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：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：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。

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：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：US08467049B2

公开(公告)日：2013-06-18

申请号：US11856698

申请日：2007-09-17

申请人： Scott M. Thayer ,  Eric C. Close ,  Adam Slifko ,  Subramanian Vallapuzha

发明人： Scott M. Thayer ,  Eric C. 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：US08525124B2

公开(公告)日：2013-09-03

申请号：US12611641

申请日：2009-11-03

申请人： Christopher C. Atwood ,  Richard P. Juchniewicz ,  Eric Kratzer ,  Adam Slifko ,  Philip Jake Johns

发明人： Christopher C. Atwood ,  Richard P. Juchniewicz ,  Eric Kratzer ,  Adam Slifko ,  Philip Jake Johns

IPC分类号： F16L101/30 ,  F16L55/32 ,  B62D55/06 ,  G01N21/88 ,  G01N21/954

CPC分类号： G01N35/00 ,  B62D55/12 ,  B62D55/244 ,  E03F7/12 ,  G01M99/00 ,  Y10S901/44

摘要： A device. The device 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： 一个装置。 该装置包括传感器部分和底盘部分。 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。

公开(公告)号：US08024066B2

公开(公告)日：2011-09-20

申请号：US11335176

申请日：2006-01-18

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

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

IPC分类号： G06F19/00

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。 无论是在设备上或板外，每个捕获的图像都是不合适的（如有必要），并与相邻管道部分的图像相结合，以创建被检查管道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。

公开(公告)号：US07131791B2

公开(公告)日：2006-11-07

申请号：US10713545

申请日：2003-11-13

申请人： William Lawrence Whittaker ,  Adam Slifko ,  Eric C. Close

发明人： William Lawrence Whittaker ,  Adam Slifko ,  Eric C. Close

IPC分类号： F16L55/18

CPC分类号： F16L55/179 ,  E03F3/06 ,  E03F7/12 ,  E03F2003/065 ,  F16L55/265 ,  G01M3/005

摘要： Devices and methods for streamlining the completion of work functions within a lateral pipe connected to a main pipe. A variety of different lateral devices may be used to aid in the process of relining the main or lateral pipe. A lateral location device is inserted into the lateral pipe prior to relining of the main pipe and is subsequently used to aid in the conventional cutting of the main-lateral interface. A lateral cutting device actually performs the main-lateral cutting process from within the lateral or from within the main. A lateral inspection device crawls up the lateral for inspection via camera. A lateral relining device aids in the placement of a liner used to reline the lateral pipe. Each of these interchangeable work functions may be optional performed by one or more lateral devices, often carried and inserted by a delivery device.

摘要翻译： 在与主管连接的侧管中简化工作功能完成的装置和方法。 可以使用各种不同的侧向装置来帮助重新排列主管或侧管。 在重新配置主管之前，侧向定位装置被插入到侧管中，随后用于辅助常规切割主横向界面。 横向切割装置实际上从侧面或从主体内部执行主横向切割过程。 横向检查装置通过照相机爬行横向检查。 横向修整装置有助于放置用于使侧管再次使用的衬垫。 这些可互换的工作功能中的每一个可以是由一个或多个侧向装置可选地执行，通常由输送装置承载和插入。