robot and a remote computer. Additionally, all communication (including video) is preferably sent in a digital format. Finally, a GUI running on the remote computer automatically queries and identifies all of the various devices on the network and automatically configures its user options to parallel the installed devices. Systems according to the preferred embodiments find particular application in the pipeline arts. For example, interchangeable tool heads may be designed to facilitate inspection, debris clearing, cleaning, relining, lateral cutting after relining, mapping, and various other common pipeline-related tasks.

摘要翻译： 用于遥控机器人的系统，方法和设备，其包括可互换的工具头。 尽管适用于许多不同的行业，系统的核心结构包括具有工具头接口的机器人，用于机械地，电动地和可操作地互连多个可互换的工具头以执行各种工作功能。 取决于应用，机器人和工具头可以包括数个级别的数字反馈（局部，远程和广泛的区域）。 这些系统包括单个脐带，用于在机器人和远程计算机之间发送电力，空气和通信信号。 另外，所有通信（包括视频）优选地以数字格式发送。 最后，在远程计算机上运行的GUI自动查询并识别网络上的所有各种设备，并自动配置其用户选项以并行安装的设备。 根据优选实施例的系统在流水线技术中找到特定应用。 例如，可互换的工具头可以设计成便于检查，碎片清除，清洁，重新排列，重新排列后的横向切割，映射以及各种其他常见的管道相关任务。

公开(公告)号：US07720570B2

公开(公告)日：2010-05-18

申请号：US10956679

申请日：2004-10-01

申请人： Eric Close ,  Adam Slifko ,  Edison T. Hudson ,  Ronald G. Genise

发明人： Eric Close ,  Adam Slifko ,  Edison T. Hudson ,  Ronald G. Genise

IPC分类号： G06F19/00

CPC分类号： B25J9/1617 ,  G05B2219/33189 ,  G05B2219/33192 ,  G05B2219/40099 ,  G05B2219/45233

摘要： Systems, methods and devices for the remote control of a robot which incorporates interchangeable tool heads. Although applicable to many different industries, the core structure of the system includes a robot with a tool head interface for mechanically, electrically and operatively interconnecting a plurality of interchangeable tool heads to perform various work functions. The robot and tool head may include several levels of digital feedback (local, remote and wide area) depending on the application. The systems include a single umbilical cord to send power, air, and communications signals between the robot and a remote computer. Additionally, all communication (including video) is preferably sent in a digital format. Finally, a GUI running on the remote computer automatically queries and identifies all of the various devices on the network and automatically configures its user options to parallel the installed devices. Systems according to the preferred embodiments find particular application in the pipeline arts. For example, interchangeable tool heads may be designed to facilitate inspection, debris clearing, cleaning, relining, lateral cutting after relining, mapping, and various other common pipeline-related tasks.

摘要翻译： 用于遥控机器人的系统，方法和设备，其包括可互换的工具头。 尽管适用于许多不同的行业，系统的核心结构包括具有工具头接口的机器人，用于机械地，电动地和可操作地互连多个可互换的工具头以执行各种工作功能。 取决于应用，机器人和工具头可以包括数个级别的数字反馈（局部，远程和广泛的区域）。 这些系统包括单个脐带，用于在机器人和远程计算机之间发送电力，空气和通信信号。 另外，所有通信（包括视频）优选地以数字格式发送。 最后，在远程计算机上运行的GUI自动查询并识别网络上的所有各种设备，并自动配置其用户选项以并行安装的设备。 根据优选实施例的系统在流水线技术中找到特定应用。 例如，可互换的工具头可以设计成便于检查，碎片清除，清洁，重新排列，重新排列后的横向切割，映射以及各种其他常见的管道相关任务。

公开(公告)号：US20080068601A1

公开(公告)日：2008-03-20

申请号：US11856698

申请日：2007-09-17

申请人： Scott THAYER ,  Eric Close ,  Adam Slifko ,  Subramanian Vallapuzha

发明人： Scott THAYER ,  Eric Close ,  Adam Slifko ,  Subramanian Vallapuzha

IPC分类号： G01N21/00

CPC分类号： G01B11/24 ,  G01N21/954 ,  G01N2021/9544 ,  G01N2021/9548

摘要： Methods and apparatuses for inspecting manholes or other voids and collecting data in a comprehensive, repeatable, and measurable manner. A sensor head is suspended and lowered into a manhole or other void. The sensor head collects data related to the condition of the manhole or void walls, and locations of defects, damage, or lateral pipe openings. The data can then be processed to provide a three-dimensional model of the manhole or void, and can be compared to previous or future data.

摘要翻译： 用于检查人孔或其他空隙并以全面，可重复和可衡量的方式收集数据的方法和装置。 传感器头悬挂下降到人孔或其他空隙。 传感器头收集与人孔或空隙壁的状况有关的数据，以及缺陷，损坏或侧管开口的位置。 然后可以处理数据以提供人孔或空隙的三维模型，并且可以与先前或将来的数据进行比较。

公开(公告)号：US20070195712A1

公开(公告)日：2007-08-23

申请号：US11627334

申请日：2007-01-25

申请人： Scott Thayer ,  Carlos Reverte ,  Eric Close ,  Prasanna Velagapudi ,  William Ommert

发明人： Scott Thayer ,  Carlos Reverte ,  Eric Close ,  Prasanna Velagapudi ,  William Ommert

IPC分类号： H04L12/28

CPC分类号： E21B47/00 ,  H04L67/12

摘要： Systems, methods and devices for indexing, archiving, analyzing and reporting pipe and other void network data. Specifically, multi-dimensional indexing and correlation of spatial, temporal, feature, environmental, uncertainty and/or context-based data is synchronized, indexed and analyzed across a wide variety of pipe networks at various times. The present invention preferably includes data represented at several different levels of reference including: referenced to the sensor with which it was collected; referenced to the robot or platform upon which the sensor is attached; and the world. The structure and functionality of the system provides for extensive querying, trouble-shooting and predictive analysis for pipe networks.

摘要翻译： 用于索引，归档，分析和报告管道和其他无效网络数据的系统，方法和设备。 具体来说，在各种各样的管道网络中，多维索引和空间，时间，特征，环境，不确定性和/或基于上下文的数据的相关性被同步，索引和分析。 本发明优选地包括以几个不同的参考水平表示的数据，包括：参考它被收集的传感器; 参考传感器所在的机器人或平台; 和世界。 系统的结构和功能为管网提供了广泛的查询，故障排除和预测分析。

公开(公告)号：US20060290779A1

公开(公告)日：2006-12-28

申请号：US11335176

申请日：2006-01-18

申请人： Carlos Reverte ,  Scott Thayer ,  William Whittaker ,  Eric Close ,  Adam Slifko ,  Edison Hudson ,  Subramanian Vallapuzha

发明人： Carlos Reverte ,  Scott Thayer ,  William Whittaker ,  Eric Close ,  Adam Slifko ,  Edison Hudson ,  Subramanian Vallapuzha

IPC分类号： H04N7/18

CPC分类号： H04N7/185 ,  E03F7/10 ,  F16L55/32

摘要： An autonomous inspector mobile platform robot that is used to inspect a pipe or network of pipes. The robot includes a locomotion device that enables the device to autonomously progress through the pipe and accurately track its pose and odometry during movement. At the same time, image data is autonomously captured to detail the interior portions of the pipe. Images are taken at periodic intervals using a wide angle lens, and additional video images may be captured at locations of interest. Either onboard or offboard the device, each captured image is unwarped (if necessary) and combined with images of adjacent pipe sections to create a complete image of the interior features of the inspected pipe. Optional features include additional sensors and measurement devices, various communications systems to communicate with an end node or the surface, and/or image compression software.

摘要翻译： 用于检查管道或管道网络的自主检查员移动平台机器人。 机器人包括一个运动装置，使装置自动进入管道，并在运动过程中精确跟踪其姿态和距离。 同时，自动捕获图像数据以细节管道的内部部分。 使用广角镜头以周期性间隔拍摄图像，并且可以在感兴趣的位置捕获附加的视频图像。 无论是在设备上还是外部，每个捕获的图像都是不必要的（如果需要的话），并且与相邻管道部分的图像相结合，以创建被检查管道的内部特征的完整图像。 可选功能包括附加的传感器和测量设备，与终端节点或表面通信的各种通信系统和/或图像压缩软件。