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公开(公告)号：US10783680B2
公开(公告)日：2020-09-22
申请号：US16249424
申请日：2019-01-16
IPC分类号： G06T11/00 , G06T11/20 , B23K9/127 , G01B11/24 , F16L55/32 , G01N21/954 , G06Q10/06 , G06Q10/10 , G06Q30/06 , G06T3/00 , G06T7/00 , B23K9/095 , G06Q10/00 , H04N7/18
摘要： An embodiment provides for storing, in a server, pipe segment data, e.g., pipe scan data derived from a pipe inspection robot that traversed through an interior of the segment of pipe. The pipe scan data may include three-dimensional (3D) and two-dimensional (2D) image data of the interior of the segment of pipe, where the 2D image data includes a flat graph formed from the 3D image data. In one example, infrastructure summary data is stored in the server, including a level of corrosion and a level of sediment buildup determined based on the pipe scan data. An infrastructure project summary report is based on the infrastructure summary data, and after receiving a request from a client device, the pipe segment data and the infrastructure project summary report are transmitted to the client device.
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公开(公告)号：US10649450B2
公开(公告)日：2020-05-12
申请号：US16263052
申请日：2019-01-31
发明人： Todd Kueny , Justin Starr , Timothy Renton , Antony van Iersel
摘要： Described is a method of providing an augmented reality (AR) scene of pipe inspection data, including: obtaining, using a processor, pipe inspection data derived from a pipe inspection robot that traverses through the interior of an underground pipe, the pipe inspection data including one or more sets of condition assessment data relating to an interior of the underground pipe; obtaining, using a processor, real-time visual image data of an above-ground surface; combining, using a processor, the pipe inspection data with the real-time visual image data in an AR scene; and displaying, using a display device, the AR scene. Other examples are described and claimed.
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公开(公告)号：US20190104252A1
公开(公告)日：2019-04-04
申请号：US16145333
申请日：2018-09-28
发明人： Justin Starr , Galin Konakchiev , Foster J. Salotti , Todd Kueny , Thorin Tobiassen , Nate Alford , Mark Jordan
IPC分类号： H04N5/232 , G01N21/88 , G01N21/954 , H04N5/247 , H04N5/225
摘要： One embodiment provides a system, including: an inspection platform configured to move through underground infrastructure; an imaging device coupled to the inspection platform; the imaging device comprising a camera housing that arranges an array of four or more cameras in a predetermined configuration; the camera housing comprising a plurality of apertures, wherein each aperture houses a respective camera therein with a viewing axis offset about 30 degrees to about 120 degrees from a viewing axis of an adjacent camera within the array; and circuitry that operates the imaging device to capture a plurality of images using the four or more cameras; where the circuitry captures the plurality of images for a composite image of an interior region of the underground infrastructure, and where the region is larger than a single viewing field of any of the four or more cameras. Other embodiments are described and claimed.
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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：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。
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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：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。
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公开(公告)号：US20220028054A1
公开(公告)日：2022-01-27
申请号：US17365773
申请日：2021-07-01
发明人： Andrew Harmen , Gabe Detter , Mohamed Morsy , Andrew Lawniczak , Galin Konalchiev , Matthew Crowell , Jack Buffington , Mohsen Pashna , Richard Rigby , Jason Mizgorski , Foster J. Salotti
摘要： One aspect provides a modular inspection robot for inspecting vertical shafts, chambers or tunnels. An embodiment provides related methods and products. One method includes: capturing, using a plurality of video cameras associated with an infrastructure inspection unit, two or more videos of infrastructure; accessing, using one or more processors, image metadata indicating a mesh of connected vertices based on the two or more videos; selecting, using the one or more processors, image data of frames of the two or more videos for inclusion in an output based on the mesh; and outputting, using the one or more processors, a photo-realistic image of the infrastructure comprising the image data selected. Other examples are described and claimed.
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公开(公告)号：US11125910B2
公开(公告)日：2021-09-21
申请号：US16184054
申请日：2018-11-08
发明人： Justin Starr , Galin Konakchiev , Foster J Salotti , Mark Jordan , Nate Alford , Thorin Tobiassen , Todd Kueny , Jason Mizgorski
摘要： One aspect provides a method, including: obtaining sensor data from an unmanned aerial vehicle (UAV); the sensor data comprising data obtained by one or more sensors of the UAV; analyzing, using a processor, the sensor data to detect underground water associated with a pipe; and identifying, with the processor, an underground feature based on the analyzing. Other aspects are described and claimed.
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公开(公告)号：US11029257B2
公开(公告)日：2021-06-08
申请号：US16353034
申请日：2019-03-14
发明人： Todd Kueny , Justin Starr , Foster J Salotti
IPC分类号： G01N21/88 , G01N21/954 , G01S17/89
摘要： An embodiment provides a method, including: obtaining, from a multi-sensor pipe inspection robot that traverses through the interior of a pipe, sensor data, such as structured laser light sensor data and Light Detection and Ranging (LIDAR) sensor data, for the interior of the pipe; identifying a pipe feature using one or more of the sensor data types; selecting an image processing technique based on the pipe feature identified using a stored association between the pipe feature and an image processing technique; and forming an image of the interior of the pipe by implementing the selected image processing technique. Other embodiments are described and claimed.
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