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公开(公告)号：US07131791B2
公开(公告)日：2006-11-07
申请号：US10713545
申请日：2003-11-13
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。
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2.发明授权Manhole modeler using a plurality of scanners to monitor the conduit walls and exterior 有权人孔造型师使用多个扫描仪监测导管壁和外部公开(公告)号：US08467049B2
公开(公告)日：2013-06-18
申请号：US11856698
申请日：2007-09-17
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。
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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
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。
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4.发明授权公开(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
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。
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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。
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公开(公告)号：US5365422A
公开(公告)日：1994-11-15
申请号：US69789
申请日：1993-06-01
申请人： Eric C. Close , Jerry K. Goff , Donald A. Yost
发明人： Eric C. Close , Jerry K. Goff , Donald A. Yost
IPC分类号： H02M7/5387 , H02M3/24 , H02P5/28
CPC分类号： H02M7/53871 , H02M2007/53878
摘要： A pulse-width modulated (PWM) circuit alternately applies voltage from a power supply across a load, and alternately establishes one or more non-powered, closed paths for freewheeling current. The circuit includes pairs of switches connected to the load and also connected to the power supply. PWM signals derived from a command signal drive the switches in such a manner as to create the freewheeling current paths in a desired pattern and sequence. The circuit effectively reduces ripple current in the load while also substantially reducing the amount of current flowing through the power supply filter capacitor. Thus, the size and rating of the power supply can be reduced. One can use the invention to drive a load in a multiple-phase environment, and also in the context of a three-phase trapezoidal drive.
摘要翻译： 脉冲宽度调制（PWM）电路交替地施加来自电源的电压跨越负载，并且交替地建立一个或多个非供电的封闭路径用于续流电流。 该电路包括连接到负载并且还连接到电源的成对的开关。 从命令信号导出的PWM信号以这样的方式驱动开关，以便以期望的图案和顺序产生续流电流路径。 该电路有效地减少了负载中的纹波电流，同时还大大减少了流过电源滤波电容器的电流量。 因此，可以减小电源的尺寸和额定值。 可以使用本发明来驱动多相环境中的负载，也可以在三相梯形驱动的上下文中。
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公开(公告)号：US5493487A
公开(公告)日：1996-02-20
申请号：US162227
申请日：1993-12-06
申请人： Eric C. Close , Jerry K. Goff
发明人： Eric C. Close , Jerry K. Goff
IPC分类号： H02M7/5387 , H02P7/00 , H02P7/29 , H02P5/00
CPC分类号： H02M7/5387 , H02P7/04 , H02P7/29 , H02M2003/1555
摘要： A pulse-width modulated (PWM) circuit provides current through a load by opening and closing main electronic switches which connect the load to a power supply. Each main electronic switch connects with an auxiliary switch, connected in series with a diode, the auxiliary switch and diode being called "recovery paths". The recovery paths provide a path between the load and the associated main switch, on one side, and the power supply on the other. A first train of pulses, derived from a command signal, drives the main switches, and a second train of pulses, derived from the first pulse train, controls the switches in the recovery paths. One arranges the second train such that the recovery paths carry current only while the main switches change from on to off, or from off to on. In this way, the recovery paths carry part of the current that would otherwise flow transiently through the main switches, due to the inherent inefficiencies in semiconductor switching. Therefore, the present invention allows the main switches to increase in efficiency as compared with circuits of the prior art. In an alternative embodiment, the recovery path includes the load but excludes the power supply, so that current can flow only transiently through the recovery path. The latter embodiment requires fewer switches than the previous embodiment, and is therefore less costly.
摘要翻译： 脉冲宽度调制（PWM）电路通过打开和关闭将负载连接到电源的主电子开关来提供电流通过负载。 每个主电子开关连接一个与二极管串联的辅助开关，辅助开关和二极管称为“恢复路径”。 恢复路径在负载和相关联的主开关之间，一侧和另一侧的电源之间提供路径。 从命令信号导出的第一列脉冲驱动主开关，并且从第一脉冲串导出的第二脉冲串控制恢复路径中的开关。 一个排列第二列，使得恢复路径只在当主开关从开到关，或从关到从之间传递时才起作用。 以这种方式，由于半导体开关中固有的低效率，恢复路径携带部分电流暂时流过主开关。 因此，与现有技术的电路相比，本发明允许主开关的效率提高。 在替代实施例中，恢复路径包括负载但不包括电源，使得电流可以仅通过恢复路径流动。 后一个实施例需要比先前实施例更少的开关，因此成本较低。
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8.发明授权Spatio-temporal and context-based indexing and representation of subterranean networks and means for doing the same 有权基于时空和上下文的索引和地下网络的表示以及做同样的手段公开(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
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。
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公开(公告)号：US5519601A
公开(公告)日：1996-05-21
申请号：US284105
申请日：1994-08-02
申请人： Eric C. Close , Jerry K. Goff , Donald A. Yost
发明人： Eric C. Close , Jerry K. Goff , Donald A. Yost
IPC分类号： H02M7/5387 , H02M3/24 , H02P5/28
CPC分类号： H02M7/53871 , H02M2007/53878
摘要： A pulse-width modulated (PWM) circuit alternately applies voltage from a power supply across a load, and alternately establishes one or more non-powered, closed paths for freewheeling current. The circuit includes pairs of switches connected to the load and also connected to the power supply. PWM signals derived from a command signal drive the switches in such a manner as to create the freewheeling current paths in a desired pattern and sequence. The circuit effectively reduces ripple current in the load while also substantially reducing the amount of current flowing through the power supply filter capacitor. Thus, the size and rating of the power supply can be reduced. One can use the invention to drive a load in a multiple-phase environment, and also in the context of a three-phase trapezoidal drive.
摘要翻译： 脉冲宽度调制（PWM）电路交替地施加来自电源的电压跨越负载，并且交替地建立一个或多个非供电的封闭路径用于续流电流。 该电路包括连接到负载并且还连接到电源的成对的开关。 从命令信号导出的PWM信号以这样的方式驱动开关，以便以期望的图案和顺序产生续流电流路径。 该电路有效地减少了负载中的纹波电流，同时还大大减少了流过电源滤波电容器的电流量。 因此，可以减小电源的尺寸和额定值。 可以使用本发明来驱动多相环境中的负载，也可以在三相梯形驱动的上下文中。
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