公开(公告)号：WO2019094563A1

公开(公告)日：2019-05-16

申请号：PCT/US2018/059786

申请日：2018-11-08

Applicant: REDZONE ROBOTICS, INC.

Inventor： STARR, Justin ,  KONAKCHIEV, Galin ,  SALOTTI, Foster, J. ,  JORDAN, Mark ,  TODD, Kueny ,  ALFORD, Nate ,  TOBIASSEN, Thorin ,  MIZGORSKI, Jason

IPC: G06T7/73 ,  G01N21/954 ,  F16L55/26 ,  F16L101/30

CPC classification number: G06T7/0004 ,  G06T7/62 ,  G06T7/80 ,  G06T2207/10004 ,  G06T2207/10016 ,  G06T2207/20092 ,  G06T2207/20104 ,  G06T2207/30108 ,  G06T2207/30204

Abstract: One aspect provides a method, including: displaying, at a display screen, an image of an interior of a pipe, the image being obtained using a pipe inspection robot; accessing, using a processor, calibration data associated with the image; receiving, via an input device, user input marking at least a portion of the image; determining, using a processor, quantitative pipe feature data for at least one feature of the pipe using the marking and the calibration data; and providing, based on the determining, data associated with the at least one feature. Other aspects are described and claimed.

公开(公告)号：WO2010062758A1

公开(公告)日：2010-06-03

申请号：PCT/US2009/063129

申请日：2009-11-03

Applicant: REDZONE ROBOTICS, INC.

Inventor： ATWOOD, Christopher C. ,  JUCHNIEWICZ, Richard P. ,  KRATZER, Eric ,  SLIFKO, Adam ,  JOHNS, Philip

IPC: G01M19/00 ,  B61F13/00

CPC classification number: G01N35/00 ,  B62D55/12 ,  B62D55/244 ,  E03F7/12 ,  G01M99/00 ,  Y10S901/44

Abstract: 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.

Abstract translation: 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：WO2006078873A9

公开(公告)日：2009-01-08

申请号：PCT/US2006001983

申请日：2006-01-18

Applicant: REDZONE ROBOTICS INC

Inventor： REVERTE CARLOS ,  THAYER SCOTT M ,  WHITTAKER WILLIAM ,  CLOSE ERIC C ,  SLIFKO ADAM ,  HUDSON EDISON T ,  VALLAPUZHA SUBRAMANIAN

CPC classification number: H04N7/185 ,  E03F7/10 ,  F16L55/32

Abstract: 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 off board 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.

Abstract translation: 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上，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：WO2007087615A2

公开(公告)日：2007-08-02

申请号：PCT/US2007/061078

申请日：2007-01-25

Applicant: REDZONE ROBOTICS, INC.

Inventor： REVERTE, Carlos, Felipe ,  REVERTE, Carlos Felipe ,  CLOSE, Eric, C. ,  VELAGAPUDI, Prasanna, Kumar ,  OMMERT, William

IPC: H04L12/28

CPC classification number: E21B47/00 ,  H04L67/12

Abstract: 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.

Abstract translation:

系统，方法和。 用于索引，归档，分析和报告管道和其他无效网络数据的设备。 具体而言，空间，时间，特征，环境，不确定性和/或基于上下文的数据的多维索引和相关性在各种时间跨多种管网进行同步，索引和分析。 本发明优选地包括以几个不同参考水平表示的数据，包括：参考与其收集的传感器; 参考传感器所连接的机器人或平台; 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：US11867641B2

公开(公告)日：2024-01-09

申请号：US17307041

申请日：2021-05-04

Applicant: RedZone Robotics, Inc.

Inventor： Todd Kueny ,  Justin Starr ,  Foster J. Salotti

IPC: G01N21/954 ,  G01N21/88 ,  G01S17/89

CPC classification number: G01N21/954 ,  G01N21/8851 ,  G01N2021/8887 ,  G01N2021/9544 ,  G01N2021/9548 ,  G01S17/89

Abstract: An embodiment provides a method, including: obtaining, from a multi-sensor pipe inspection robot that traverses through the interior of a pipe, two or more sets of condition assessment data for the interior of the pipe collected during a single pass through the interior of the pipe; the two or more sets of condition assessment data comprising a first data type obtained using a first sensor type and a second data type obtained using a second sensor type; combining, using a processor, two or more image processing techniques to adjust imaging of a pipe feature; and forming, using the processor, an image of the interior of the pipe using the two or more image processing techniques. Other embodiments are described and claimed.

公开(公告)号：US11674943B2

公开(公告)日：2023-06-13

申请号：US17086361

申请日：2020-10-31

Applicant: RedZone Robotics, Inc.

Inventor： Justin Starr ,  John Lettman ,  Todd Kueny ,  Foster J. Salotti ,  Galin Konakchiev

IPC: G01N33/18 ,  F16L55/34 ,  G01S15/88 ,  G01S17/88 ,  F16L101/30

CPC classification number: G01N33/1886 ,  F16L55/34 ,  G01N33/1813 ,  F16L2101/30 ,  G01S15/88 ,  G01S17/88 ,  Y10S901/01 ,  Y10S901/44

Abstract: One embodiment provides a pipe inspection robot, including: a chassis configured to traverse through an interior of a water or sewer pipe; a water quality probe comprising a first end that couples to the chassis and a sensing end distal thereto; an electric motor configured to reposition the sensing end of the water quality probe with respect to the chassis; said electric motor acting to move the sensing end of the water quality probe to reposition the sensing end proximate to fluid containing water located proximate to a bottom part of the chassis; the sensing end configured to contact the fluid containing water for contact sensing of water quality data. Other aspects are described and claimed.

公开(公告)号：US10783680B2

公开(公告)日：2020-09-22

申请号：US16249424

申请日：2019-01-16

Applicant: RedZone Robotics, Inc.

Inventor： Subramanian Vallapuzha ,  Eric C. Close

IPC: 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

Abstract: 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.

公开(公告)号：US10649450B2

公开(公告)日：2020-05-12

申请号：US16263052

申请日：2019-01-31

Applicant: RedZone Robotics, Inc.

Inventor： Todd Kueny ,  Justin Starr ,  Timothy Renton ,  Antony van Iersel

IPC: G05D1/00 ,  G06Q50/08 ,  G06T19/00 ,  G02B27/01 ,  G06F3/01 ,  G06F3/0481 ,  G06Q10/06

Abstract: 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.

公开(公告)号：US20190104252A1

公开(公告)日：2019-04-04

申请号：US16145333

申请日：2018-09-28

Applicant: RedZone Robotics, Inc.

Inventor： Justin Starr ,  Galin Konakchiev ,  Foster J. Salotti ,  Todd Kueny ,  Thorin Tobiassen ,  Nate Alford ,  Mark Jordan

IPC: H04N5/232 ,  G01N21/88 ,  G01N21/954 ,  H04N5/247 ,  H04N5/225

Abstract: 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.

公开(公告)号：US20160171442A1

公开(公告)日：2016-06-16

申请号：US14881084

申请日：2015-10-12

Applicant: REDZONE ROBOTICS, INC.

Inventor： SUBRAMANIAN VALLAPUZHA ,  ERIC C. CLOSE

IPC: G06Q10/10

CPC classification number: F16L55/32 ,  B23K9/0956 ,  B23K9/1274 ,  G01B11/24 ,  G01N21/954 ,  G01N2021/9544 ,  G01N2021/9548 ,  G06Q10/06 ,  G06Q10/10

Abstract: One aspect provides a method, including: storing an infrastructure project summary report with one or more other infrastructure project reports pooled in a database of project summary reports; the infrastructure project report being prepared via accessing fluid conveyance infrastructure summary data describing a condition of a fluid conveyance infrastructure segment; and using a processor of an electronic device to match the infrastructure project summary report with one or more other infrastructure project reports pooled in the database of project summary reports. Other aspects are described and claimed.

Abstract translation: 一个方面提供了一种方法，包括：将基础设施项目摘要报告与一个或多个其他基础设施项目报告合并在项目摘要报告的数据库中; 该基础设施项目报告正在通过访问流体输送基础设施概述数据来描述流体输送基础设施部分的状况; 并使用电子设备的处理器将基础设施项目总结报告与集合在项目摘要报告数据库中的一个或多个其他基础架构项目报告相匹配。 描述和要求保护其他方面。