公开(公告)号：US07069124B1

公开(公告)日：2006-06-27

申请号：US10696669

申请日：2003-10-28

申请人： William Lawrence Whittaker ,  Warren Charles Whittaker ,  Scott Mason Thayer ,  Zachary Meyer Omohundro ,  Carlos Felipe Reverte ,  David Ian Ferguson ,  Aaron Christopher Morris ,  Christopher Baker

发明人： William Lawrence Whittaker ,  Warren Charles Whittaker ,  Scott Mason Thayer ,  Zachary Meyer Omohundro ,  Carlos Felipe Reverte ,  David Ian Ferguson ,  Aaron Christopher Morris ,  Christopher Baker

IPC分类号： G01V3/38

CPC分类号： G05D1/0274 ,  G05D1/0225 ,  G05D1/0227 ,  G05D1/024 ,  G05D1/0246 ,  G05D1/0255 ,  G05D1/0259 ,  G05D1/027 ,  G05D1/0272 ,  G05D2201/0207 ,  G05D2201/021

摘要： Robotic systems for modeling, mapping and exploring subterranean void spaces such as mines, caves, tunnels, bunkers, and conduits. Robotic modeling of subterranean voids is generally enabled by a procedural system consisting of preprocessing, ingress, void modeling, mapping and navigation, exploration, conveying payloads other than void modeling sensors, egress, and post processing. The robots can either be imposed mobility or can be self mobile with either autonomous, remote, teleoperated, or manual modes of operation. The robot may optionally transform from a compact size into a more conventional operating size if the operating size exceeds the void entry opening size. Void geometries with flat floors are amenable to robot locomotion such as rolling, crawling, walking or swimming. Alternatively, irregular floor geometries that preclude self mobilization may be accessible by imposed mobilization such as dropping or pushing a movable robotic sensor into such voids. The robotic device is preferably adaptable to voids filled with a gas or liquid. To maximize mapping applicability, the robot optionally includes sensing, locomotion and environmental tolerance to submersion and safeguarding, according to use criteria.

摘要翻译： 用于建模，绘图和探索地下空隙的机器人系统，如矿山，洞穴，隧道，掩体和管道。 地下空隙的机器人建模通常由包括预处理，入口，空间建模，映射和导航，勘探，传送除空模型传感器之外的有效载荷，出口和后期处理的程序系统来实现。 机器人可以强加移动性，也可以是自主的，远程的，远程操作的或手动的操作模式。 如果操作尺寸超过空隙入口开口尺寸，则机器人可以可选地从紧凑尺寸变换成更传统的操作尺寸。 具有平坦地板的空隙几何适合机器人运动，如滚动，爬行，步行或游泳。 或者，排除自动动作的不规则地板几何形状可以通过施加的动员来实现，例如将可移动机器人传感器落下或推动到这样的空隙中。 机器人装置优选地适应于填充有气体或液体的空隙。 为了最大限度地提高绘图适用性，机器人根据使用标准可选地包括感知，移动和环境容忍浸入和保护。