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。

公开(公告)号：US08041517B2

公开(公告)日：2011-10-18

申请号：US11627334

申请日：2007-01-25

申请人： Scott M. Thayer ,  Carlos Felipe Reverte ,  Eric C. Close ,  Prasanna Kumar Velagapudi ,  William Ommert

发明人： Scott M. Thayer ,  Carlos Felipe Reverte ,  Eric C. Close ,  Prasanna Kumar Velagapudi ,  William Ommert

IPC分类号： G01B5/00

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：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。